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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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415
Engine/lib/bullet/data/Base_2.urdf Normal file
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@ -0,0 +1,415 @@
<?xml version="1.0"?>
<!--https://valerolab.org/-->
<!--
Code used for PID control of an inverted pendulum actuated by strings.
-->
<robot name="myfirst">
<material name="blue">
<color rgba="0 0 0.8 1"/>
</material>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
<material name="other">
<color rgba="1 0 0.8 1"/>
</material>
<velocity name="vel">
<speed spd="50"/>
</velocity>
<link name="Base">
<visual>
<geometry>
<box size="0.3 0.3 1.5"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<geometry>
<box size="0.3 0.3 1.5"/>
</geometry>
</collision>
<inertial>
<mass value="100"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<link name="pulley1">
<visual>
<geometry>
<cylinder length=".1" radius=".5"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<geometry>
<cylinder length=".1" radius=".5"/>
</geometry>
</collision>
<inertial>
<mass value="2"/>
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<joint name="Base_pulley1" type="revolute">
<axis xyz="0 0 1"/>
<parent link="Base"/>
<child link="pulley1"/>
<limit effort="0" lower="1" upper="0" velocity="50"/>
<origin rpy="-1.57075 1.57075 0" xyz="0 .35 .15"/>
</joint>
<link name="tendon1_1">
<visual>
<geometry>
<cylinder length=".1" radius=".05"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<geometry>
<cylinder length=".1" radius=".05"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<joint name="pulley1_tendon1_1" type="revolute">
<axis xyz="0 0 1"/>
<parent link="pulley1"/>
<child link="tendon1_1"/>
<limit effort="0" lower="1" upper="0" velocity="50"/>
<origin rpy="0 0 3.1416" xyz="0 .55 0"/>
</joint>
<link name="tendon1_2">
<visual>
<geometry>
<cylinder length=".1" radius=".05"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<geometry>
<cylinder length=".1" radius=".05"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<joint name="tendon1_1_tendon1_2" type="revolute">
<axis xyz="0 0 1"/>
<parent link="tendon1_1"/>
<child link="tendon1_2"/>
<limit effort="0" lower="1" upper="0" velocity="50"/>
<origin rpy="0 0 0" xyz=".2 0 0"/>
</joint>
<link name="tendon1_3">
<visual>
<geometry>
<cylinder length=".1" radius=".05"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<geometry>
<cylinder length=".1" radius=".05"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<joint name="tendon1_2_tendon1_3" type="revolute">
<axis xyz="0 0 1"/>
<parent link="tendon1_2"/>
<child link="tendon1_3"/>
<limit effort="0" lower="1" upper="0" velocity="50"/>
<origin rpy="0 0 0" xyz=".2 0 0"/>
</joint>
<link name="tendon1_4">
<visual>
<geometry>
<cylinder length=".1" radius=".05"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<geometry>
<cylinder length=".1" radius=".05"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<joint name="tendon1_3_tendon1_4" type="revolute">
<axis xyz="0 0 1"/>
<parent link="tendon1_3"/>
<child link="tendon1_4"/>
<limit effort="0" lower="1" upper="0" velocity="50"/>
<origin rpy="0 0 1" xyz=".2 0 0"/>
</joint>
<link name="tendon1_5">
<visual>
<geometry>
<cylinder length=".1" radius=".05"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<geometry>
<cylinder length=".1" radius=".05"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<joint name="tendon1_4_tendon1_5" type="revolute">
<axis xyz="0 0 1"/>
<parent link="tendon1_4"/>
<child link="tendon1_5"/>
<limit effort="0" lower="1" upper="0" velocity="50"/>
<origin rpy="0 0 1" xyz=".2 0 0"/>
</joint>
<link name="tendon1_6">
<visual>
<geometry>
<cylinder length=".1" radius=".05"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<geometry>
<cylinder length=".1" radius=".05"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<joint name="tendon1_5_tendon1_6" type="revolute">
