AuroraMiddleware/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3 synced 2024-12-12 12:50:08 +00:00
Code Issues Releases Wiki Activity
9185f93174
bullet3/CMakeLists.txt

513 lines
18 KiB
CMake
Raw Normal View History

Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
cmake_minimum_required(VERSION 2.4.3)
set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true)
cmake python config bugs fixed Python and pybullet remain optional with these changes. A specific python version can now be selected by setting PYTHON_VERSION_PYBULLET. The python library version must now match the interpreter version exactly. If all required python dependencies are found, pybullet is now enabled by default. Changes incorporate the following BSD licensed cmake code: https://github.com/BVLC/caffe/blob/32bf5c7ad804ad683aa5ea9382209e9284451e5f/CMakeScripts/FindNumPy.cmake https://github.com/NikolausDemmel/CMake/pull/2/files https://github.com/Kitware/CMake/blob/86578eccf2e82286248796bad1032cd0e3a5e1e2/Modules/SelectLibraryConfigurations.cmake
2017-05-21 00:47:46 +00:00
cmake_policy(SET CMP0017 NEW)
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
#this line has to appear before 'PROJECT' in order to be able to disable incremental linking
SET(MSVC_INCREMENTAL_DEFAULT ON)
PROJECT(BULLET_PHYSICS)
Attempt to use VERSION string for CMakeLists.txt See Issue 953, https://github.com/bulletphysics/bullet3/issues/953
2017-02-08 03:15:22 +00:00
FILE (STRINGS "VERSION" BULLET_VERSION)
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
IF(COMMAND cmake_policy)
cmake_policy(SET CMP0003 NEW)
Enable rpath on OS X when the CMake version supports it
2016-09-14 17:00:51 +00:00
if(POLICY CMP0042)
# Enable MACOSX_RPATH by default.
Fix typo
2016-09-14 21:22:54 +00:00
cmake_policy(SET CMP0042 NEW)
Enable rpath on OS X when the CMake version supports it
2016-09-14 17:00:51 +00:00
endif(POLICY CMP0042)
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
ENDIF(COMMAND cmake_policy)
IF (NOT CMAKE_BUILD_TYPE)
# SET(CMAKE_BUILD_TYPE "Debug")
SET(CMAKE_BUILD_TYPE "Release")
fix whitespace formatting in cmake files
2015-12-07 22:08:04 +00:00
ENDIF (NOT CMAKE_BUILD_TYPE)
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG")
#MESSAGE("CMAKE_CXX_FLAGS_DEBUG="+${CMAKE_CXX_FLAGS_DEBUG})
OPTION(USE_DOUBLE_PRECISION "Use double precision" OFF)
Implementing a simple velocity clamping to reduce floating point errors
2020-03-13 17:53:42 +00:00
SET(CLAMP_VELOCITIES "0" CACHE STRING "Clamp rigid bodies' velocity to this value, if larger than zero. Useful to prevent floating point errors or in general runaway velocities in complex scenarios")
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON)
fix BUILD_SHARED_LIBS and add it as an OPTION (cross fingers that CMake lets you expose existing vars as OPTION) this should fix issue 176, thanks to Stephen Peters!
2014-05-20 03:50:10 +00:00
OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF)
Add python binding and a pybullet example for loading softbody from obj.
2018-01-09 02:10:28 +00:00
OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" ON)
cmake OPTION(USE_OPENVR OFF) so only compile OpenVR VR examples when explicitly set to ON to avoid breaking builds
2020-12-04 16:52:28 +00:00
OPTION(USE_OPENVR "Use OpenVR for virtual reality" OFF)
Bullet 2 threading refactor: moved parallel-for calls into core libs
2017-05-22 07:47:11 +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
OPTION(ENABLE_VHACD "Use VHACD in BulletRobotics and pybullet" ON)
parallel solver: various changes - threading: adding btSequentialImpulseConstraintSolverMt - task scheduler: added parallelSum so that parallel solver can compute residuals - CommonRigidBodyMTBase: add slider for solver least squares residual and allow multithreading without needing OpenMP, TBB, or PPL - taskScheduler: don't wait for workers to sleep/signal at the end of each parallel block - parallel solver: convertContacts split into an allocContactConstraints and setupContactConstraints stage, the latter of which is done in parallel - parallel solver: rolling friction is now interleaved along with normal friction - parallel solver: batchified split impulse solving + some cleanup - parallel solver: sorting batches from largest to smallest - parallel solver: added parallel batch creation - parallel solver: added warmstartingWriteBackContacts func + other cleanup - task scheduler: truncate low bits to preserve determinism with parallelSum - parallel solver: reducing dynamic mem allocs and trying to parallelize more of the batch setup - parallel solver: parallelize updating constraint batch ids for merging - parallel solver: adding debug visualization - task scheduler: make TBB task scheduler parallelSum deterministic - parallel solver: split batch gen code into separate file; allow selection of batch gen method - task scheduler: add sleepWorkerThreadsHint() at end of simulation - parallel solver: added grain size per phase - task Scheduler: fix for strange threading issue; also no need for main thread to wait for workers to sleep - base constraint solver: break out joint setup into separate function for profiling/overriding - parallel solver: allow different batching method for contacts vs joints - base constraint solver: add convertJoint and convertBodies to make it possible to parallelize joint and body conversion - parallel solver: convert joints and bodies in parallel now - parallel solver: speed up batch creation with run-length encoding - parallel solver: batch gen: run-length expansion in parallel; collect constraint info in parallel - parallel solver: adding spatial grid batching method - parallel solver: enhancements to spatial grid batching - sequential solver: moving code for writing back into functions that derived classes can call - parallel solver: do write back of bodies and joints in parallel - parallel solver: removed all batching methods except for spatial grid (others were ineffective) - parallel solver: added 2D or 3D grid batching options; and a bit of cleanup - move btDefaultTaskScheduler into LinearMath project
2017-06-05 00:57:25 +00:00
OPTION(BULLET2_MULTITHREADING "Build Bullet 2 libraries with mutex locking around certain operations (required for multi-threading)" OFF)
IF (BULLET2_MULTITHREADING)
Bullet 2 threading refactor: moved parallel-for calls into core libs
2017-05-22 07:47:11 +00:00
OPTION(BULLET2_USE_OPEN_MP_MULTITHREADING "Build Bullet 2 with support for multi-threading with OpenMP (requires a compiler with OpenMP support)" OFF)
OPTION(BULLET2_USE_TBB_MULTITHREADING "Build Bullet 2 with support for multi-threading with Intel Threading Building Blocks (requires the TBB library to be already installed)" OFF)
IF (MSVC)
OPTION(BULLET2_USE_PPL_MULTITHREADING "Build Bullet 2 with support for multi-threading with Microsoft Parallel Patterns Library (requires MSVC compiler)" OFF)
ENDIF (MSVC)
parallel solver: various changes - threading: adding btSequentialImpulseConstraintSolverMt - task scheduler: added parallelSum so that parallel solver can compute residuals - CommonRigidBodyMTBase: add slider for solver least squares residual and allow multithreading without needing OpenMP, TBB, or PPL - taskScheduler: don't wait for workers to sleep/signal at the end of each parallel block - parallel solver: convertContacts split into an allocContactConstraints and setupContactConstraints stage, the latter of which is done in parallel - parallel solver: rolling friction is now interleaved along with normal friction - parallel solver: batchified split impulse solving + some cleanup - parallel solver: sorting batches from largest to smallest - parallel solver: added parallel batch creation - parallel solver: added warmstartingWriteBackContacts func + other cleanup - task scheduler: truncate low bits to preserve determinism with parallelSum - parallel solver: reducing dynamic mem allocs and trying to parallelize more of the batch setup - parallel solver: parallelize updating constraint batch ids for merging - parallel solver: adding debug visualization - task scheduler: make TBB task scheduler parallelSum deterministic - parallel solver: split batch gen code into separate file; allow selection of batch gen method - task scheduler: add sleepWorkerThreadsHint() at end of simulation - parallel solver: added grain size per phase - task Scheduler: fix for strange threading issue; also no need for main thread to wait for workers to sleep - base constraint solver: break out joint setup into separate function for profiling/overriding - parallel solver: allow different batching method for contacts vs joints - base constraint solver: add convertJoint and convertBodies to make it possible to parallelize joint and body conversion - parallel solver: convert joints and bodies in parallel now - parallel solver: speed up batch creation with run-length encoding - parallel solver: batch gen: run-length expansion in parallel; collect constraint info in parallel - parallel solver: adding spatial grid batching method - parallel solver: enhancements to spatial grid batching - sequential solver: moving code for writing back into functions that derived classes can call - parallel solver: do write back of bodies and joints in parallel - parallel solver: removed all batching methods except for spatial grid (others were ineffective) - parallel solver: added 2D or 3D grid batching options; and a bit of cleanup - move btDefaultTaskScheduler into LinearMath project
2017-06-05 00:57:25 +00:00
ENDIF (BULLET2_MULTITHREADING)
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
trigger travis again
2017-09-08 15:22:40 +00:00
cmake fixes
2017-09-06 21:18:35 +00:00
IF(NOT WIN32)
fixes in libdl/DL cmake minor tweaks in pybullet OpenAI gym locomotion envs (connect to shared memory before going GUI/DIRECT) bump up pybullet version to 1.3.6
2017-09-10 23:22:45 +00:00
SET(DL ${CMAKE_DL_LIBS})
cmake fixes
2017-09-06 21:18:35 +00:00
IF(CMAKE_SYSTEM_NAME MATCHES "Linux")
track down DL/dl issue
2017-09-09 20:05:45 +00:00
MESSAGE("Linux")
SET(OSDEF -D_LINUX)
cmake fixes
2017-09-06 21:18:35 +00:00
ELSE(CMAKE_SYSTEM_NAME MATCHES "Linux")
IF(APPLE)
track down DL/dl issue
2017-09-09 20:05:45 +00:00
MESSAGE("Apple")
cmake fixes
2017-09-06 21:18:35 +00:00
SET(OSDEF -D_DARWIN)
ELSE(APPLE)
track down DL/dl issue
2017-09-09 20:05:45 +00:00
MESSAGE("BSD?")
