bullet3/setup.py

from setuptools import find_packages
from sys import platform as _platform
import sys
import glob
import os

from distutils.core import setup
from distutils.extension import Extension
from distutils.util import get_platform
from glob import glob

# monkey-patch for parallel compilation
import multiprocessing
import multiprocessing.pool


def parallelCCompile(self,
                     sources,
                     output_dir=None,
                     macros=None,
                     include_dirs=None,
                     debug=0,
                     extra_preargs=None,
                     extra_postargs=None,
                     depends=None):
  # those lines are copied from distutils.ccompiler.CCompiler directly
  macros, objects, extra_postargs, pp_opts, build = self._setup_compile(
      output_dir, macros, include_dirs, sources, depends, extra_postargs)
  cc_args = self._get_cc_args(pp_opts, debug, extra_preargs)
  # parallel code
  N = 2 * multiprocessing.cpu_count()  # number of parallel compilations
  try:
    # On Unix-like platforms attempt to obtain the total memory in the
    # machine and limit the number of parallel jobs to the number of Gbs
    # of RAM (to avoid killing smaller platforms like the Pi)
    mem = os.sysconf('SC_PHYS_PAGES') * os.sysconf('SC_PAGE_SIZE')  # bytes
  except (AttributeError, ValueError):
    # Couldn't query RAM; don't limit parallelism (it's probably a well
    # equipped Windows / Mac OS X box)
    pass
  else:
    mem = max(1, int(round(mem / 1024**3)))  # convert to Gb
    N = min(mem, N)

  def _single_compile(obj):
    try:
      src, ext = build[obj]
    except KeyError:
      return
    newcc_args = cc_args
    if _platform == "darwin":
      if src.endswith('.cpp'):
        newcc_args = cc_args + ["-mmacosx-version-min=10.7", "-stdlib=libc++"]
    self._compile(obj, src, ext, newcc_args, extra_postargs, pp_opts)

  # convert to list, imap is evaluated on-demand
  pool = multiprocessing.pool.ThreadPool(N)
  list(pool.imap(_single_compile, objects))
  return objects


import distutils.ccompiler
distutils.ccompiler.CCompiler.compile = parallelCCompile

#see http://stackoverflow.com/a/8719066/295157
import os

platform = get_platform()
print(platform)

CXX_FLAGS = ''
CXX_FLAGS += '-DGWEN_COMPILE_STATIC '
CXX_FLAGS += '-DBT_USE_DOUBLE_PRECISION '
CXX_FLAGS += '-DBT_ENABLE_ENET '
CXX_FLAGS += '-DBT_ENABLE_CLSOCKET '
CXX_FLAGS += '-DB3_DUMP_PYTHON_VERSION '
CXX_FLAGS += '-DEGL_ADD_PYTHON_INIT '
CXX_FLAGS += '-DB3_ENABLE_FILEIO_PLUGIN '
CXX_FLAGS += '-DB3_USE_ZIPFILE_FILEIO '
CXX_FLAGS += '-DBT_THREADSAFE=1 '
CXX_FLAGS += '-DSTATIC_LINK_SPD_PLUGIN '

EGL_CXX_FLAGS = ''

# libraries += [current_python]

libraries = []
include_dirs = []

try:
  import numpy
  NP_DIRS = [numpy.get_include()]
except:
  print("numpy is disabled. getCameraImage maybe slower.")
else:
  print("numpy is enabled.")
  CXX_FLAGS += '-DPYBULLET_USE_NUMPY '
  for d in NP_DIRS:
    print("numpy_include_dirs = %s" % d)
  include_dirs += NP_DIRS

