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bullet3/Extras/BulletRobotics/CMakeLists.txt

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CMake
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Add Extras/BulletRobotics, will be installed as 'Extra Libs' using CMake Reduce size of command-logfile (used in PhysicsServer (Logging) and PhysicsServer (Log Replay)) Make Bullet3Common and BulletInverseDynamics part of core Bullet libraries (not optional)
2017-09-06 20:18:39 +00:00
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/examples
add HelloBulletRobotics C++ example with similar API to PyBullet Add ANYmal quadruped robot URDF to pybullet_data
2018-05-24 05:48:45 +00:00
${BULLET_PHYSICS_SOURCE_DIR}/examples/SharedMemory
Add Extras/BulletRobotics, will be installed as 'Extra Libs' using CMake Reduce size of command-logfile (used in PhysicsServer (Logging) and PhysicsServer (Log Replay)) Make Bullet3Common and BulletInverseDynamics part of core Bullet libraries (not optional)
2017-09-06 20:18:39 +00:00
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
)
enable v-hacd in cmake for BulletRobotics and pybullet build (use cmake -DENABLE_VHACD=OFF .. to disable) cmake: enable stable PD plugin (-DDSTATIC_LINK_SPD_PLUGIN) btMultibody, make some args const in mulMatrix
2021-03-01 22:03:48 +00:00
ADD_DEFINITIONS(-DSTATIC_LINK_SPD_PLUGIN)
Add Extras/BulletRobotics, will be installed as 'Extra Libs' using CMake Reduce size of command-logfile (used in PhysicsServer (Logging) and PhysicsServer (Log Replay)) Make Bullet3Common and BulletInverseDynamics part of core Bullet libraries (not optional)
2017-09-06 20:18:39 +00:00
Update the installation of the bullet_robotics package - Create a pc for the bulletRobotics extras package. - Install all necessary includes in include/bullet_robotics. - The .pc add directly the bullet_robotics folder as include directory (TODO, move the bullet robotics in the src folder).
2019-01-17 12:55:10 +00:00
SET(BulletRobotics_INCLUDES
../../examples/CommonInterfaces/Common2dCanvasInterface.h
../../examples/CommonInterfaces/CommonCallbacks.h
../../examples/CommonInterfaces/CommonCameraInterface.h
../../examples/CommonInterfaces/CommonExampleInterface.h
../../examples/CommonInterfaces/CommonFileIOInterface.h
../../examples/CommonInterfaces/CommonGraphicsAppInterface.h
../../examples/CommonInterfaces/CommonGUIHelperInterface.h
../../examples/CommonInterfaces/CommonMultiBodyBase.h
../../examples/CommonInterfaces/CommonParameterInterface.h
../../examples/CommonInterfaces/CommonRenderInterface.h
../../examples/CommonInterfaces/CommonRigidBodyBase.h
../../examples/CommonInterfaces/CommonWindowInterface.h
../../examples/OpenGLWindow/SimpleCamera.h
../../examples/TinyRenderer/geometry.h
../../examples/TinyRenderer/model.h
../../examples/TinyRenderer/tgaimage.h
../../examples/TinyRenderer/our_gl.h
../../examples/TinyRenderer/TinyRenderer.h
../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.h
../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
../../examples/SharedMemory/IKTrajectoryHelper.h
../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h
../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h
../../examples/SharedMemory/InProcessMemory.h
../../examples/SharedMemory/PhysicsServer.h
../../examples/SharedMemory/PhysicsClient.h
../../examples/SharedMemory/PhysicsServerSharedMemory.h
../../examples/SharedMemory/PhysicsDirect.h
../../examples/SharedMemory/PhysicsDirectC_API.h
../../examples/SharedMemory/PhysicsServerCommandProcessor.h
../../examples/SharedMemory/b3PluginManager.h