cmake fixes
2017-09-06 21:18:35 +00:00
SET(OSDEF -D_BSD)
ENDIF(APPLE)
ENDIF(CMAKE_SYSTEM_NAME MATCHES "Linux")
ENDIF(NOT WIN32)
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF)
Enable CMake support for Windows Phone (_WIN32+_M_ARM) and Windows Store Apps, Use this recent cmake version (http://cmakems.codeplex.com/) or future cmake that has the Windows Phone/Store App support Use the following defines in CMake: -DCMAKE_SYSTEM_NAME=WindowsPhone or -DCMAKE_SYSTEM_NAME=WindowsStore -DCMAKE_SYSTEM_VERSION=8.0 or -DCMAKE_SYSTEM_VERSION=8.1 Thanks to Microsoft OSS group for the patch!
2014-10-24 22:44:33 +00:00
#statically linking VC++ isn't supported for WindowsPhone/WindowsStore
IF (CMAKE_SYSTEM_NAME STREQUAL WindowsPhone OR CMAKE_SYSTEM_NAME STREQUAL WindowsStore)
OPTION(USE_MSVC_RUNTIME_LIBRARY_DLL "Use MSVC Runtime Library DLL (/MD or /MDd)" ON)
ELSE ()
OPTION(USE_MSVC_RUNTIME_LIBRARY_DLL "Use MSVC Runtime Library DLL (/MD or /MDd)" OFF)
ENDIF (CMAKE_SYSTEM_NAME STREQUAL WindowsPhone OR CMAKE_SYSTEM_NAME STREQUAL WindowsStore)
Add USE_MSVC_RELEASE_RUNTIME_ALWAYS to use Release CRT even in Debug builds
2020-07-01 17:13:08 +00:00
OPTION(USE_MSVC_RELEASE_RUNTIME_ALWAYS "Use MSVC Release Runtime Library even in Debug" OFF)
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
fix whitespace formatting in cmake files
2015-12-07 22:08:04 +00:00
#SET(CMAKE_EXE_LINKER_FLAGS_INIT "/STACK:10000000 /INCREMENTAL:NO")
#SET(CMAKE_EXE_LINKER_FLAGS "/STACK:10000000 /INCREMENTAL:NO")
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
#MESSAGE("MSVC_INCREMENTAL_YES_FLAG"+${MSVC_INCREMENTAL_YES_FLAG})
IF(MSVC)
IF (NOT USE_MSVC_INCREMENTAL_LINKING)
#MESSAGE("MSVC_INCREMENTAL_DEFAULT"+${MSVC_INCREMENTAL_DEFAULT})
SET( MSVC_INCREMENTAL_YES_FLAG "/INCREMENTAL:NO")
fix whitespace formatting in cmake files
2015-12-07 22:08:04 +00:00
Fix for CMake 3.18.2 + VS2019
2020-09-19 15:27:37 +00:00
STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags "${CMAKE_EXE_LINKER_FLAGS_DEBUG}")
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
SET(CMAKE_EXE_LINKER_FLAGS_DEBUG "/INCREMENTAL:NO ${replacementFlags}" )
MESSAGE("CMAKE_EXE_LINKER_FLAGS_DEBUG=${CMAKE_EXE_LINKER_FLAGS_DEBUG}")
fix whitespace formatting in cmake files
2015-12-07 22:08:04 +00:00
Fix for CMake 3.18.2 + VS2019
2020-09-19 15:27:37 +00:00
STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags2 "${CMAKE_EXE_LINKER_FLAGS}")
fix whitespace formatting in cmake files
2015-12-07 22:08:04 +00:00
SET(CMAKE_EXE_LINKER_FLAGS ${replacementFlag2})
STRING(REPLACE "INCREMENTAL:YES" "" replacementFlags3 "${CMAKE_EXTRA_LINK_FLAGS}")
SET(CMAKE_EXTRA_LINK_FLAGS ${replacementFlag3})
fix build (missing glut include path, #include <algorithm> for std::max in hacdICHull.cpp)
2014-05-13 19:59:32 +00:00
STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags3 "${CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO}")
fix whitespace formatting in cmake files
2015-12-07 22:08:04 +00:00
SET(CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO ${replacementFlags3})
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
SET(CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO "/INCREMENTAL:NO ${replacementFlags3}" )
fix whitespace formatting in cmake files
2015-12-07 22:08:04 +00:00
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
ENDIF (NOT USE_MSVC_INCREMENTAL_LINKING)
IF (NOT USE_MSVC_RUNTIME_LIBRARY_DLL)
Update CMakeLists.txt (#3011) fix typo
2020-08-27 13:54:07 +00:00
#We statically link to reduce dependencies
explicitly deserialize btCapsuleShape date (margin, scaling, halfextents), because the API modifies them
2014-08-27 00:21:08 +00:00
FOREACH(flag_var CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO )
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
IF(${flag_var} MATCHES "/MD")
STRING(REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}")
ENDIF(${flag_var} MATCHES "/MD")
IF(${flag_var} MATCHES "/MDd")
STRING(REGEX REPLACE "/MDd" "/MTd" ${flag_var} "${${flag_var}}")
ENDIF(${flag_var} MATCHES "/MDd")
ENDFOREACH(flag_var)
ENDIF (NOT USE_MSVC_RUNTIME_LIBRARY_DLL)
Add USE_MSVC_RELEASE_RUNTIME_ALWAYS to use Release CRT even in Debug builds
2020-07-01 17:13:08 +00:00
IF (USE_MSVC_RELEASE_RUNTIME_ALWAYS)
FOREACH(flag_var CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO )
IF(${flag_var} MATCHES "/MDd")
STRING(REGEX REPLACE "/MDd" "/MD" ${flag_var} "${${flag_var}}")
ENDIF(${flag_var} MATCHES "/MDd")
IF(${flag_var} MATCHES "/MTd")
STRING(REGEX REPLACE "/MTd" "/MT" ${flag_var} "${${flag_var}}")
ENDIF(${flag_var} MATCHES "/MTd")
# Need to remove _DEBUG too otherwise things like _ITERATOR_DEBUG_LEVEL mismatch
IF(${flag_var} MATCHES "-D_DEBUG")
STRING(REGEX REPLACE "-D_DEBUG" "" ${flag_var} "${${flag_var}}")
ENDIF(${flag_var} MATCHES "-D_DEBUG")
ENDFOREACH(flag_var)
ENDIF (USE_MSVC_RELEASE_RUNTIME_ALWAYS)
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
IF (CMAKE_CL_64)
ADD_DEFINITIONS(-D_WIN64)
ELSE()
Removed default ON for USE_MSVC_SSE (warning on recent 64 bit windows)
2017-12-12 14:34:06 +00:00
OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option" OFF)
enable USE_MSVC_SSE2 for MSVC by default, AVX for MSVX disabled by default.