sources = ["examples/pybullet/pybullet.c"]\
+["src/btLinearMathAll.cpp"]\
+["src/btBulletCollisionAll.cpp"]\
+["src/btBulletDynamicsAll.cpp"]\
+["examples/ExampleBrowser/InProcessExampleBrowser.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/pdControlPlugin/pdControlPlugin.cpp"]\
+["examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp"]\
+["examples/SharedMemory/plugins/fileIOPlugin/fileIOPlugin.cpp"]\
+["examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp"]\
+["examples/SharedMemory/IKTrajectoryHelper.cpp"]\
+["examples/SharedMemory/InProcessMemory.cpp"]\
+["examples/SharedMemory/PhysicsClient.cpp"]\
+["examples/SharedMemory/PhysicsServer.cpp"]\
+["examples/SharedMemory/GraphicsClientExample.cpp"]\
+["examples/SharedMemory/RemoteGUIHelper.cpp"]\
+["examples/SharedMemory/PhysicsServerExample.cpp"]\
+["examples/SharedMemory/PhysicsServerExampleBullet2.cpp"]\
+["examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp"]\
+["examples/SharedMemory/PhysicsServerSharedMemory.cpp"]\
+["examples/SharedMemory/PhysicsDirect.cpp"]\
+["examples/SharedMemory/PhysicsDirectC_API.cpp"]\
+["examples/SharedMemory/PhysicsServerCommandProcessor.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/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp"]\
+["examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp"]\
+["examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp"]\
+["examples/SharedMemory/plugins/stablePDPlugin/KinTree.cpp"]\
+["examples/SharedMemory/plugins/stablePDPlugin/MathUtil.cpp"]\
+["examples/SharedMemory/plugins/stablePDPlugin/RBDModel.cpp"]\
+["examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp"]\
+["examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp"]\
+["examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp"]\
+["examples/SharedMemory/PhysicsClientUDP.cpp"]\
+["examples/SharedMemory/PhysicsClientUDP_C_API.cpp"]\
+["examples/SharedMemory/PhysicsClientTCP.cpp"]\
+["examples/SharedMemory/PhysicsClientTCP_C_API.cpp"]\
+["examples/SharedMemory/b3PluginManager.cpp"]\
+["examples/Utils/b3ResourcePath.cpp"]\
+["examples/Utils/RobotLoggingUtil.cpp"]\
+["examples/Utils/ChromeTraceUtil.cpp"]\
+["examples/Utils/b3Clock.cpp"]\
+["examples/Utils/b3Quickprof.cpp"]\
+["examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp"]\
+["examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp"]\
+["examples/ThirdPartyLibs/stb_image/stb_image.cpp"]\
+["examples/ThirdPartyLibs/stb_image/stb_image_write.cpp"]\
+["examples/ThirdPartyLibs/minizip/ioapi.c"]\
+["examples/ThirdPartyLibs/minizip/unzip.c"]\
+["examples/ThirdPartyLibs/minizip/zip.c"]\
+["examples/ThirdPartyLibs/zlib/adler32.c"]\
+["examples/ThirdPartyLibs/zlib/compress.c"]\
+["examples/ThirdPartyLibs/zlib/crc32.c"]\
+["examples/ThirdPartyLibs/zlib/deflate.c"]\
+["examples/ThirdPartyLibs/zlib/gzclose.c"]\
+["examples/ThirdPartyLibs/zlib/gzlib.c"]\
+["examples/ThirdPartyLibs/zlib/gzread.c"]\
+["examples/ThirdPartyLibs/zlib/gzwrite.c"]\
+["examples/ThirdPartyLibs/zlib/infback.c"]\
+["examples/ThirdPartyLibs/zlib/inffast.c"]\
+["examples/ThirdPartyLibs/zlib/inflate.c"]\
+["examples/ThirdPartyLibs/zlib/inftrees.c"]\
+["examples/ThirdPartyLibs/zlib/trees.c"]\
+["examples/ThirdPartyLibs/zlib/uncompr.c"]\
+["examples/ThirdPartyLibs/zlib/zutil.c"]\
+["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"]\
+["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"]\
+["examples/ExampleBrowser/OpenGLGuiHelper.cpp"]\
+["examples/ExampleBrowser/OpenGLExampleBrowser.cpp"]\
+["examples/ExampleBrowser/CollisionShape2TriangleMesh.cpp"]\
+["examples/ExampleBrowser/GL_ShapeDrawer.cpp"]\
+["examples/OpenGLWindow/SimpleOpenGL2Renderer.cpp"]\
+["examples/OpenGLWindow/GLInstancingRenderer.cpp"]\
+["examples/OpenGLWindow/SimpleOpenGL3App.cpp"]\
+["examples/OpenGLWindow/GLPrimitiveRenderer.cpp"]\
+["examples/OpenGLWindow/TwFonts.cpp"]\
+["examples/OpenGLWindow/GLRenderToTexture.cpp"]\
+["examples/OpenGLWindow/LoadShader.cpp"]\
+["examples/OpenGLWindow/OpenSans.cpp"]\
+["examples/OpenGLWindow/SimpleCamera.cpp"]\
+["examples/OpenGLWindow/fontstash.cpp"]\
+["examples/OpenGLWindow/SimpleOpenGL2App.cpp"]\
+["examples/OpenGLWindow/opengl_fontstashcallbacks.cpp"]\
+["examples/ExampleBrowser/GwenGUISupport/GraphingTexture.cpp"]\
+["examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.cpp"]\
+["examples/ExampleBrowser/GwenGUISupport/gwenUserInterface.cpp"]\
+["examples/ExampleBrowser/GwenGUISupport/GwenParameterInterface.cpp"]\
+["examples/ExampleBrowser/GwenGUISupport/GwenTextureWindow.cpp"]\
+["src/Bullet3Common/b3AlignedAllocator.cpp"]\
+["src/Bullet3Common/b3Logging.cpp"]\
+["src/Bullet3Common/b3Vector3.cpp"]\
+["examples/ThirdPartyLibs/clsocket/src/ActiveSocket.cpp"]\
+["examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp"]\
+["examples/ThirdPartyLibs/clsocket/src/SimpleSocket.cpp"]\
+["Extras/Serialize/BulletFileLoader/bChunk.cpp"]\
+["Extras/Serialize/BulletFileLoader/bDNA.cpp"]\
+["Extras/Serialize/BulletFileLoader/bFile.cpp"]\
+["Extras/Serialize/BulletFileLoader/btBulletFile.cpp"]\
+["Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.cpp"]\
+["Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp"]\
+["Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp"]\
+["Extras/InverseDynamics/CloneTreeCreator.cpp"]\
+["Extras/InverseDynamics/IDRandomUtil.cpp"]\
+["Extras/InverseDynamics/MultiBodyTreeDebugGraph.cpp"]\
+["Extras/InverseDynamics/User2InternalIndex.cpp"]\
+["Extras/InverseDynamics/CoilCreator.cpp"]\
+["Extras/InverseDynamics/MultiBodyNameMap.cpp"]\
