update bullet so it actually works

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.

Engine/lib/bullet/examples/SharedMemory/physx/PhysXC_API.cpp

@@ -0,0 +1,16 @@
+#ifdef BT_ENABLE_PHYSX
+#include "PhysXC_API.h"
+#include "../PhysicsDirect.h"
+#include "PhysXServerCommandProcessor.h"
+
+
+B3_SHARED_API b3PhysicsClientHandle b3ConnectPhysX(int argc, char* argv[])
+{
+	PhysXServerCommandProcessor* sdk = new PhysXServerCommandProcessor(argc,argv);
+
+	PhysicsDirect* direct = new PhysicsDirect(sdk, true);
+	bool connected;
+	connected = direct->connect();
+	return (b3PhysicsClientHandle)direct;
+}
+#endif  //BT_ENABLE_PHYSX

Engine/lib/bullet/examples/SharedMemory/physx/PhysXC_API.h

@@ -0,0 +1,20 @@
+#ifndef PHYSX_C_API_H
+#define PHYSX_C_API_H
+
+#ifdef BT_ENABLE_PHYSX
+
+#include "../PhysicsClientC_API.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+	B3_SHARED_API b3PhysicsClientHandle b3ConnectPhysX(int argc, char* argv[]);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  //BT_ENABLE_PHYSX
+#endif  //PHYSX_C_API_H

Engine/lib/bullet/examples/SharedMemory/physx/PhysXServerCommandProcessor.h

@@ -0,0 +1,57 @@
+#ifndef PHYSX_SERVER_COMMAND_PROCESSOR_H
+#define PHYSX_SERVER_COMMAND_PROCESSOR_H
+
+#include "../PhysicsCommandProcessorInterface.h"
+
+class PhysXServerCommandProcessor : public PhysicsCommandProcessorInterface
+{
+	struct PhysXServerCommandProcessorInternalData* m_data;
+
+	bool processSyncBodyInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processRequestInternalDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processSyncUserDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processLoadURDFCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processRequestBodyInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processForwardDynamicsCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processSendPhysicsParametersCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processRequestActualStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processResetSimulationCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processInitPoseCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processSendDesiredStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processChangeDynamicsInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processRequestPhysicsSimulationParametersCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processRequestContactpointInformationCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processCreateCollisionShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processSetAdditionalSearchPathCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processUserDebugDrawCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processRequestCameraImageCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+
+	bool processCustomCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+
+	void resetSimulation();
+	bool processStateLoggingCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+
+public:
+	PhysXServerCommandProcessor(int argc, char* argv[]);
+
+	virtual ~PhysXServerCommandProcessor();
+
+	virtual bool connect();
+
+	virtual void disconnect();
+
+	virtual bool isConnected() const;
+
+	virtual bool processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+
+	virtual bool receiveStatus(struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+
+	virtual void renderScene(int renderFlags) {}
+	virtual void physicsDebugDraw(int debugDrawFlags) {}
+	virtual void setGuiHelper(struct GUIHelperInterface* guiHelper) {}
+	virtual void setTimeOut(double timeOutInSeconds) {}
+
+	virtual void reportNotifications() {}
+};
+
+#endif  //PHYSX_SERVER_COMMAND_PROCESSOR_H