2017-03-25 19:03:40 +00:00
option(USE_MSVC_SSE2 "Compile your program with SSE2 instructions" ON)
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
IF (USE_MSVC_SSE)
add collision and inverse dynamics unit tests to cmake, .travis.yml and appveyor.yml (more unit tests will follow, once this setup works)
2015-11-25 00:13:21 +00:00
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE")
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
ENDIF()
enable USE_MSVC_SSE2 for MSVC by default, AVX for MSVX disabled by default.
2017-03-25 19:03:40 +00:00
IF (USE_MSVC_SSE2)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE2")
ENDIF()
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
ENDIF()
enable USE_MSVC_SSE2 for MSVC by default, AVX for MSVX disabled by default.
2017-03-25 19:03:40 +00:00
option(USE_MSVC_AVX "Compile your program with AVX instructions" OFF)
IF(USE_MSVC_AVX)
add_definitions(/arch:AVX)
ENDIF()
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
OPTION(USE_MSVC_FAST_FLOATINGPOINT "Use MSVC /fp:fast option" ON)
IF (USE_MSVC_FAST_FLOATINGPOINT)
add collision and inverse dynamics unit tests to cmake, .travis.yml and appveyor.yml (more unit tests will follow, once this setup works)
2015-11-25 00:13:21 +00:00
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /fp:fast")
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
ENDIF()
[WIP] Suppress compiler warnings. Disable a few Visual Studio warnings: C4244: conversion from 'type1' to 'type2', possible loss of data C4267: conversion from 'size_t' to 'type', possible loss of data Considering the GCC/Clang counterpart '-Wconversion' (https://gcc.gnu.org/wiki/NewWconversion) is not covered by '-Wall', it seems to make more sense to disable these two warnings in Visual Studio, rather than fixing these warnings with hundreds of static_cast<> in the source code.
2016-07-12 12:57:05 +00:00
Split Bullet/src/LinearMath/btSerializer.cpp into btSerializer64.cpp to make it easier to rebuild serialization structure. Add several MSVC optimization flags to cmake. Bump up VERSION because serialization format changed Expose btScalar& jointMaxForce, btScalar& jointMaxVelocity to 'getJointInfo2' API, add backwards compatibility to examples\Importers\ImportURDFDemo\URDFImporterInterface::getJointInfo. pybullet: expose 4 more fields to getJointInfo: jointLowerLimit/jointUpperLimit/jointMaxForce/jointMaxVelocity fix performance issue in CMD_ACTUAL_STATE_UPDATE_COMPLETED
2017-03-26 20:06:46 +00:00
OPTION(USE_MSVC_STRING_POOLING "Use MSVC /GF string pooling option" ON)
IF (USE_MSVC_STRING_POOLING)
SET(CMAKE_C_FLAGS "/GF ${CMAKE_C_FLAGS}")
SET(CMAKE_CXX_FLAGS "/GF ${CMAKE_CXX_FLAGS}")
ENDIF()
OPTION(USE_MSVC_FUNCTION_LEVEL_LINKING "Use MSVC /Gy function level linking option" ON)
IF(USE_MSVC_FUNCTION_LEVEL_LINKING)
SET(CMAKE_C_FLAGS "/Gy ${CMAKE_C_FLAGS}")
SET(CMAKE_CXX_FLAGS "/Gy ${CMAKE_CXX_FLAGS}")
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /OPT:REF")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /OPT:REF")
ENDIF(USE_MSVC_FUNCTION_LEVEL_LINKING)
OPTION(USE_MSVC_EXEPTIONS "Use MSVC C++ exceptions option" OFF)
cmake python config bugs fixed Python and pybullet remain optional with these changes. A specific python version can now be selected by setting PYTHON_VERSION_PYBULLET. The python library version must now match the interpreter version exactly. If all required python dependencies are found, pybullet is now enabled by default. Changes incorporate the following BSD licensed cmake code: https://github.com/BVLC/caffe/blob/32bf5c7ad804ad683aa5ea9382209e9284451e5f/CMakeScripts/FindNumPy.cmake https://github.com/NikolausDemmel/CMake/pull/2/files https://github.com/Kitware/CMake/blob/86578eccf2e82286248796bad1032cd0e3a5e1e2/Modules/SelectLibraryConfigurations.cmake
2017-05-21 00:47:46 +00:00
Split Bullet/src/LinearMath/btSerializer.cpp into btSerializer64.cpp to make it easier to rebuild serialization structure. Add several MSVC optimization flags to cmake. Bump up VERSION because serialization format changed Expose btScalar& jointMaxForce, btScalar& jointMaxVelocity to 'getJointInfo2' API, add backwards compatibility to examples\Importers\ImportURDFDemo\URDFImporterInterface::getJointInfo. pybullet: expose 4 more fields to getJointInfo: jointLowerLimit/jointUpperLimit/jointMaxForce/jointMaxVelocity fix performance issue in CMD_ACTUAL_STATE_UPDATE_COMPLETED
2017-03-26 20:06:46 +00:00
OPTION(USE_MSVC_COMDAT_FOLDING "Use MSVC /OPT:ICF COMDAT folding option" ON)
cmake python config bugs fixed Python and pybullet remain optional with these changes. A specific python version can now be selected by setting PYTHON_VERSION_PYBULLET. The python library version must now match the interpreter version exactly. If all required python dependencies are found, pybullet is now enabled by default. Changes incorporate the following BSD licensed cmake code: https://github.com/BVLC/caffe/blob/32bf5c7ad804ad683aa5ea9382209e9284451e5f/CMakeScripts/FindNumPy.cmake https://github.com/NikolausDemmel/CMake/pull/2/files https://github.com/Kitware/CMake/blob/86578eccf2e82286248796bad1032cd0e3a5e1e2/Modules/SelectLibraryConfigurations.cmake
2017-05-21 00:47:46 +00:00
Split Bullet/src/LinearMath/btSerializer.cpp into btSerializer64.cpp to make it easier to rebuild serialization structure. Add several MSVC optimization flags to cmake. Bump up VERSION because serialization format changed Expose btScalar& jointMaxForce, btScalar& jointMaxVelocity to 'getJointInfo2' API, add backwards compatibility to examples\Importers\ImportURDFDemo\URDFImporterInterface::getJointInfo. pybullet: expose 4 more fields to getJointInfo: jointLowerLimit/jointUpperLimit/jointMaxForce/jointMaxVelocity fix performance issue in CMD_ACTUAL_STATE_UPDATE_COMPLETED
2017-03-26 20:06:46 +00:00
IF(USE_MSVC_COMDAT_FOLDING)
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /OPT:ICF")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /OPT:ICF")
ENDIF()
cmake python config bugs fixed Python and pybullet remain optional with these changes. A specific python version can now be selected by setting PYTHON_VERSION_PYBULLET. The python library version must now match the interpreter version exactly. If all required python dependencies are found, pybullet is now enabled by default. Changes incorporate the following BSD licensed cmake code: https://github.com/BVLC/caffe/blob/32bf5c7ad804ad683aa5ea9382209e9284451e5f/CMakeScripts/FindNumPy.cmake https://github.com/NikolausDemmel/CMake/pull/2/files https://github.com/Kitware/CMake/blob/86578eccf2e82286248796bad1032cd0e3a5e1e2/Modules/SelectLibraryConfigurations.cmake
2017-05-21 00:47:46 +00:00
Split Bullet/src/LinearMath/btSerializer.cpp into btSerializer64.cpp to make it easier to rebuild serialization structure. Add several MSVC optimization flags to cmake. Bump up VERSION because serialization format changed Expose btScalar& jointMaxForce, btScalar& jointMaxVelocity to 'getJointInfo2' API, add backwards compatibility to examples\Importers\ImportURDFDemo\URDFImporterInterface::getJointInfo. pybullet: expose 4 more fields to getJointInfo: jointLowerLimit/jointUpperLimit/jointMaxForce/jointMaxVelocity fix performance issue in CMD_ACTUAL_STATE_UPDATE_COMPLETED
2017-03-26 20:06:46 +00:00
OPTION(USE_MSVC_DISABLE_RTTI "Use MSVC /GR- disabled RTTI flags option" ON)
IF(USE_MSVC_DISABLE_RTTI)
STRING(REGEX REPLACE "/GR" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS}) # Disable RTTI
SET(CMAKE_C_FLAGS "/GR- ${CMAKE_C_FLAGS}")
SET(CMAKE_CXX_FLAGS "/GR- ${CMAKE_CXX_FLAGS}")
ENDIF(USE_MSVC_DISABLE_RTTI)
cmake python config bugs fixed Python and pybullet remain optional with these changes. A specific python version can now be selected by setting PYTHON_VERSION_PYBULLET. The python library version must now match the interpreter version exactly. If all required python dependencies are found, pybullet is now enabled by default. Changes incorporate the following BSD licensed cmake code: https://github.com/BVLC/caffe/blob/32bf5c7ad804ad683aa5ea9382209e9284451e5f/CMakeScripts/FindNumPy.cmake https://github.com/NikolausDemmel/CMake/pull/2/files https://github.com/Kitware/CMake/blob/86578eccf2e82286248796bad1032cd0e3a5e1e2/Modules/SelectLibraryConfigurations.cmake
2017-05-21 00:47:46 +00:00
[WIP] Suppress compiler warnings. Disable a few Visual Studio warnings: C4244: conversion from 'type1' to 'type2', possible loss of data C4267: conversion from 'size_t' to 'type', possible loss of data Considering the GCC/Clang counterpart '-Wconversion' (https://gcc.gnu.org/wiki/NewWconversion) is not covered by '-Wall', it seems to make more sense to disable these two warnings in Visual Studio, rather than fixing these warnings with hundreds of static_cast<> in the source code.