+["Extras/InverseDynamics/RandomTreeCreator.cpp"]\
+["Extras/InverseDynamics/btMultiBodyTreeCreator.cpp"]\
+["Extras/InverseDynamics/DillCreator.cpp"]\
+["Extras/InverseDynamics/MultiBodyTreeCreator.cpp"]\
+["Extras/InverseDynamics/SimpleTreeCreator.cpp"]\
+["Extras/InverseDynamics/invdyn_bullet_comparison.cpp"]\
+["src/BulletSoftBody/btDefaultSoftBodySolver.cpp"]\
+["src/BulletSoftBody/btSoftBodyHelpers.cpp"]\
+["src/BulletSoftBody/btSoftRigidCollisionAlgorithm.cpp"]\
+["src/BulletSoftBody/btSoftBody.cpp"]\
+["src/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.cpp"]\
+["src/BulletSoftBody/btSoftRigidDynamicsWorld.cpp"]\
+["src/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.cpp"]\
+["src/BulletSoftBody/btSoftMultiBodyDynamicsWorld.cpp"]\
+["src/BulletSoftBody/btSoftSoftCollisionAlgorithm.cpp"]\
+["src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp"]\
+["src/BulletSoftBody/btDeformableBodySolver.cpp"]\
+["src/BulletSoftBody/btDeformableContactProjection.cpp"]\
+["src/BulletSoftBody/btDeformableContactConstraint.cpp"]\
+["src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp"]\
+["src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp"]\
+["src/BulletSoftBody/poly34.cpp"]\
+["src/BulletInverseDynamics/IDMath.cpp"]\
+["src/BulletInverseDynamics/MultiBodyTree.cpp"]\
+["src/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp"]\
+["src/BulletInverseDynamics/details/MultiBodyTreeInitCache.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/ThirdPartyLibs/Gwen/Anim.cpp"]\
+["examples/ThirdPartyLibs/Gwen/DragAndDrop.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Hook.cpp"]\
+["examples/ThirdPartyLibs/Gwen/ToolTip.cpp"]\
+["examples/ThirdPartyLibs/Gwen/events.cpp"]\
+["examples/ThirdPartyLibs/Gwen/BaseRender.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Gwen.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Skin.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Utility.cpp"]\
+["examples/ThirdPartyLibs/Gwen/inputhandler.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/Base.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/Button.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/Canvas.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/CheckBox.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/ColorControls.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/ColorPicker.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/ComboBox.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/CrossSplitter.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/DockBase.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/DockedTabControl.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/Dragger.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/GroupBox.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/HSVColorPicker.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/HorizontalScrollBar.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/ImagePanel.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/HorizontalSlider.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/Label.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/LabelClickable.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/ListBox.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/MenuItem.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/Menu.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/MenuStrip.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/NumericUpDown.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/PanelListPanel.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/ProgressBar.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/Properties.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/RadioButton.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/RadioButtonController.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/ResizableControl.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/Resizer.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/RichLabel.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/ScrollBar.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/ScrollBarBar.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/ScrollBarButton.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/ScrollControl.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/Slider.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/SplitterBar.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/TabButton.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/TabControl.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/TabStrip.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/Text.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/TextBox.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/TextBoxNumeric.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/TreeControl.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/TreeNode.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/VerticalScrollBar.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/VerticalSlider.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/WindowControl.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/Dialog/FileOpen.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/Dialog/FileSave.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Controls/Dialog/Query.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Platforms/Null.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Platforms/Windows.cpp"]\
+["examples/ThirdPartyLibs/Gwen/Renderers/OpenGL_DebugFont.cpp"]\



