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update bullet so it actually works

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Moved the addSourceDirectory for physics/Bullet into the Engine/Source/CMakeLists.txt file that way it can actually appear where we expect it to in the solution explorer.
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marauder2k7 2026-06-03 15:08:51 +01:00
parent c7be48130a
commit 13fa178cf6
5986 changed files with 1811270 additions and 453803 deletions
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66
Engine/lib/bullet/Extras/InverseDynamics/btMultiBodyTreeCreator.hpp
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@ -7,44 +7,46 @@
#include "MultiBodyTreeCreator.hpp"
#include "BulletDynamics/Featherstone/btMultiBody.h"
namespace btInverseDynamics {
namespace btInverseDynamics
{
/// MultiBodyTreeCreator implementation for converting
/// a btMultiBody forward dynamics model into a MultiBodyTree inverse dynamics model
class btMultiBodyTreeCreator : public MultiBodyTreeCreator {
class btMultiBodyTreeCreator : public MultiBodyTreeCreator
{
public:
/// ctor
btMultiBodyTreeCreator();
/// dtor
~btMultiBodyTreeCreator() {}
/// extract model data from a btMultiBody
/// @param btmb pointer to btMultiBody to convert
/// @param verbose if true, some information is printed
/// @return -1 on error, 0 on success
int createFromBtMultiBody(const btMultiBody *btmb, const bool verbose = false);
/// \copydoc MultiBodyTreeCreator::getNumBodies
int getNumBodies(int *num_bodies) const;
///\copydoc MultiBodyTreeCreator::getBody
/// ctor
btMultiBodyTreeCreator();
/// dtor
~btMultiBodyTreeCreator() {}
/// extract model data from a btMultiBody
/// @param btmb pointer to btMultiBody to convert
/// @param verbose if true, some information is printed
/// @return -1 on error, 0 on success
int createFromBtMultiBody(const btMultiBody *btmb, const bool verbose = false);
/// \copydoc MultiBodyTreeCreator::getNumBodies
int getNumBodies(int *num_bodies) const;
///\copydoc MultiBodyTreeCreator::getBody
int getBody(const int body_index, int *parent_index, JointType *joint_type,
vec3 *parent_r_parent_body_ref, mat33 *body_T_parent_ref,
vec3 *body_axis_of_motion, idScalar *mass, vec3 *body_r_body_com,
mat33 *body_I_body, int *user_int, void **user_ptr) const;
vec3 *parent_r_parent_body_ref, mat33 *body_T_parent_ref,
vec3 *body_axis_of_motion, idScalar *mass, vec3 *body_r_body_com,
mat33 *body_I_body, int *user_int, void **user_ptr) const;
private:
// internal struct holding data extracted from btMultiBody
struct LinkData {
int parent_index;
JointType joint_type;
vec3 parent_r_parent_body_ref;
mat33 body_T_parent_ref;
vec3 body_axis_of_motion;
idScalar mass;
vec3 body_r_body_com;
mat33 body_I_body;
};
idArray<LinkData>::type m_data;
bool m_initialized;
// internal struct holding data extracted from btMultiBody
struct LinkData
{
int parent_index;
JointType joint_type;
vec3 parent_r_parent_body_ref;
mat33 body_T_parent_ref;
vec3 body_axis_of_motion;
idScalar mass;
vec3 body_r_body_com;
mat33 body_I_body;
};
idArray<LinkData>::type m_data;
bool m_initialized;
};
}
} // namespace btInverseDynamics
#endif // BTMULTIBODYTREECREATOR_HPP_