../../examples/SharedMemory/PhysicsClientSharedMemory.h
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
../../examples/SharedMemory/PhysicsClientC_API.h
../../examples/SharedMemory/SharedMemoryPublic.h
../../examples/SharedMemory/Win32SharedMemory.h
../../examples/SharedMemory/PosixSharedMemory.h
../../examples/Utils/b3ResourcePath.h
../../examples/Utils/RobotLoggingUtil.h
../../examples/Utils/b3Clock.h
../../examples/Utils/b3ResourcePath.h
../../examples/Utils/ChromeTraceUtil.h
../../examples/Utils/b3ERPCFMHelper.hpp
../../examples/Utils/b3ReferenceFrameHelper.hpp
../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.h
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
../../examples/ThirdPartyLibs/stb_image/stb_image.h
../../examples/ThirdPartyLibs/BussIK/Jacobian.h
../../examples/ThirdPartyLibs/BussIK/LinearR2.h
../../examples/ThirdPartyLibs/BussIK/LinearR3.h
../../examples/ThirdPartyLibs/BussIK/LinearR4.h
../../examples/ThirdPartyLibs/BussIK/MatrixRmn.h
../../examples/ThirdPartyLibs/BussIK/Node.h
../../examples/ThirdPartyLibs/BussIK/Tree.h
../../examples/ThirdPartyLibs/BussIK/VectorRn.h
../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.h
../../examples/Importers/ImportObjDemo/LoadMeshFromObj.h
../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h
../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
../../examples/Importers/ImportURDFDemo/URDF2Bullet.h
../../examples/Importers/ImportURDFDemo/UrdfParser.h
../../examples/Importers/ImportURDFDemo/urdfStringSplit.h
../../examples/Importers/ImportURDFDemo/URDFImporterInterface.h
../../examples/Importers/ImportURDFDemo/URDFJointTypes.h
../../examples/Importers/ImportURDFDemo/SDFAudioTypes.h
../../examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h
../../examples/Importers/ImportURDFDemo/MultiBodyCreationInterface.h
../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h
../../examples/MultiThreading/b3PosixThreadSupport.h
../../examples/MultiThreading/b3Win32ThreadSupport.h
../../examples/MultiThreading/b3ThreadSupportInterface.h
)
SET(BulletRobotics_SRCS ${BulletRobotics_INCLUDES}
cmake: move stable pd files from BulletRoboticsGUI to BulletRobotics.
2021-03-04 17:55:35 +00:00
../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp
../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h
../../examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp
../../examples/SharedMemory/plugins/stablePDPlugin/Shape.h
../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp
../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.h
../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.cpp
../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.h
../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.cpp
../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.h
../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.cpp
../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.h
../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp
../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.h
../../examples/OpenGLWindow/SimpleCamera.cpp
../../examples/TinyRenderer/geometry.cpp
../../examples/TinyRenderer/model.cpp
../../examples/TinyRenderer/tgaimage.cpp
../../examples/TinyRenderer/our_gl.cpp
../../examples/TinyRenderer/TinyRenderer.cpp
../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
../../examples/SharedMemory/IKTrajectoryHelper.cpp
../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
../../examples/SharedMemory/InProcessMemory.cpp
../../examples/SharedMemory/PhysicsClient.cpp
../../examples/SharedMemory/PhysicsServer.cpp