egl_renderer_sources = \
["examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp"]\
+["examples/SharedMemory/plugins/eglPlugin/eglRendererPlugin.cpp"]\
+["examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp"]\
+["examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp"]\
+["examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp"]\
+["examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp"]\
+["examples/TinyRenderer/geometry.cpp"]\
+["examples/TinyRenderer/model.cpp"]\
+["examples/TinyRenderer/tgaimage.cpp"]\
+["examples/TinyRenderer/our_gl.cpp"]\
+["examples/TinyRenderer/TinyRenderer.cpp"]\
+["examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp"]\
+["examples/ThirdPartyLibs/stb_image/stb_image.cpp"]\
+["examples/ThirdPartyLibs/stb_image/stb_image_write.cpp"]\
+["examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp"]\
+["examples/OpenGLWindow/SimpleCamera.cpp"]\
+["examples/Utils/b3Clock.cpp"]\
+["examples/Utils/b3ResourcePath.cpp"]\
+["src/BulletCollision/CollisionShapes/btShapeHull.cpp"]\
+["src/BulletCollision/CollisionShapes/btConvexHullShape.cpp"]\
+["src/BulletCollision/CollisionShapes/btBoxShape.cpp"]\
+["src/BulletCollision/CollisionShapes/btSphereShape.cpp"]\
+["src/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp"]\
+["src/BulletCollision/CollisionShapes/btConvexShape.cpp"]\
+["src/BulletCollision/CollisionShapes/btCollisionShape.cpp"]\
+["src/BulletCollision/CollisionShapes/btConvexPolyhedron.cpp"]\
+["src/BulletCollision/CollisionShapes/btConvexInternalShape.cpp"]\
+["src/Bullet3Common/b3Logging.cpp"]\
+["src/LinearMath/btAlignedAllocator.cpp"]\
+["src/LinearMath/btConvexHull.cpp"]\
+["src/LinearMath/btConvexHullComputer.cpp"] \
+["src/LinearMath/btGeometryUtil.cpp"]\
+["src/LinearMath/btQuickprof.cpp"] \
+["src/LinearMath/btThreads.cpp"] \
+["src/Bullet3Common/b3AlignedAllocator.cpp"] \
+["examples/ThirdPartyLibs/glad/gl.c"]\
+["examples/OpenGLWindow/GLInstancingRenderer.cpp"]\
+["examples/OpenGLWindow/GLRenderToTexture.cpp"] \
+["examples/OpenGLWindow/LoadShader.cpp"]

