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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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139
Engine/lib/bullet/examples/TwoJoint/TwoJointMain.cpp Normal file
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/**
* License: Bullet3 license
* Author: Avik De <avikde@gmail.com>
*/
#include <map>
#include <string>
#include <stdio.h>
#include "../Utils/b3Clock.h"
#include "SharedMemory/PhysicsClientC_API.h"
#include "Bullet3Common/b3Vector3.h"
#include "Bullet3Common/b3Quaternion.h"
#include "SharedMemory/SharedMemoryInProcessPhysicsC_API.h"
extern const int CONTROL_RATE;
const int CONTROL_RATE = 500;
// Bullet globals
b3PhysicsClientHandle kPhysClient = 0;
const b3Scalar FIXED_TIMESTEP = 1.0 / ((b3Scalar)CONTROL_RATE);
// temp vars used a lot
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
int statusType, ret;
b3JointInfo jointInfo;
b3JointSensorState state;
// test
int twojoint;
std::map<std::string, int> jointNameToId;
int main(int argc, char* argv[])
{
#ifdef __APPLE__
kPhysClient = b3CreateInProcessPhysicsServerAndConnectMainThread(argc, argv);
#else
kPhysClient = b3CreateInProcessPhysicsServerAndConnect(argc, argv);
#endif
if (!kPhysClient)
return -1;
// visualizer
command = b3InitConfigureOpenGLVisualizer(kPhysClient);
b3ConfigureOpenGLVisualizerSetVisualizationFlags(command, COV_ENABLE_GUI, 0);
b3SubmitClientCommandAndWaitStatus(kPhysClient, command);
b3ConfigureOpenGLVisualizerSetVisualizationFlags(command, COV_ENABLE_SHADOWS, 0);
b3SubmitClientCommandAndWaitStatus(kPhysClient, command);
b3SetTimeOut(kPhysClient, 10);
//syncBodies is only needed when connecting to an existing physics server that has already some bodies
command = b3InitSyncBodyInfoCommand(kPhysClient);
statusHandle = b3SubmitClientCommandAndWaitStatus(kPhysClient, command);
statusType = b3GetStatusType(statusHandle);
// set fixed time step
command = b3InitPhysicsParamCommand(kPhysClient);
ret = b3PhysicsParamSetTimeStep(command, FIXED_TIMESTEP);
statusHandle = b3SubmitClientCommandAndWaitStatus(kPhysClient, command);
ret = b3PhysicsParamSetRealTimeSimulation(command, false);
statusHandle = b3SubmitClientCommandAndWaitStatus(kPhysClient, command);
b3Assert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
// load test
command = b3LoadUrdfCommandInit(kPhysClient, "TwoJointRobot_wo_fixedJoints.urdf");
int flags = URDF_USE_INERTIA_FROM_FILE;
b3LoadUrdfCommandSetFlags(command, flags);
b3LoadUrdfCommandSetUseFixedBase(command, true);
// q.setEulerZYX(0, 0, 0);
// b3LoadUrdfCommandSetStartOrientation(command, q[0], q[1], q[2], q[3]);
b3LoadUrdfCommandSetUseMultiBody(command, true);
statusHandle = b3SubmitClientCommandAndWaitStatus(kPhysClient, command);
statusType = b3GetStatusType(statusHandle);
b3Assert(statusType == CMD_URDF_LOADING_COMPLETED);
if (statusType == CMD_URDF_LOADING_COMPLETED)
{
twojoint = b3GetStatusBodyIndex(statusHandle);
}
//disable default linear/angular damping
b3SharedMemoryCommandHandle command = b3InitChangeDynamicsInfo(kPhysClient);
double linearDamping = 0;
double angularDamping = 0;
b3ChangeDynamicsInfoSetLinearDamping(command, twojoint, linearDamping);
b3ChangeDynamicsInfoSetAngularDamping(command, twojoint, angularDamping);
statusHandle = b3SubmitClientCommandAndWaitStatus(kPhysClient, command);
int numJoints = b3GetNumJoints(kPhysClient, twojoint);
printf("twojoint numjoints = %d\n", numJoints);
// Loop through all joints
for (int i = 0; i < numJoints; ++i)
{
b3GetJointInfo(kPhysClient, twojoint, i, &jointInfo);
if (jointInfo.m_jointName[0])
{
jointNameToId[std::string(jointInfo.m_jointName)] = i;
}
else
{
continue;
}
// Reset before torque control - see #1459
command = b3JointControlCommandInit2(kPhysClient, twojoint, CONTROL_MODE_VELOCITY);
b3JointControlSetDesiredVelocity(command, jointInfo.m_uIndex, 0);
b3JointControlSetMaximumForce(command, jointInfo.m_uIndex, 0);
statusHandle = b3SubmitClientCommandAndWaitStatus(kPhysClient, command);
}
// loop
unsigned long dtus1 = (unsigned long)1000000.0 * FIXED_TIMESTEP;
double simTimeS = 0;
double q[2], v[2];
while (b3CanSubmitCommand(kPhysClient))
{
simTimeS += 0.000001 * dtus1;
// apply some torque
b3GetJointInfo(kPhysClient, twojoint, jointNameToId["joint_2"], &jointInfo);
command = b3JointControlCommandInit2(kPhysClient, twojoint, CONTROL_MODE_TORQUE);
b3JointControlSetDesiredForceTorque(command, jointInfo.m_uIndex, 0.5 * sin(10 * simTimeS));
statusHandle = b3SubmitClientCommandAndWaitStatus(kPhysClient, command);
// get joint values
command = b3RequestActualStateCommandInit(kPhysClient, twojoint);
statusHandle = b3SubmitClientCommandAndWaitStatus(kPhysClient, command);
b3GetJointState(kPhysClient, statusHandle, jointNameToId["joint_1"], &state);
q[0] = state.m_jointPosition;
v[0] = state.m_jointVelocity;
b3GetJointState(kPhysClient, statusHandle, jointNameToId["joint_2"], &state);
q[1] = state.m_jointPosition;
v[1] = state.m_jointVelocity;
statusHandle = b3SubmitClientCommandAndWaitStatus(kPhysClient, b3InitStepSimulationCommand(kPhysClient));
// debugging output
printf("%.3f\t%.3f\t%.3f\t%.3f\t%.3f\n", simTimeS, q[0], q[1], v[0], v[1]);
b3Clock::usleep(1000. * 1000. * FIXED_TIMESTEP);
}
b3DisconnectSharedMemory(kPhysClient);
return 0;
}