2016-07-12 12:57:05 +00:00
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4244 /wd4267")
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
ENDIF(MSVC)
IF (WIN32)
OPTION(INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES "Create MSVC projectfiles that can be distributed" OFF)
IF (INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
SET (LIBRARY_OUTPUT_PATH ${BULLET_PHYSICS_SOURCE_DIR}/lib CACHE PATH "Single output directory for building all libraries.")
SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR})
SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${BULLET_PHYSICS_SOURCE_DIR})
SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${BULLET_PHYSICS_SOURCE_DIR})
SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_MINSIZEREL ${BULLET_PHYSICS_SOURCE_DIR})
SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELWITHDEBINFO ${BULLET_PHYSICS_SOURCE_DIR})
ELSE()
SET (LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib CACHE PATH "Single output directory for building all libraries.")
ENDIF()
OPTION(INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES "Create MSVC projectfiles with relative paths" OFF)
OPTION(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES "Add MSVC postfix for executable names (_Debug)" OFF)
SET(CMAKE_DEBUG_POSTFIX "_Debug" CACHE STRING "Adds a postfix for debug-built libraries.")
SET(CMAKE_MINSIZEREL_POSTFIX "_MinsizeRel" CACHE STRING "Adds a postfix for MinsizeRelease-built libraries.")
SET(CMAKE_RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo" CACHE STRING "Adds a postfix for ReleaseWithDebug-built libraries.")
IF (INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES)
SET(CMAKE_SUPPRESS_REGENERATION 1)
SET(CMAKE_USE_RELATIVE_PATHS 1)
ENDIF(INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES)
ENDIF (WIN32)
fix whitespace formatting in cmake files
2015-12-07 22:08:04 +00:00
OPTION(BUILD_CPU_DEMOS "Build original Bullet CPU examples" ON)
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
OPTION(INTERNAL_UPDATE_SERIALIZATION_STRUCTURES "Internal update serialization structures" OFF)
IF (INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
ADD_DEFINITIONS( -DBT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
ENDIF (INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
Implementing a simple velocity clamping to reduce floating point errors
2020-03-13 17:53:42 +00:00
IF (CLAMP_VELOCITIES)
ADD_DEFINITIONS( -DBT_CLAMP_VELOCITY_TO=${CLAMP_VELOCITIES})
ENDIF (CLAMP_VELOCITIES)
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
IF (USE_DOUBLE_PRECISION)
ADD_DEFINITIONS( -DBT_USE_DOUBLE_PRECISION)
SET( BULLET_DOUBLE_DEF "-DBT_USE_DOUBLE_PRECISION")
ENDIF (USE_DOUBLE_PRECISION)
Add python binding and a pybullet example for loading softbody from obj.
2018-01-09 02:10:28 +00:00
IF (NOT USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
ADD_DEFINITIONS(-DSKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
premake build system fixes
2018-01-09 20:23:25 +00:00
ENDIF ()
Add USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD option.
2016-10-19 00:38:43 +00:00
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
IF(USE_GRAPHICAL_BENCHMARK)
ADD_DEFINITIONS( -DUSE_GRAPHICAL_BENCHMARK)
ENDIF (USE_GRAPHICAL_BENCHMARK)
parallel solver: various changes - threading: adding btSequentialImpulseConstraintSolverMt - task scheduler: added parallelSum so that parallel solver can compute residuals - CommonRigidBodyMTBase: add slider for solver least squares residual and allow multithreading without needing OpenMP, TBB, or PPL - taskScheduler: don't wait for workers to sleep/signal at the end of each parallel block - parallel solver: convertContacts split into an allocContactConstraints and setupContactConstraints stage, the latter of which is done in parallel - parallel solver: rolling friction is now interleaved along with normal friction - parallel solver: batchified split impulse solving + some cleanup - parallel solver: sorting batches from largest to smallest - parallel solver: added parallel batch creation - parallel solver: added warmstartingWriteBackContacts func + other cleanup - task scheduler: truncate low bits to preserve determinism with parallelSum - parallel solver: reducing dynamic mem allocs and trying to parallelize more of the batch setup - parallel solver: parallelize updating constraint batch ids for merging - parallel solver: adding debug visualization - task scheduler: make TBB task scheduler parallelSum deterministic - parallel solver: split batch gen code into separate file; allow selection of batch gen method - task scheduler: add sleepWorkerThreadsHint() at end of simulation - parallel solver: added grain size per phase - task Scheduler: fix for strange threading issue; also no need for main thread to wait for workers to sleep - base constraint solver: break out joint setup into separate function for profiling/overriding - parallel solver: allow different batching method for contacts vs joints - base constraint solver: add convertJoint and convertBodies to make it possible to parallelize joint and body conversion - parallel solver: convert joints and bodies in parallel now - parallel solver: speed up batch creation with run-length encoding - parallel solver: batch gen: run-length expansion in parallel; collect constraint info in parallel - parallel solver: adding spatial grid batching method - parallel solver: enhancements to spatial grid batching - sequential solver: moving code for writing back into functions that derived classes can call - parallel solver: do write back of bodies and joints in parallel - parallel solver: removed all batching methods except for spatial grid (others were ineffective) - parallel solver: added 2D or 3D grid batching options; and a bit of cleanup - move btDefaultTaskScheduler into LinearMath project
2017-06-05 00:57:25 +00:00
IF(BULLET2_MULTITHREADING)
MultiThreaded Demo: - fixing various race conditions throughout (usage of static vars, etc) - addition of a few lightweight mutexes (which are compiled out by default) - slight code rearrangement in discreteDynamicsWorld to facilitate multithreading - PoolAllocator::allocate() can now be called when pool is full without crashing (null pointer returned) - PoolAllocator allocate and freeMemory, are OPTIONALLY threadsafe (default is un-threadsafe) - CollisionDispatcher no longer checks if the pool allocator is full before calling allocate(), instead it just calls allocate() and checks if the return is null -- this avoids a race condition - SequentialImpulseConstraintSolver OPTIONALLY uses different logic in getOrInitSolverBody() to avoid a race condition with kinematic bodies - addition of 2 classes which together allow simulation islands to be run in parallel: - btSimulationIslandManagerMt - btDiscreteDynamicsWorldMt - MultiThreadedDemo example in the example browser demonstrating use of OpenMP, Microsoft PPL, and Intel TBB - use multithreading for other demos - benchmark demo: add parallel raycasting
2016-09-27 07:01:45 +00:00
ADD_DEFINITIONS( -DBT_THREADSAFE=1 )
IF (NOT MSVC)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
ENDIF (NOT MSVC)