if 'BT_USE_EGL' in CXX_FLAGS:
  sources += ['examples/ThirdPartyLibs/glad/egl.c']
  sources += ['examples/OpenGLWindow/EGLOpenGLWindow.cpp']

if _platform == "linux" or _platform == "linux2":
  libraries = ['dl', 'pthread']
  CXX_FLAGS += '-D_LINUX '
  CXX_FLAGS += '-DGLEW_STATIC '
  CXX_FLAGS += '-DGLEW_INIT_OPENGL11_FUNCTIONS=1 '
  CXX_FLAGS += '-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1 '
  CXX_FLAGS += '-DDYNAMIC_LOAD_X11_FUNCTIONS '
  CXX_FLAGS += '-DHAS_SOCKLEN_T '
  CXX_FLAGS += '-fno-inline-functions-called-once '
  CXX_FLAGS += '-fvisibility=hidden '
  CXX_FLAGS += '-fvisibility-inlines-hidden '
  EGL_CXX_FLAGS += '-DBT_USE_EGL '
  EGL_CXX_FLAGS += '-fPIC '  # for plugins

  sources = sources + ["examples/ThirdPartyLibs/enet/unix.c"]\
  +["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
  +["examples/ThirdPartyLibs/glad/gl.c"]\
  +["examples/ThirdPartyLibs/glad/glx.c"]
  include_dirs += ["examples/ThirdPartyLibs/optionalX11"]

  if 'BT_USE_EGL' in EGL_CXX_FLAGS:
    egl_renderer_sources = egl_renderer_sources\
    +["examples/OpenGLWindow/EGLOpenGLWindow.cpp"]\
    +['examples/ThirdPartyLibs/glad/egl.c']
  else:
    egl_renderer_sources = egl_renderer_sources\
    +["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
    +["examples/ThirdPartyLibs/glad/glx.c"]

elif _platform == "win32":
  print("win32!")
  libraries = ['Ws2_32', 'Winmm', 'User32', 'Opengl32', 'kernel32', 'glu32', 'Gdi32', 'Comdlg32']
  CXX_FLAGS += '-DWIN32 '
  CXX_FLAGS += '-DGLEW_STATIC '
  sources = sources + ["examples/ThirdPartyLibs/enet/win32.c"]\
  +["examples/OpenGLWindow/Win32Window.cpp"]\
  +["examples/OpenGLWindow/Win32OpenGLWindow.cpp"]\
  +["examples/ThirdPartyLibs/glad/gl.c"]
elif _platform == "darwin":
  print("darwin!")
  os.environ['LDFLAGS'] = '-framework Cocoa -mmacosx-version-min=10.7 -stdlib=libc++ -framework OpenGL'
  CXX_FLAGS += '-DB3_NO_PYTHON_FRAMEWORK '
  CXX_FLAGS += '-DHAS_SOCKLEN_T '
  CXX_FLAGS += '-D_DARWIN '
  #    CXX_FLAGS += '-framework Cocoa '
  sources = sources + ["examples/ThirdPartyLibs/enet/unix.c"]\
  +["examples/OpenGLWindow/MacOpenGLWindow.cpp"]\
  +["examples/ThirdPartyLibs/glad/gl.c"]\
  +["examples/OpenGLWindow/MacOpenGLWindowObjC.m"]
else:
  print("bsd!")
  libraries = ['GL', 'GLEW', 'pthread']
  os.environ['LDFLAGS'] = '-L/usr/X11R6/lib'
  CXX_FLAGS += '-D_BSD '
  CXX_FLAGS += '-I/usr/X11R6/include '
  CXX_FLAGS += '-DHAS_SOCKLEN_T '
  CXX_FLAGS += '-fno-inline-functions-called-once'
  sources = ["examples/ThirdPartyLibs/enet/unix.c"]\
  +["examples/OpenGLWindow/X11OpenGLWindow.cpp"]\
  +["examples/ThirdPartyLibs/glad/gl.c"]\
  + sources