../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
../../examples/SharedMemory/PhysicsDirect.cpp
../../examples/SharedMemory/PhysicsDirectC_API.cpp
../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
../../examples/SharedMemory/b3PluginManager.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
../../examples/SharedMemory/PhysicsClientC_API.cpp
../../examples/SharedMemory/Win32SharedMemory.cpp
../../examples/SharedMemory/PosixSharedMemory.cpp
../../examples/Utils/b3ResourcePath.cpp
../../examples/Utils/RobotLoggingUtil.cpp
../../examples/Utils/b3Clock.cpp
../../examples/Utils/b3ResourcePath.cpp
../../examples/Utils/ChromeTraceUtil.cpp
../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
../../examples/ThirdPartyLibs/BussIK/Jacobian.cpp
../../examples/ThirdPartyLibs/BussIK/LinearR2.cpp
../../examples/ThirdPartyLibs/BussIK/LinearR3.cpp
../../examples/ThirdPartyLibs/BussIK/LinearR4.cpp
../../examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp
../../examples/ThirdPartyLibs/BussIK/Misc.cpp
../../examples/ThirdPartyLibs/BussIK/Node.cpp
../../examples/ThirdPartyLibs/BussIK/Tree.cpp
../../examples/ThirdPartyLibs/BussIK/VectorRn.cpp
../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
../../examples/MultiThreading/b3PosixThreadSupport.cpp
../../examples/MultiThreading/b3Win32ThreadSupport.cpp
../../examples/MultiThreading/b3ThreadSupportInterface.cpp
enable v-hacd in cmake for BulletRobotics and pybullet build (use cmake -DENABLE_VHACD=OFF .. to disable) cmake: enable stable PD plugin (-DDSTATIC_LINK_SPD_PLUGIN) btMultibody, make some args const in mulMatrix
2021-03-01 22:03:48 +00:00
)
IF(ENABLE_VHACD)
ADD_DEFINITIONS(-DBT_ENABLE_VHACD)
SET(BulletRobotics_SRCS ${BulletRobotics_SRCS}
../../Extras/VHACD/test/src/main_vhacd.cpp
../../Extras/VHACD/src/VHACD.cpp
../../Extras/VHACD/src/vhacdICHull.cpp
../../Extras/VHACD/src/vhacdManifoldMesh.cpp
../../Extras/VHACD/src/vhacdMesh.cpp
../../Extras/VHACD/src/vhacdVolume.cpp
)
INCLUDE_DIRECTORIES(
../../Extras/VHACD/inc
../../Extras/VHACD/public
Add Extras/BulletRobotics, will be installed as 'Extra Libs' using CMake Reduce size of command-logfile (used in PhysicsServer (Logging) and PhysicsServer (Log Replay)) Make Bullet3Common and BulletInverseDynamics part of core Bullet libraries (not optional)
2017-09-06 20:18:39 +00:00
)
enable v-hacd in cmake for BulletRobotics and pybullet build (use cmake -DENABLE_VHACD=OFF .. to disable) cmake: enable stable PD plugin (-DDSTATIC_LINK_SPD_PLUGIN) btMultibody, make some args const in mulMatrix
2021-03-01 22:03:48 +00:00
ENDIF(ENABLE_VHACD)
Add Extras/BulletRobotics, will be installed as 'Extra Libs' using CMake Reduce size of command-logfile (used in PhysicsServer (Logging) and PhysicsServer (Log Replay)) Make Bullet3Common and BulletInverseDynamics part of core Bullet libraries (not optional)
2017-09-06 20:18:39 +00:00
IF(BUILD_CLSOCKET)
ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
ENDIF(BUILD_CLSOCKET)
IF(WIN32)
IF(BUILD_ENET)
ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
ENDIF(BUILD_ENET)
IF(BUILD_CLSOCKET)
ADD_DEFINITIONS(-DWIN32)
ENDIF(BUILD_CLSOCKET)
ELSE(WIN32)
IF(BUILD_ENET)
ADD_DEFINITIONS(-DHAS_SOCKLEN_T -DBT_ENABLE_ENET)
ENDIF(BUILD_ENET)
IF(BUILD_CLSOCKET)
ADD_DEFINITIONS(${OSDEF})
ENDIF(BUILD_CLSOCKET)
fix #2 for pthread/dl
2018-02-03 03:38:39 +00:00
IF(NOT APPLE)
CMake: Use Threads instead of pthread directly On some systems, such as Android, threads are not provided via `-lpthread`. CMake comes with a built-in module for finding the correct threads library. Use it to fix the linking issue on Android and possibly other systems.