parallel solver: various changes - threading: adding btSequentialImpulseConstraintSolverMt - task scheduler: added parallelSum so that parallel solver can compute residuals - CommonRigidBodyMTBase: add slider for solver least squares residual and allow multithreading without needing OpenMP, TBB, or PPL - taskScheduler: don't wait for workers to sleep/signal at the end of each parallel block - parallel solver: convertContacts split into an allocContactConstraints and setupContactConstraints stage, the latter of which is done in parallel - parallel solver: rolling friction is now interleaved along with normal friction - parallel solver: batchified split impulse solving + some cleanup - parallel solver: sorting batches from largest to smallest - parallel solver: added parallel batch creation - parallel solver: added warmstartingWriteBackContacts func + other cleanup - task scheduler: truncate low bits to preserve determinism with parallelSum - parallel solver: reducing dynamic mem allocs and trying to parallelize more of the batch setup - parallel solver: parallelize updating constraint batch ids for merging - parallel solver: adding debug visualization - task scheduler: make TBB task scheduler parallelSum deterministic - parallel solver: split batch gen code into separate file; allow selection of batch gen method - task scheduler: add sleepWorkerThreadsHint() at end of simulation - parallel solver: added grain size per phase - task Scheduler: fix for strange threading issue; also no need for main thread to wait for workers to sleep - base constraint solver: break out joint setup into separate function for profiling/overriding - parallel solver: allow different batching method for contacts vs joints - base constraint solver: add convertJoint and convertBodies to make it possible to parallelize joint and body conversion - parallel solver: convert joints and bodies in parallel now - parallel solver: speed up batch creation with run-length encoding - parallel solver: batch gen: run-length expansion in parallel; collect constraint info in parallel - parallel solver: adding spatial grid batching method - parallel solver: enhancements to spatial grid batching - sequential solver: moving code for writing back into functions that derived classes can call - parallel solver: do write back of bodies and joints in parallel - parallel solver: removed all batching methods except for spatial grid (others were ineffective) - parallel solver: added 2D or 3D grid batching options; and a bit of cleanup - move btDefaultTaskScheduler into LinearMath project
2017-06-05 00:57:25 +00:00
IF (NOT WIN32)
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} )
parallel solver: various changes - threading: adding btSequentialImpulseConstraintSolverMt - task scheduler: added parallelSum so that parallel solver can compute residuals - CommonRigidBodyMTBase: add slider for solver least squares residual and allow multithreading without needing OpenMP, TBB, or PPL - taskScheduler: don't wait for workers to sleep/signal at the end of each parallel block - parallel solver: convertContacts split into an allocContactConstraints and setupContactConstraints stage, the latter of which is done in parallel - parallel solver: rolling friction is now interleaved along with normal friction - parallel solver: batchified split impulse solving + some cleanup - parallel solver: sorting batches from largest to smallest - parallel solver: added parallel batch creation - parallel solver: added warmstartingWriteBackContacts func + other cleanup - task scheduler: truncate low bits to preserve determinism with parallelSum - parallel solver: reducing dynamic mem allocs and trying to parallelize more of the batch setup - parallel solver: parallelize updating constraint batch ids for merging - parallel solver: adding debug visualization - task scheduler: make TBB task scheduler parallelSum deterministic - parallel solver: split batch gen code into separate file; allow selection of batch gen method - task scheduler: add sleepWorkerThreadsHint() at end of simulation - parallel solver: added grain size per phase - task Scheduler: fix for strange threading issue; also no need for main thread to wait for workers to sleep - base constraint solver: break out joint setup into separate function for profiling/overriding - parallel solver: allow different batching method for contacts vs joints - base constraint solver: add convertJoint and convertBodies to make it possible to parallelize joint and body conversion - parallel solver: convert joints and bodies in parallel now - parallel solver: speed up batch creation with run-length encoding - parallel solver: batch gen: run-length expansion in parallel; collect constraint info in parallel - parallel solver: adding spatial grid batching method - parallel solver: enhancements to spatial grid batching - sequential solver: moving code for writing back into functions that derived classes can call - parallel solver: do write back of bodies and joints in parallel - parallel solver: removed all batching methods except for spatial grid (others were ineffective) - parallel solver: added 2D or 3D grid batching options; and a bit of cleanup - move btDefaultTaskScheduler into LinearMath project
2017-06-05 00:57:25 +00:00
ENDIF (NOT WIN32)
ENDIF (BULLET2_MULTITHREADING)
MultiThreaded Demo: - fixing various race conditions throughout (usage of static vars, etc) - addition of a few lightweight mutexes (which are compiled out by default) - slight code rearrangement in discreteDynamicsWorld to facilitate multithreading - PoolAllocator::allocate() can now be called when pool is full without crashing (null pointer returned) - PoolAllocator allocate and freeMemory, are OPTIONALLY threadsafe (default is un-threadsafe) - CollisionDispatcher no longer checks if the pool allocator is full before calling allocate(), instead it just calls allocate() and checks if the return is null -- this avoids a race condition - SequentialImpulseConstraintSolver OPTIONALLY uses different logic in getOrInitSolverBody() to avoid a race condition with kinematic bodies - addition of 2 classes which together allow simulation islands to be run in parallel: - btSimulationIslandManagerMt - btDiscreteDynamicsWorldMt - MultiThreadedDemo example in the example browser demonstrating use of OpenMP, Microsoft PPL, and Intel TBB - use multithreading for other demos - benchmark demo: add parallel raycasting
2016-09-27 07:01:45 +00:00
Bullet 2 threading refactor: moved parallel-for calls into core libs
2017-05-22 07:47:11 +00:00
IF (BULLET2_USE_OPEN_MP_MULTITHREADING)
ADD_DEFINITIONS("-DBT_USE_OPENMP=1")
IF (MSVC)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /openmp")
ELSE (MSVC)
# GCC, Clang
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp")
ENDIF (MSVC)
ENDIF (BULLET2_USE_OPEN_MP_MULTITHREADING)
IF (BULLET2_USE_TBB_MULTITHREADING)
SET (BULLET2_TBB_INCLUDE_DIR "not found" CACHE PATH "Directory for Intel TBB includes.")
SET (BULLET2_TBB_LIB_DIR "not found" CACHE PATH "Directory for Intel TBB libraries.")
find_library(TBB_LIBRARY tbb PATHS ${BULLET2_TBB_LIB_DIR})
find_library(TBBMALLOC_LIBRARY tbbmalloc PATHS ${BULLET2_TBB_LIB_DIR})
ADD_DEFINITIONS("-DBT_USE_TBB=1")
INCLUDE_DIRECTORIES( ${BULLET2_TBB_INCLUDE_DIR} )
LINK_LIBRARIES( ${TBB_LIBRARY} ${TBBMALLOC_LIBRARY} )
ENDIF (BULLET2_USE_TBB_MULTITHREADING)
IF (BULLET2_USE_PPL_MULTITHREADING)
ADD_DEFINITIONS("-DBT_USE_PPL=1")
ENDIF (BULLET2_USE_PPL_MULTITHREADING)
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
IF (WIN32)
OPTION(USE_GLUT "Use Glut" ON)
ADD_DEFINITIONS( -D_CRT_SECURE_NO_WARNINGS )
ADD_DEFINITIONS( -D_CRT_SECURE_NO_DEPRECATE )
ADD_DEFINITIONS( -D_SCL_SECURE_NO_WARNINGS )
IF (USE_GLUT AND MSVC)
fix whitespace formatting in cmake files
2015-12-07 22:08:04 +00:00
string (REPLACE "/D_WINDOWS" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS})
remove_definitions(-D_WINDOWS )
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
ENDIF()
ELSE(WIN32)
OPTION(USE_GLUT "Use Glut" ON)
ENDIF(WIN32)
fix whitespace formatting in cmake files
2015-12-07 22:08:04 +00:00
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
IF(COMMAND cmake_policy)
cmake_policy(SET CMP0003 NEW)
ENDIF(COMMAND cmake_policy)
fix whitespace formatting in cmake files
2015-12-07 22:08:04 +00:00
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
# This is the shortcut to finding GLU, GLUT and OpenGL if they are properly installed on your system
# This should be the case.
FIND_PACKAGE(OpenGL)
IF (OPENGL_FOUND)
MESSAGE("OPENGL FOUND")
MESSAGE(${OPENGL_LIBRARIES})
ELSE (OPENGL_FOUND)
MESSAGE("OPENGL NOT FOUND")
Revert "C api refactor build"
2019-06-14 14:49:24 +00:00
SET(OPENGL_gl_LIBRARY opengl32)
SET(OPENGL_glu_LIBRARY glu32)
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
ENDIF (OPENGL_FOUND)
#FIND_PACKAGE(GLU)
make GLUT optional in cmake fix for btMultiBody to avoid extreme energy gain
2014-03-18 06:58:03 +00:00
fix BUILD_SHARED_LIBS and add it as an OPTION (cross fingers that CMake lets you expose existing vars as OPTION) this should fix issue 176, thanks to Stephen Peters!