Engine/lib/bullet/examples/SharedMemory/physx/PhysXUrdfImporter.h

@@ -0,0 +1,116 @@
+#ifndef PHYSX_URDF_IMPORTER_H
+#define PHYSX_URDF_IMPORTER_H
+
+#include "../../Importers/ImportURDFDemo/URDFImporterInterface.h"
+#include "../../Importers/ImportURDFDemo/UrdfRenderingInterface.h"
+
+struct PhysXURDFTexture
+{
+	int m_width;
+	int m_height;
+	unsigned char* textureData1;
+	bool m_isCached;
+};
+
+
+
+
+
+///PhysXURDFImporter can deal with URDF and SDF files
+class PhysXURDFImporter : public URDFImporterInterface
+{
+	struct PhysXURDFInternalData* m_data;
+
+public:
+	PhysXURDFImporter(struct CommonFileIOInterface* fileIO=0,double globalScaling=1, int flags=0);
+
+	virtual ~PhysXURDFImporter();
+
+	virtual bool loadURDF(const char* fileName, bool forceFixedBase = false);
+
+	//warning: some quick test to load SDF: we 'activate' a model, so we can re-use URDF code path
+	virtual bool loadSDF(const char* fileName, bool forceFixedBase = false);
+	virtual int getNumModels() const;
+	virtual void activateModel(int modelIndex);
+	virtual void setBodyUniqueId(int bodyId);
+	virtual int getBodyUniqueId() const;
+	const char* getPathPrefix();
+
+	void printTree();  //for debugging
+
+	virtual int getRootLinkIndex() const;
+
+	virtual void getLinkChildIndices(int linkIndex, btAlignedObjectArray<int>& childLinkIndices) const;
+
+	virtual std::string getBodyName() const;
+
+	virtual std::string getLinkName(int linkIndex) const;
+
+	virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;
+
+	virtual bool getLinkColor2(int linkIndex, UrdfMaterialColor& matCol) const;
+
+	virtual void setLinkColor2(int linkIndex, struct UrdfMaterialColor& matCol) const;
+
+	virtual bool getLinkContactInfo(int urdflinkIndex, URDFLinkContactInfo& contactInfo) const;
+
+	virtual bool getLinkAudioSource(int linkIndex, SDFAudioSource& audioSource) const;
+
+	virtual std::string getJointName(int linkIndex) const;
+
+	virtual void getMassAndInertia(int linkIndex, btScalar& mass, btVector3& localInertiaDiagonal, btTransform& inertialFrame) const;
+	virtual void getMassAndInertia2(int urdfLinkIndex, btScalar& mass, btVector3& localInertiaDiagonal, btTransform& inertialFrame, int flags) const;
+
+	virtual bool getJointInfo(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction) const;
+	virtual bool getJointInfo2(int urdfLinkIndex, btTransform& parent2joint, btTransform& linkTransformInWorld, btVector3& jointAxisInJointSpace, int& jointType, btScalar& jointLowerLimit, btScalar& jointUpperLimit, btScalar& jointDamping, btScalar& jointFriction, btScalar& jointMaxForce, btScalar& jointMaxVelocity) const;
+
+	virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const;
+	virtual void setRootTransformInWorld(const btTransform& rootTransformInWorld);
+
+	
+
+	virtual int convertLinkVisualShapes3(
+		int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame,
+		const struct UrdfLink* linkPtr, const UrdfModel* model,
+		int collisionObjectUniqueId, int bodyUniqueId, struct   CommonFileIOInterface* fileIO) const;
+
+	virtual void convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionObject* colObj, int bodyUniqueId) const;
+
+	class btCollisionShape* convertURDFToCollisionShape(const struct UrdfCollision* collision, const char* urdfPathPrefix) const
+	{
+		return 0;
+	}
+
+	virtual int getUrdfFromCollisionShape(const btCollisionShape* collisionShape, UrdfCollision& collision) const;
+
+	///todo(erwincoumans) refactor this convertLinkCollisionShapes/memory allocation
+
+	virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const
+	{
+		return 0;
+	}
+
+	virtual const struct UrdfLink* getUrdfLink(int urdfLinkIndex) const;
+
+	virtual const struct UrdfModel* getUrdfModel() const;
+
+	virtual int getCollisionGroupAndMask(int linkIndex, int& colGroup, int& colMask) const;
+
+	virtual int getNumAllocatedCollisionShapes() const;
+	virtual class btCollisionShape* getAllocatedCollisionShape(int index);
+
+	virtual int getNumAllocatedMeshInterfaces() const;
+	virtual class btStridingMeshInterface* getAllocatedMeshInterface(int index);
+
+	virtual int getNumAllocatedTextures() const;
+	virtual int getAllocatedTexture(int index) const;
+
+	virtual void setEnableTinyRenderer(bool enable);
+	//void convertURDFToVisualShapeInternal(const struct UrdfVisual* visual, const char* urdfPathPrefix, const class btTransform& visualTransform, btAlignedObjectArray<struct GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<struct PhysXURDFTexture>& texturesOut, struct b3ImportMeshData& meshData) const;
+
+
+	int getNumPhysXLinks() const;
+
+};
+
+#endif  //PHYSX_URDF_IMPORTER_H

Engine/lib/bullet/examples/SharedMemory/physx/PhysXUserData.h

@@ -0,0 +1,10 @@
+#ifndef PHYSX_USER_DATA_H
+#define PHYSX_USER_DATA_H
+
+struct MyPhysXUserData
+{
+	int m_graphicsUniqueId;
+	int m_bodyUniqueId;
+	int m_linkIndex;
+};
+#endif //PHYSX_USER_DATA_H

Engine/lib/bullet/examples/SharedMemory/physx/URDF2PhysX.h

@@ -0,0 +1,26 @@
+#ifndef URDF2PHYSX_H
+#define URDF2PHYSX_H
+
+#include "Bullet3Common/b3AlignedObjectArray.h"
+#include "../../Importers/ImportURDFDemo/URDFJointTypes.h"
+
+namespace physx
+{
+	class PxBase;
+	class PxFoundation;
+	class PxPhysics;
+	class PxDefaultCpuDispatcher;
+	class PxScene;
+	class PxCooking;
+	class PxArticulationReducedCoordinate;
+};
+
+struct UrdfVisualShapeCache2
+{
+	b3AlignedObjectArray<UrdfMaterialColor> m_cachedUrdfLinkColors;
+	b3AlignedObjectArray<int> m_cachedUrdfLinkVisualShapeIndices;
+};
+
+physx::PxBase* URDF2PhysX(physx::PxFoundation* foundation, physx::PxPhysics* physics, physx::PxCooking* cooking, physx::PxScene* scene, class PhysXURDFImporter& u2p, int flags, const char* pathPrefix, const class btTransform& rootTransformInWorldSpace,struct CommonFileIOInterface* fileIO, bool createActiculation);
+
+#endif //URDF2PHYSX_H