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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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39
Engine/lib/bullet/examples/TwoJoint/compareBulletMATLAB.m Normal file
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% License: Bullet3 license
% Author: Avik De <avikde@gmail.com>
robot = importrobot('../../data/TwoJointRobot_wo_fixedJoints.urdf');
show(robot)
robot.DataFormat = 'column';
X0 = zeros(4,1);
options = odeset('MaxStep',5e-3);
[t,X] = ode45(@(t, X) myDyn(t, X, robot), [0,5], X0, options);
subplot(211)
hold all
plot(t, X(:,1))
plot(b3output500(:,1), b3output500(:,2), '--')
plot(t, X(:,2))
plot(b3output500(:,1), b3output500(:,3), '--')
legend('m1','b1','m2','b2')
ylabel('pos')
subplot(212)
hold all
plot(t, X(:,3))
plot(b3output500(:,1), b3output500(:,4), '--')
plot(t, X(:,4))
plot(b3output500(:,1), b3output500(:,5), '--')
legend('m1','b1','m2','b2')
ylabel('vel')
hold off
function Xd = myDyn(t, X, robot)
q = X(1:2);
qd = X(3:4);
qdd = forwardDynamics(robot, q, qd, [0;0.5*sin(10*t)]);
Xd = [qd;qdd];
end