2014-05-20 03:50:10 +00:00
IF (APPLE)
FIND_LIBRARY(COCOA_LIBRARY Cocoa)
ENDIF()
more fixes in the build, related to CMake and some error (don't delete a void* pointer!) revert BasicDemo.cpp to original Bullet 2.82 state
2014-05-14 04:52:46 +00:00
OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON)
only probe for python if PYBULLET explicitly specified
2017-10-27 23:32:35 +00:00
cmake python fix for linux #1322 Search did not cover inconsistent lib location defined within python under linux versions https://stackoverflow.com/questions/20582270/distribution-independent-libpython-path
2017-09-22 03:42:52 +00:00
# Optional Python configuration
only probe for python if PYBULLET explicitly specified
2017-10-27 23:32:35 +00:00
# Will not probe environment for Python configuration (which can abort the
# build process) unless you explicitly turn on BUILD_PYBULLET.
OPTION(BUILD_PYBULLET "Set when you want to build pybullet (Python bindings for Bullet)" OFF)
IF(BUILD_PYBULLET)
SET(PYTHON_VERSION_PYBULLET "" CACHE STRING "Python version pybullet will use.")
SET(Python_ADDITIONAL_VERSIONS 3 3.6 3.5 3.4 3.3 3.2 3.1 3.0 2.7 2.7.12 2.7.10 2.7.3 )
SET_PROPERTY(CACHE PYTHON_VERSION_PYBULLET PROPERTY STRINGS ${Python_ADDITIONAL_VERSIONS})
SET(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build3/cmake ${CMAKE_MODULE_PATH})
OPTION(EXACT_PYTHON_VERSION "Require Python and match PYTHON_VERSION_PYBULLET exactly, e.g. 2.7.12" OFF)
IF(EXACT_PYTHON_VERSION)
Add Travis CI settings for Xenial and Bionic
2018-07-10 04:57:57 +00:00
set(EXACT_PYTHON_VERSION_FLAG EXACT REQUIRED)
only probe for python if PYBULLET explicitly specified
2017-10-27 23:32:35 +00:00
ENDIF(EXACT_PYTHON_VERSION)
# first find the python interpreter
FIND_PACKAGE(PythonInterp ${PYTHON_VERSION_PYBULLET} ${EXACT_PYTHON_VERSION_FLAG})
# python library should exactly match that of the interpreter
# the following can result in fatal error if you don't have the right python configuration
FIND_PACKAGE(PythonLibs ${PYTHON_VERSION_STRING} EXACT)
ENDIF(BUILD_PYBULLET)
cmake python config bugs fixed Python and pybullet remain optional with these changes. A specific python version can now be selected by setting PYTHON_VERSION_PYBULLET. The python library version must now match the interpreter version exactly. If all required python dependencies are found, pybullet is now enabled by default. Changes incorporate the following BSD licensed cmake code: https://github.com/BVLC/caffe/blob/32bf5c7ad804ad683aa5ea9382209e9284451e5f/CMakeScripts/FindNumPy.cmake https://github.com/NikolausDemmel/CMake/pull/2/files https://github.com/Kitware/CMake/blob/86578eccf2e82286248796bad1032cd0e3a5e1e2/Modules/SelectLibraryConfigurations.cmake
2017-05-21 00:47:46 +00:00
expose timeout in pybullet/shared memory API add RobotSimulator, a C++ API similar to pybullet. (work-in-progress, only part of API implemeted)
2017-02-24 23:34:11 +00:00
OPTION(BUILD_ENET "Set when you want to build apps with enet UDP networking support" ON)
OPTION(BUILD_CLSOCKET "Set when you want to build apps with enet TCP networking support" ON)
Fix pybullet Windows build errors: C99 requires variables to be defined at the start of the function. Improve CMake Windows support to build PyBullet (BUILD_PYBULLET) Implement b3LoadSdfCommandInit in shared memory API Implement pybullet SDF loading binding, in loadSDF API TODO for SDF support is provide way to query object/link/joint information.
2016-06-13 17:11:28 +00:00
pybullet: add option to use NumPy to speed up, thanks to moof2k option is disabled by default. When using cmake, use cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=ON then both testrender.py and testrender_np.py will work without numpy only testrender.py works. The numpy.reshape is likely a no-op when using numpy array, so we could remove testrender_np.py... See https://github.com/bulletphysics/bullet3/pull/774
2016-09-11 10:35:12 +00:00
cmake python config bugs fixed Python and pybullet remain optional with these changes. A specific python version can now be selected by setting PYTHON_VERSION_PYBULLET. The python library version must now match the interpreter version exactly. If all required python dependencies are found, pybullet is now enabled by default. Changes incorporate the following BSD licensed cmake code: https://github.com/BVLC/caffe/blob/32bf5c7ad804ad683aa5ea9382209e9284451e5f/CMakeScripts/FindNumPy.cmake https://github.com/NikolausDemmel/CMake/pull/2/files https://github.com/Kitware/CMake/blob/86578eccf2e82286248796bad1032cd0e3a5e1e2/Modules/SelectLibraryConfigurations.cmake
2017-05-21 00:47:46 +00:00
IF(BUILD_PYBULLET)
revert to FIND_PACKAGE(PythonLibs), the new solution doesn't work with Travis
2017-09-19 17:50:24 +00:00
FIND_PACKAGE(PythonLibs)
cmake python fix for linux #1322 Search did not cover inconsistent lib location defined within python under linux versions https://stackoverflow.com/questions/20582270/distribution-independent-libpython-path
2017-09-22 03:42:52 +00:00
disable NUMPY build by default
2017-09-19 01:14:46 +00:00
OPTION(BUILD_PYBULLET_NUMPY "Set when you want to build pybullet with NumPy support" OFF)
work-in-progress add UDP network connection for physics client <-> server. also set spinning friction in rolling friction demo (otherwise objects may keep on spinning forever)
2016-11-04 20:16:25 +00:00
OPTION(BUILD_PYBULLET_ENET "Set when you want to build pybullet with enet UDP networking support" ON)
add cmake support for TCP / clsocket in pybullet
2017-02-21 04:55:37 +00:00
OPTION(BUILD_PYBULLET_CLSOCKET "Set when you want to build pybullet with enet TCP networking support" ON)
pybullet: add support for Anaconda install on Mac OSX, for pip install pybullet, python setup.py install and cmake. Usage: Also updated pypi to latest, see https://pypi.python.org/pypi?:action=display&name=pybullet&version=0.1.7 Here are a few options for Mac OSX + Anaconda: 1) In the root of the Bullet Physics SDK source tree, run CFLAGS="-DB3_NO_PYTHON_FRAMEWORK" python setup.py install 2) cmake, add the flag -DBUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK=OFF 3) Globally, just use pip or pip3: CFLAGS="-DB3_NO_PYTHON_FRAMEWORK" pip install pybullet Option (3) may have an out-of-date pybullet/bullet version.