<axis xyz="0 0 1"/>
<parent link="tendon1_5"/>
<child link="tendon1_6"/>
<limit effort="0" lower="1" upper="0" velocity="50"/>
<origin rpy="0 0 0" xyz=".2 0 0"/>
</joint>
<link name="tendon1_7">
<visual>
<geometry>
<cylinder length=".1" radius=".05"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<geometry>
<cylinder length=".1" radius=".05"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<joint name="tendon1_6_tendon1_7" type="revolute">
<axis xyz="0 0 1"/>
<parent link="tendon1_6"/>
<child link="tendon1_7"/>
<limit effort="0" lower="1" upper="0" velocity="50"/>
<origin rpy="0 0 0" xyz=".2 0 0"/>
</joint>
<link name="tendon1_8">
<visual>
<geometry>
<cylinder length=".1" radius=".05"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<geometry>
<cylinder length=".1" radius=".05"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<joint name="tendon1_7_tendon1_8" type="revolute">
<axis xyz="0 0 1"/>
<parent link="tendon1_7"/>
<child link="tendon1_8"/>
<limit effort="0" lower="1" upper="0" velocity="50"/>
<origin rpy="0 0 0" xyz=".2 0 0"/>
</joint>
<link name="tendon1_9">
<visual>
<geometry>
<cylinder length=".1" radius=".05"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<geometry>
<cylinder length=".1" radius=".05"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<joint name="tendon1_8_tendon1_9" type="revolute">
<axis xyz="0 0 1"/>
<parent link="tendon1_8"/>
<child link="tendon1_9"/>
<limit effort="0" lower="1" upper="0" velocity="50"/>
<origin rpy="0 0 0" xyz=".2 0 0"/>
</joint>
<link name="tendon1_10">
<visual>
<geometry>
<cylinder length=".1" radius=".05"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<geometry>
<cylinder length=".1" radius=".05"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<joint name="tendon1_9_tendon1_10" type="revolute">
<axis xyz="0 0 1"/>
<parent link="tendon1_9"/>
<child link="tendon1_10"/>
<limit effort="0" lower="1" upper="0" velocity="50"/>
<origin rpy="0 0 0" xyz=".2 0 0"/>
</joint>
<link name="tendon1_11">
<visual>
<geometry>
<cylinder length=".1" radius=".05"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<geometry>
<cylinder length=".1" radius=".05"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<joint name="tendon1_10_tendon1_11" type="revolute">
<axis xyz="0 0 1"/>
<parent link="tendon1_10"/>
<child link="tendon1_11"/>
<limit effort="0" lower="1" upper="0" velocity="50"/>
<origin rpy="0 0 0" xyz=".2 0 0"/>
</joint>
<link name="tendon1_12">
<visual>
<geometry>
<cylinder length=".1" radius=".05"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<geometry>
<cylinder length=".1" radius=".05"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<joint name="tendon1_11_tendon1_12" type="revolute">
<axis xyz="0 0 1"/>
<parent link="tendon1_11"/>
<child link="tendon1_12"/>
<limit effort="0" lower="1" upper="0" velocity="50"/>
<origin rpy="0 0 0" xyz=".2 0 0"/>
</joint>
<link name="tendon1_13">
<visual>
<geometry>
<cylinder length=".1" radius=".05"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<geometry>
<cylinder length=".1" radius=".05"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<joint name="tendon1_12_tendon1_13" type="revolute">
<axis xyz="0 0 1"/>
<parent link="tendon1_12"/>
<child link="tendon1_13"/>
<limit effort="0" lower="1" upper="0" velocity="50"/>
<origin rpy="0 0 0" xyz=".2 0 0"/>
</joint>
<link name="tendon1_14">
<visual>
<geometry>
<cylinder length=".1" radius=".05"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<geometry>
<cylinder length=".1" radius=".05"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
</inertial>
</link>
<joint name="tendon1_13_tendon1_14" type="revolute">
<axis xyz="0 0 1"/>
<parent link="tendon1_13"/>
<child link="tendon1_14"/>
<limit effort="0" lower="1" upper="0" velocity="50"/>
<origin rpy="0 0 0" xyz=".2 0 0"/>
</joint>
</robot>