2021-01-20 02:16:51 +00:00
FIND_PACKAGE(Threads)
LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
add HelloBulletRobotics C++ example with similar API to PyBullet Add ANYmal quadruped robot URDF to pybullet_data
2018-05-24 05:48:45 +00:00
ENDIF(NOT APPLE)
Add Extras/BulletRobotics, will be installed as 'Extra Libs' using CMake Reduce size of command-logfile (used in PhysicsServer (Logging) and PhysicsServer (Log Replay)) Make Bullet3Common and BulletInverseDynamics part of core Bullet libraries (not optional)
2017-09-06 20:18:39 +00:00
ENDIF(WIN32)
IF(BUILD_ENET)
Update the installation of the bullet_robotics package - Create a pc for the bulletRobotics extras package. - Install all necessary includes in include/bullet_robotics. - The .pc add directly the bullet_robotics folder as include directory (TODO, move the bullet robotics in the src folder).
2019-01-17 12:55:10 +00:00
set(BulletRobotics_ENET_INCLUDES
../../examples/SharedMemory/PhysicsClientUDP.h
../../examples/SharedMemory/PhysicsClientUDP_C_API.h
../../examples/ThirdPartyLibs/enet/include/enet/win32.h
../../examples/ThirdPartyLibs/enet/include/enet/unix.h
../../examples/ThirdPartyLibs/enet/include/enet/callbacks.h
../../examples/ThirdPartyLibs/enet/include/enet/list.h
../../examples/ThirdPartyLibs/enet/include/enet/protocol.h
)
set(BulletRobotics_ENET_SRCS
../../examples/SharedMemory/PhysicsClientUDP.cpp
../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp
Add Extras/BulletRobotics, will be installed as 'Extra Libs' using CMake Reduce size of command-logfile (used in PhysicsServer (Logging) and PhysicsServer (Log Replay)) Make Bullet3Common and BulletInverseDynamics part of core Bullet libraries (not optional)
2017-09-06 20:18:39 +00:00
../../examples/ThirdPartyLibs/enet/win32.c
../../examples/ThirdPartyLibs/enet/unix.c
../../examples/ThirdPartyLibs/enet/callbacks.c
../../examples/ThirdPartyLibs/enet/compress.c
../../examples/ThirdPartyLibs/enet/host.c
../../examples/ThirdPartyLibs/enet/list.c
../../examples/ThirdPartyLibs/enet/packet.c
../../examples/ThirdPartyLibs/enet/peer.c
../../examples/ThirdPartyLibs/enet/protocol.c
Update the installation of the bullet_robotics package - Create a pc for the bulletRobotics extras package. - Install all necessary includes in include/bullet_robotics. - The .pc add directly the bullet_robotics folder as include directory (TODO, move the bullet robotics in the src folder).
2019-01-17 12:55:10 +00:00
)
set(BulletRobotics_INCLUDES
${BulletRobotics_INCLUDES}
${BulletRobotics_ENET_INCLUDES}
)
set(BulletRobotics_SRCS
${BulletRobotics_SRCS}
${BulletRobotics_ENET_INCLUDES}
${BulletRobotics_ENET_SRCS}
Add Extras/BulletRobotics, will be installed as 'Extra Libs' using CMake Reduce size of command-logfile (used in PhysicsServer (Logging) and PhysicsServer (Log Replay)) Make Bullet3Common and BulletInverseDynamics part of core Bullet libraries (not optional)
2017-09-06 20:18:39 +00:00
)
ENDIF(BUILD_ENET)
IF(BUILD_CLSOCKET)
Update the installation of the bullet_robotics package - Create a pc for the bulletRobotics extras package. - Install all necessary includes in include/bullet_robotics. - The .pc add directly the bullet_robotics folder as include directory (TODO, move the bullet robotics in the src folder).