2017-04-11 19:17:08 +00:00
cmake python config bugs fixed Python and pybullet remain optional with these changes. A specific python version can now be selected by setting PYTHON_VERSION_PYBULLET. The python library version must now match the interpreter version exactly. If all required python dependencies are found, pybullet is now enabled by default. Changes incorporate the following BSD licensed cmake code: https://github.com/BVLC/caffe/blob/32bf5c7ad804ad683aa5ea9382209e9284451e5f/CMakeScripts/FindNumPy.cmake https://github.com/NikolausDemmel/CMake/pull/2/files https://github.com/Kitware/CMake/blob/86578eccf2e82286248796bad1032cd0e3a5e1e2/Modules/SelectLibraryConfigurations.cmake
2017-05-21 00:47:46 +00:00
OPTION(BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK "Set when you want to use the Python Framework on Mac" OFF)
pybullet: add support for Anaconda install on Mac OSX, for pip install pybullet, python setup.py install and cmake. Usage: Also updated pypi to latest, see https://pypi.python.org/pypi?:action=display&name=pybullet&version=0.1.7 Here are a few options for Mac OSX + Anaconda: 1) In the root of the Bullet Physics SDK source tree, run CFLAGS="-DB3_NO_PYTHON_FRAMEWORK" python setup.py install 2) cmake, add the flag -DBUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK=OFF 3) Globally, just use pip or pip3: CFLAGS="-DB3_NO_PYTHON_FRAMEWORK" pip install pybullet Option (3) may have an out-of-date pybullet/bullet version.
2017-04-11 19:17:08 +00:00
cmake python config bugs fixed Python and pybullet remain optional with these changes. A specific python version can now be selected by setting PYTHON_VERSION_PYBULLET. The python library version must now match the interpreter version exactly. If all required python dependencies are found, pybullet is now enabled by default. Changes incorporate the following BSD licensed cmake code: https://github.com/BVLC/caffe/blob/32bf5c7ad804ad683aa5ea9382209e9284451e5f/CMakeScripts/FindNumPy.cmake https://github.com/NikolausDemmel/CMake/pull/2/files https://github.com/Kitware/CMake/blob/86578eccf2e82286248796bad1032cd0e3a5e1e2/Modules/SelectLibraryConfigurations.cmake
2017-05-21 00:47:46 +00:00
IF(BUILD_PYBULLET_NUMPY)
pybullet: add option to use NumPy to speed up, thanks to moof2k option is disabled by default. When using cmake, use cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=ON then both testrender.py and testrender_np.py will work without numpy only testrender.py works. The numpy.reshape is likely a no-op when using numpy array, so we could remove testrender_np.py... See https://github.com/bulletphysics/bullet3/pull/774
2016-09-11 10:35:12 +00:00
#include(FindNumPy)
FIND_PACKAGE(NumPy)
if (PYTHON_NUMPY_FOUND)
message("NumPy found")
add_definitions(-DPYBULLET_USE_NUMPY)
else()
message("NumPy not found")
endif()
ENDIF()
Allow to compile pybullet on Windows, using CMake (got it to run, rename pybullet.dll into pybullet.pyd and copy in c:\python34\dlls) Update test.py Allow to compile pybullet using Python 3.x and 2.7
2016-05-10 07:57:54 +00:00
IF(WIN32)
SET(BUILD_SHARED_LIBS OFF CACHE BOOL "Shared Libs" FORCE)
ELSE(WIN32)
SET(BUILD_SHARED_LIBS ON CACHE BOOL "Shared Libs" FORCE)
ENDIF(WIN32)
pybullet: add support for Anaconda install on Mac OSX, for pip install pybullet, python setup.py install and cmake. Usage: Also updated pypi to latest, see https://pypi.python.org/pypi?:action=display&name=pybullet&version=0.1.7 Here are a few options for Mac OSX + Anaconda: 1) In the root of the Bullet Physics SDK source tree, run CFLAGS="-DB3_NO_PYTHON_FRAMEWORK" python setup.py install 2) cmake, add the flag -DBUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK=OFF 3) Globally, just use pip or pip3: CFLAGS="-DB3_NO_PYTHON_FRAMEWORK" pip install pybullet Option (3) may have an out-of-date pybullet/bullet version.
2017-04-11 19:17:08 +00:00
IF(APPLE)
OPTION(BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK "Set when you want to use the Python Framework on Mac" ON)
IF(NOT BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK)
add_definitions(-DB3_NO_PYTHON_FRAMEWORK)
ENDIF(NOT BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK)
OPTION(BUILD_PYBULLET_SHOW_PY_VERSION "Set when you want to show the PY_MAJOR_VERSION and PY_MAJOR_VERSION using #pragme message." OFF)
IF(BUILD_PYBULLET_SHOW_PY_VERSION)
add_definitions(-DB3_DUMP_PYTHON_VERSION)
ENDIF()
ENDIF(APPLE)
use cmake FIND_PACKAGE(PythonLibs 2.7 REQUIRED) if pybullet is build
2016-05-04 20:24:06 +00:00
ENDIF(BUILD_PYBULLET)
cmake+premake disable OpenGL 3 demos on Mac OSX versions below 10.9 See also http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=10073 Move ConstraintPhysicsSetup to Demos3/bullet3/ConstraintDemo
2014-08-22 21:41:21 +00:00
fix cmake, linux only (patch egl)
2018-07-19 07:58:55 +00:00
IF(NOT WIN32 AND NOT APPLE)
OPTION(BUILD_EGL "Build OpenGL/EGL" ON)
IF(BUILD_EGL)
ADD_DEFINITIONS(-DBT_USE_EGL)
ENDIF(BUILD_EGL)
ENDIF()
fix cmake (patch egl)
2018-07-18 09:54:51 +00:00
more fixes in the build, related to CMake and some error (don't delete a void* pointer!) revert BasicDemo.cpp to original Bullet 2.82 state
2014-05-14 04:52:46 +00:00
IF(BUILD_BULLET3)
cmake+premake disable OpenGL 3 demos on Mac OSX versions below 10.9 See also http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=10073 Move ConstraintPhysicsSetup to Demos3/bullet3/ConstraintDemo
2014-08-22 21:41:21 +00:00
IF(APPLE)
fix whitespace formatting in cmake files
2015-12-07 22:08:04 +00:00
MESSAGE("Mac OSX Version is ${_CURRENT_OSX_VERSION}")
IF(_CURRENT_OSX_VERSION VERSION_LESS 10.9)
MESSAGE("Mac OSX below 10.9 has no OpenGL 3 support so please disable the BUILD_OPENGL3_DEMOS option")
#unset(BUILD_OPENGL3_DEMOS CACHE)
OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build the OpenGL3+ demos" OFF)
ELSE()
OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build the OpenGL3+ demos" ON)
ENDIF()
ELSE()
OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build Bullet 3 OpenGL3+ demos" ON)
ENDIF()
more fixes in the build, related to CMake and some error (don't delete a void* pointer!) revert BasicDemo.cpp to original Bullet 2.82 state
2014-05-14 04:52:46 +00:00
ELSE(BUILD_BULLET3)
cmake+premake disable OpenGL 3 demos on Mac OSX versions below 10.9 See also http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=10073 Move ConstraintPhysicsSetup to Demos3/bullet3/ConstraintDemo
2014-08-22 21:41:21 +00:00
unset(BUILD_OPENGL3_DEMOS CACHE)
OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build Bullet 3 OpenGL3+ demos" OFF)
more fixes in the build, related to CMake and some error (don't delete a void* pointer!) revert BasicDemo.cpp to original Bullet 2.82 state
2014-05-14 04:52:46 +00:00
ENDIF(BUILD_BULLET3)
cmake+premake disable OpenGL 3 demos on Mac OSX versions below 10.9 See also http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=10073 Move ConstraintPhysicsSetup to Demos3/bullet3/ConstraintDemo
2014-08-22 21:41:21 +00:00
IF(BUILD_OPENGL3_DEMOS)
make GLUT optional in cmake fix for btMultiBody to avoid extreme energy gain
2014-03-18 06:58:03 +00:00
IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/Demos3 AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/Demos3)
SUBDIRS(Demos3)
ENDIF()
allow to compile and run the ExampleBrowser on older Mac OSX versions (without OpenGL3) using the 'NO_OPENGL3' preprocessor definition both premake/cmake has support for this now needs some testing
2015-05-06 17:35:14 +00:00
ELSE()