setup_py_dir = os.path.dirname(os.path.realpath(__file__))

need_files = []
datadir = "examples/pybullet/gym/pybullet_data"

hh = setup_py_dir + "/" + datadir

for root, dirs, files in os.walk(hh):
  for fn in files:
    ext = os.path.splitext(fn)[1][1:]
    if ext and ext in 'yaml index meta data-00000-of-00001 png gif jpg urdf sdf obj txt mtl dae off stl STL xml '.split(
    ):
      fn = root + "/" + fn
      need_files.append(fn[1 + len(hh):])

print("found resource files: %i" % len(need_files))
for n in need_files:
  print("-- %s" % n)
print("packages")
print(find_packages('examples/pybullet/gym'))
print("-----")

extensions = []

pybullet_ext = Extension(
    "pybullet",
    sources=sources,
    libraries=libraries,
    extra_compile_args=CXX_FLAGS.split(),
    include_dirs=include_dirs + [
        "src", "examples/ThirdPartyLibs", "examples/ThirdPartyLibs/glad",
        "examples/ThirdPartyLibs/enet/include", "examples/ThirdPartyLibs/clsocket/src"
    ])
extensions.append(pybullet_ext)

if 'BT_USE_EGL' in EGL_CXX_FLAGS:

  eglRender = Extension(
      "eglRenderer",
      sources=egl_renderer_sources,
      libraries=libraries,
      extra_compile_args=(CXX_FLAGS + EGL_CXX_FLAGS).split(),
      include_dirs=include_dirs + [
          "src", "examples", "examples/ThirdPartyLibs", "examples/ThirdPartyLibs/glad",
          "examples/ThirdPartyLibs/enet/include", "examples/ThirdPartyLibs/clsocket/src"
      ])

  extensions.append(eglRender)

setup(
    name='pybullet',
    version='2.6.6',
    description=
    'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
    long_description=
    'pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
    url='https://github.com/bulletphysics/bullet3',
    author='Erwin Coumans, Yunfei Bai, Jasmine Hsu',
    author_email='erwincoumans@google.com',
    license='zlib',
    platforms='any',
    keywords=[
        'game development', 'virtual reality', 'physics simulation', 'robotics',
        'collision detection', 'opengl'
    ],
    install_requires=[
          'numpy',
    ],
    ext_modules=extensions,
    classifiers=[
        'Development Status :: 5 - Production/Stable',
        'License :: OSI Approved :: zlib/libpng License',
        'Operating System :: Microsoft :: Windows', 'Operating System :: POSIX :: Linux',
        'Operating System :: MacOS', 'Intended Audience :: Science/Research',
        "Programming Language :: Python", 'Programming Language :: Python :: 2.7',
        'Programming Language :: Python :: 3.4', 'Programming Language :: Python :: 3.5',
        'Programming Language :: Python :: 3.6', 'Programming Language :: Python :: 3.7',
        'Programming Language :: Python :: 3.8', 'Topic :: Games/Entertainment :: Simulation',
        'Topic :: Scientific/Engineering :: Artificial Intelligence',
        'Framework :: Robot Framework'
    ],
    package_dir={'': 'examples/pybullet/gym'},
    packages=[x for x in find_packages('examples/pybullet/gym')],
    package_data={'pybullet_data': need_files})