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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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84
Engine/lib/bullet/examples/SharedMemory/BodyJointInfoUtility.h
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@ -5,9 +5,9 @@
namespace Bullet
{
class btMultiBodyDoubleData;
class btMultiBodyFloatData;
};
class btMultiBodyDoubleData;
class btMultiBodyFloatData;
}; // namespace Bullet
inline char* strDup(const char* const str)
{
@ -18,11 +18,18 @@ inline char* strDup(const char* const str)
#endif
}
template <typename T, typename U> void addJointInfoFromMultiBodyData(const T* mb, U* bodyJoints, bool verboseOutput)
template <typename T, typename U>
void addJointInfoFromMultiBodyData(const T* mb, U* bodyJoints, bool verboseOutput)
{
if (mb->m_baseName)
int numDofs = 0;
if (mb->m_baseMass>0)
{
if (verboseOutput)
numDofs = 6;
}
if (mb->m_baseName)
{
if (verboseOutput)
{
b3Printf("mb->m_baseName = %s\n", mb->m_baseName);
}
@ -30,10 +37,12 @@ template <typename T, typename U> void addJointInfoFromMultiBodyData(const T* mb
int qOffset = 7;
int uOffset = 6;
for (int link = 0; link < mb->m_numLinks; link++)
for (int link = 0; link < mb->m_numLinks; link++)
{
{
b3JointInfo info;
info.m_jointName[0] = 0;
info.m_linkName[0] = 0;
info.m_flags = 0;
info.m_jointIndex = link;
info.m_qIndex =
@ -41,37 +50,72 @@ template <typename T, typename U> void addJointInfoFromMultiBodyData(const T* mb
info.m_uIndex =
(0 < mb->m_links[link].m_dofCount) ? uOffset : -1;
if (mb->m_links[link].m_linkName) {
if (verboseOutput) {
if (mb->m_links[link].m_linkName)
{
if (verboseOutput)
{
b3Printf("mb->m_links[%d].m_linkName = %s\n", link,
mb->m_links[link].m_linkName);
mb->m_links[link].m_linkName);
}
info.m_linkName = strDup(mb->m_links[link].m_linkName);
strcpy(info.m_linkName, mb->m_links[link].m_linkName);
}
if (mb->m_links[link].m_jointName) {
if (verboseOutput) {
if (mb->m_links[link].m_jointName)
{
if (verboseOutput)
{
b3Printf("mb->m_links[%d].m_jointName = %s\n", link,
mb->m_links[link].m_jointName);
mb->m_links[link].m_jointName);
}
info.m_jointName = strDup(mb->m_links[link].m_jointName);
strcpy(info.m_jointName, mb->m_links[link].m_jointName);
//info.m_jointName = strDup(mb->m_links[link].m_jointName);
}
info.m_jointType = mb->m_links[link].m_jointType;
info.m_jointDamping = mb->m_links[link].m_jointDamping;
info.m_jointFriction = mb->m_links[link].m_jointFriction;
info.m_jointLowerLimit = mb->m_links[link].m_jointLowerLimit;
info.m_jointUpperLimit = mb->m_links[link].m_jointUpperLimit;
info.m_jointMaxForce = mb->m_links[link].m_jointMaxForce;
info.m_jointMaxVelocity = mb->m_links[link].m_jointMaxVelocity;
info.m_parentFrame[0] = mb->m_links[link].m_parentComToThisPivotOffset.m_floats[0];
info.m_parentFrame[1] = mb->m_links[link].m_parentComToThisPivotOffset.m_floats[1];
info.m_parentFrame[2] = mb->m_links[link].m_parentComToThisPivotOffset.m_floats[2];
info.m_parentFrame[3] = mb->m_links[link].m_zeroRotParentToThis.m_floats[0];
info.m_parentFrame[4] = mb->m_links[link].m_zeroRotParentToThis.m_floats[1];
info.m_parentFrame[5] = mb->m_links[link].m_zeroRotParentToThis.m_floats[2];
info.m_parentFrame[6] = mb->m_links[link].m_zeroRotParentToThis.m_floats[3];
info.m_jointAxis[0] = 0;
info.m_jointAxis[1] = 0;
info.m_jointAxis[2] = 0;
info.m_parentIndex = mb->m_links[link].m_parentIndex;
if (info.m_jointType == eRevoluteType)
{
info.m_jointAxis[0] = mb->m_links[link].m_jointAxisTop[0].m_floats[0];
info.m_jointAxis[1] = mb->m_links[link].m_jointAxisTop[0].m_floats[1];
info.m_jointAxis[2] = mb->m_links[link].m_jointAxisTop[0].m_floats[2];
}
if (info.m_jointType == ePrismaticType)
{
info.m_jointAxis[0] = mb->m_links[link].m_jointAxisBottom[0].m_floats[0];
info.m_jointAxis[1] = mb->m_links[link].m_jointAxisBottom[0].m_floats[1];
info.m_jointAxis[2] = mb->m_links[link].m_jointAxisBottom[0].m_floats[2];
}
if ((mb->m_links[link].m_jointType == eRevoluteType) ||
(mb->m_links[link].m_jointType == ePrismaticType)) {
(mb->m_links[link].m_jointType == ePrismaticType))
{
info.m_flags |= JOINT_HAS_MOTORIZED_POWER;
}
bodyJoints->m_jointInfo.push_back(info);
}
qOffset += mb->m_links[link].m_posVarCount;
uOffset += mb->m_links[link].m_dofCount;
numDofs += mb->m_links[link].m_dofCount;
}
bodyJoints->m_numDofs = numDofs;
}
#endif //BODY_JOINT_INFO_UTILITY_H
#endif //BODY_JOINT_INFO_UTILITY_H