ADD_DEFINITIONS(-DNO_OPENGL3)
cmake+premake disable OpenGL 3 demos on Mac OSX versions below 10.9 See also http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=9&t=10073 Move ConstraintPhysicsSetup to Demos3/bullet3/ConstraintDemo
2014-08-22 21:41:21 +00:00
ENDIF(BUILD_OPENGL3_DEMOS)
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
allow to compile and run the ExampleBrowser on older Mac OSX versions (without OpenGL3) using the 'NO_OPENGL3' preprocessor definition both premake/cmake has support for this now needs some testing
2015-05-06 17:35:14 +00:00
OPTION(BUILD_BULLET2_DEMOS "Set when you want to build the Bullet 2 demos" ON)
IF(BUILD_BULLET2_DEMOS)
fix whitespace formatting in cmake files
2015-12-07 22:08:04 +00:00
IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/examples AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/examples)
SUBDIRS(examples)
ENDIF()
MultiThreaded Demo: - fixing various race conditions throughout (usage of static vars, etc) - addition of a few lightweight mutexes (which are compiled out by default) - slight code rearrangement in discreteDynamicsWorld to facilitate multithreading - PoolAllocator::allocate() can now be called when pool is full without crashing (null pointer returned) - PoolAllocator allocate and freeMemory, are OPTIONALLY threadsafe (default is un-threadsafe) - CollisionDispatcher no longer checks if the pool allocator is full before calling allocate(), instead it just calls allocate() and checks if the return is null -- this avoids a race condition - SequentialImpulseConstraintSolver OPTIONALLY uses different logic in getOrInitSolverBody() to avoid a race condition with kinematic bodies - addition of 2 classes which together allow simulation islands to be run in parallel: - btSimulationIslandManagerMt - btDiscreteDynamicsWorldMt - MultiThreadedDemo example in the example browser demonstrating use of OpenMP, Microsoft PPL, and Intel TBB - use multithreading for other demos - benchmark demo: add parallel raycasting
2016-09-27 07:01:45 +00:00
allow to compile and run the ExampleBrowser on older Mac OSX versions (without OpenGL3) using the 'NO_OPENGL3' preprocessor definition both premake/cmake has support for this now needs some testing
2015-05-06 17:35:14 +00:00
ENDIF(BUILD_BULLET2_DEMOS)
rename ObsoleteDemos back to Demos fix some relative path issues for loading assets
2014-05-12 23:12:01 +00:00
OPTION(BUILD_EXTRAS "Set when you want to build the extras" ON)
IF(BUILD_EXTRAS)
SUBDIRS(Extras)
ENDIF(BUILD_EXTRAS)
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
SUBDIRS(src)
IF("${CMAKE_GENERATOR}" MATCHES "Unix Makefiles")
OPTION(INSTALL_LIBS "Set when you want to install libraries" ON)
ELSE()
IF(APPLE AND FRAMEWORK)
OPTION(INSTALL_LIBS "Set when you want to install libraries" ON)
ELSE()
#by default, don't enable the 'INSTALL' option for Xcode and MSVC projectfiles
OPTION(INSTALL_LIBS "Set when you want to install libraries" OFF)
ENDIF()
ENDIF()
fix cmake logic for BUILD_EXTRA_LIBS
2017-09-06 22:59:34 +00:00
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
IF(INSTALL_LIBS)
fix cmake logic for BUILD_EXTRA_LIBS
2017-09-06 22:59:34 +00:00
#INSTALL of other files requires CMake 2.6
IF(BUILD_EXTRAS)
IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
OPTION(INSTALL_EXTRA_LIBS "Set when you want extra libraries installed" ON)
ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
ENDIF(BUILD_EXTRAS)
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
SET (LIB_SUFFIX "" CACHE STRING "Define suffix of directory name (32/64)" )
CMake: remove CMAKE_INSTALL_PREFIX from CMakeLists.txt it is automagically used See also https://github.com/bulletphysics/bullet3/pull/227 remove pthread from OpenGL/GlutStuff.cpp for now (it breaks CMake build)
2014-08-31 19:36:02 +00:00
SET (LIB_DESTINATION "lib${LIB_SUFFIX}" CACHE STRING "Library directory name")
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
## the following are directories where stuff will be installed to
fix whitespace formatting in cmake files
2015-12-07 22:08:04 +00:00
SET(INCLUDE_INSTALL_DIR "include/bullet/" CACHE PATH "The subdirectory to the header prefix")
CMake: remove CMAKE_INSTALL_PREFIX from CMakeLists.txt it is automagically used See also https://github.com/bulletphysics/bullet3/pull/227 remove pthread from OpenGL/GlutStuff.cpp for now (it breaks CMake build)
2014-08-31 19:36:02 +00:00
SET(PKGCONFIG_INSTALL_PREFIX "lib${LIB_SUFFIX}/pkgconfig/" CACHE STRING "Base directory for pkgconfig files")
Install pkg-config file on MinGW systems as well
2014-10-02 02:56:54 +00:00
IF(NOT MSVC)
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/bullet.pc.cmake ${CMAKE_CURRENT_BINARY_DIR}/bullet.pc @ONLY)
INSTALL(
fix whitespace formatting in cmake files
2015-12-07 22:08:04 +00:00
FILES
${CMAKE_CURRENT_BINARY_DIR}/bullet.pc
DESTINATION
${PKGCONFIG_INSTALL_PREFIX})
Install pkg-config file on MinGW systems as well
2014-10-02 02:56:54 +00:00
ENDIF(NOT MSVC)
fix cmake logic for BUILD_EXTRA_LIBS
2017-09-06 22:59:34 +00:00
ENDIF()
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
add CMake support to build gtest
2014-04-08 16:04:32 +00:00
OPTION(BUILD_UNIT_TESTS "Build Unit Tests" ON)
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
IF (BUILD_UNIT_TESTS)
add collision and inverse dynamics unit tests to cmake, .travis.yml and appveyor.yml (more unit tests will follow, once this setup works)
2015-11-25 00:13:21 +00:00
ENABLE_TESTING()
add CMake support to build gtest
2014-04-08 16:04:32 +00:00
SUBDIRS(test)
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
ENDIF()
set (BULLET_CONFIG_CMAKE_PATH lib${LIB_SUFFIX}/cmake/bullet )
Add compiler definitions for double precision to CMake config
2020-06-21 19:18:11 +00:00
list (APPEND BULLET_DEFINITIONS ${BULLET_DOUBLE_DEF})
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
list (APPEND BULLET_LIBRARIES LinearMath)
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
list (APPEND BULLET_LIBRARIES Bullet3Common)
list (APPEND BULLET_LIBRARIES BulletInverseDynamics)
fix type, BulletCollisions -> BulletCollision Thanks to pfanne for the report: https://github.com/bulletphysics/bullet3/issues/168
2014-05-05 15:29:01 +00:00
list (APPEND BULLET_LIBRARIES BulletCollision)
Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
2013-12-19 20:40:59 +00:00
list (APPEND BULLET_LIBRARIES BulletDynamics)
list (APPEND BULLET_LIBRARIES BulletSoftBody)
CMake: remove CMAKE_INSTALL_PREFIX from CMakeLists.txt it is automagically used See also https://github.com/bulletphysics/bullet3/pull/227 remove pthread from OpenGL/GlutStuff.cpp for now (it breaks CMake build)
2014-08-31 19:36:02 +00:00
set (BULLET_USE_FILE ${BULLET_CONFIG_CMAKE_PATH}/UseBullet.cmake)
fix whitespace formatting in cmake files
2015-12-07 22:08:04 +00:00
configure_file ( ${CMAKE_CURRENT_SOURCE_DIR}/BulletConfig.cmake.in
${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
@ONLY ESCAPE_QUOTES
)
manually apply pull request 457 PR #457 Thanks to aaronmjacobs!
2017-09-24 17:45:08 +00:00
OPTION(INSTALL_CMAKE_FILES "Install generated CMake files" ON)
IF (INSTALL_CMAKE_FILES)
install ( FILES ${CMAKE_CURRENT_SOURCE_DIR}/UseBullet.cmake
fix whitespace formatting in cmake files
2015-12-07 22:08:04 +00:00
${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
DESTINATION ${BULLET_CONFIG_CMAKE_PATH}
)
manually apply pull request 457 PR #457 Thanks to aaronmjacobs!
2017-09-24 17:45:08 +00:00
ENDIF (INSTALL_CMAKE_FILES)
Reference in New Issue Copy Permalink