2019-01-17 12:55:10 +00:00
set(BulletRobotics_CLSOCKET_SRCS
../../examples/SharedMemory/PhysicsClientTCP.cpp
../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp
../../examples/ThirdPartyLibs/clsocket/src/SimpleSocket.cpp
../../examples/ThirdPartyLibs/clsocket/src/ActiveSocket.cpp
../../examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp
)
set(BulletRobotics_SRCS
${BulletRobotics_SRCS}
${BulletRobotics_CLSOCKET_SRCS}
)
Add Extras/BulletRobotics, will be installed as 'Extra Libs' using CMake Reduce size of command-logfile (used in PhysicsServer (Logging) and PhysicsServer (Log Replay)) Make Bullet3Common and BulletInverseDynamics part of core Bullet libraries (not optional)
2017-09-06 20:18:39 +00:00
ENDIF()
ADD_DEFINITIONS(-DPHYSICS_SERVER_DIRECT)
ADD_LIBRARY(BulletRobotics ${BulletRobotics_SRCS})
SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES VERSION ${BULLET_VERSION})
SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES SOVERSION ${BULLET_VERSION})
IF (BUILD_SHARED_LIBS)
TARGET_LINK_LIBRARIES(BulletRobotics BulletInverseDynamicsUtils BulletWorldImporter BulletFileLoader BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamics LinearMath Bullet3Common)
ENDIF (BUILD_SHARED_LIBS)
Update the installation of the bullet_robotics package - Create a pc for the bulletRobotics extras package. - Install all necessary includes in include/bullet_robotics. - The .pc add directly the bullet_robotics folder as include directory (TODO, move the bullet robotics in the src folder).
2019-01-17 12:55:10 +00:00
create BulletRoboticsGUI CMake target, pybullet links against it fix BulletRobotics header install
2020-03-17 06:15:18 +00:00
INSTALL (
DIRECTORY ${CMAKE_SOURCE_DIR}/examples/
DESTINATION include/bullet
FILES_MATCHING PATTERN "*.h*")
Update the installation of the bullet_robotics package - Create a pc for the bulletRobotics extras package. - Install all necessary includes in include/bullet_robotics. - The .pc add directly the bullet_robotics folder as include directory (TODO, move the bullet robotics in the src folder).
2019-01-17 12:55:10 +00:00
Add Extras/BulletRobotics, will be installed as 'Extra Libs' using CMake Reduce size of command-logfile (used in PhysicsServer (Logging) and PhysicsServer (Log Replay)) Make Bullet3Common and BulletInverseDynamics part of core Bullet libraries (not optional)
2017-09-06 20:18:39 +00:00
INSTALL(TARGETS
BulletRobotics
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX}
Update the installation of the bullet_robotics package - Create a pc for the bulletRobotics extras package. - Install all necessary includes in include/bullet_robotics. - The .pc add directly the bullet_robotics folder as include directory (TODO, move the bullet robotics in the src folder).
2019-01-17 12:55:10 +00:00
)
Add Extras/BulletRobotics, will be installed as 'Extra Libs' using CMake Reduce size of command-logfile (used in PhysicsServer (Logging) and PhysicsServer (Log Replay)) Make Bullet3Common and BulletInverseDynamics part of core Bullet libraries (not optional)
2017-09-06 20:18:39 +00:00
Update the installation of the bullet_robotics package - Create a pc for the bulletRobotics extras package. - Install all necessary includes in include/bullet_robotics. - The .pc add directly the bullet_robotics folder as include directory (TODO, move the bullet robotics in the src folder).
2019-01-17 12:55:10 +00:00
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES FRAMEWORK true)
SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES PUBLIC_HEADER "PhysicsClientC_API.h" )
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
IF(NOT MSVC)
CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/bullet_robotics.pc.cmake
${CMAKE_CURRENT_BINARY_DIR}/bullet_robotics.pc @ONLY)
INSTALL(
FILES
${CMAKE_CURRENT_BINARY_DIR}/bullet_robotics.pc
DESTINATION
${PKGCONFIG_INSTALL_PREFIX}
)
disable Extras BulletRobotics by default in cmake
2019-10-28 17:07:22 +00:00
ENDIF(NOT MSVC)
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