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bullet3/examples/pybullet/CMakeLists.txt

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CMake
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Revert "C api refactor build"
2019-06-14 14:49:24 +00:00
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/examples
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
${PYTHON_INCLUDE_DIRS}
)
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
IF(BUILD_PYBULLET_NUMPY)
Revert "C api refactor build"
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INCLUDE_DIRECTORIES(
${PYTHON_NUMPY_INCLUDE_DIR}
)
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
ENDIF()
add CMake support for pybullet (still preliminary) requires shared library build: cmake .. -DBUILD_SHARED_LIBS=on then create a symbolic link from libpybullet.so to pybullet.so
2016-05-03 20:02:06 +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
ADD_DEFINITIONS(-DSTATIC_LINK_SPD_PLUGIN )
fixes in PyBullet deep_mimic to allow running in pip version
2019-02-11 16:51:07 +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
IF(ENABLE_VHACD)
ADD_DEFINITIONS(-DBT_ENABLE_VHACD)
INCLUDE_DIRECTORIES(
../../Extras/VHACD/inc
../../Extras/VHACD/public
)
ENDIF(ENABLE_VHACD)
create BulletRoboticsGUI CMake target, pybullet links against it fix BulletRobotics header install
2020-03-17 06:15:18 +00:00
Revert "C api refactor build"
2019-06-14 14:49:24 +00:00
SET(pybullet_SRCS
pybullet.c
add CMake support for pybullet (still preliminary) requires shared library build: cmake .. -DBUILD_SHARED_LIBS=on then create a symbolic link from libpybullet.so to pybullet.so
2016-05-03 20:02:06 +00:00
)
create BulletRoboticsGUI CMake target, pybullet links against it fix BulletRobotics header install
2020-03-17 06:15:18 +00:00
IF(BUILD_CLSOCKET)
Revert "C api refactor build"
2019-06-14 14:49:24 +00:00
ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
create BulletRoboticsGUI CMake target, pybullet links against it fix BulletRobotics header install
2020-03-17 06:15:18 +00:00
ENDIF()
Revert "C api refactor build"
2019-06-14 14:49:24 +00:00
IF(WIN32)
LINK_LIBRARIES(
${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
create BulletRoboticsGUI CMake target, pybullet links against it fix BulletRobotics header install
2020-03-17 06:15:18 +00:00
IF(BUILD_ENET)
Revert "C api refactor build"
2019-06-14 14:49:24 +00:00
ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
create BulletRoboticsGUI CMake target, pybullet links against it fix BulletRobotics header install
2020-03-17 06:15:18 +00:00
ENDIF()
IF(BUILD_CLSOCKET)
Revert "C api refactor build"
2019-06-14 14:49:24 +00:00
ADD_DEFINITIONS(-DWIN32)
create BulletRoboticsGUI CMake target, pybullet links against it fix BulletRobotics header install
2020-03-17 06:15:18 +00:00
ENDIF()
Revert "C api refactor build"
2019-06-14 14:49:24 +00:00
ELSE(WIN32)
create BulletRoboticsGUI CMake target, pybullet links against it fix BulletRobotics header install
2020-03-17 06:15:18 +00:00
IF(BUILD_ENET)
Revert "C api refactor build"
2019-06-14 14:49:24 +00:00
ADD_DEFINITIONS(-DHAS_SOCKLEN_T -DBT_ENABLE_ENET)
create BulletRoboticsGUI CMake target, pybullet links against it fix BulletRobotics header install
2020-03-17 06:15:18 +00:00
ENDIF()
Revert "C api refactor build"
2019-06-14 14:49:24 +00:00
create BulletRoboticsGUI CMake target, pybullet links against it fix BulletRobotics header install
2020-03-17 06:15:18 +00:00
IF(BUILD_CLSOCKET)
Revert "C api refactor build"
2019-06-14 14:49:24 +00:00
ADD_DEFINITIONS(${OSDEF})
create BulletRoboticsGUI CMake target, pybullet links against it fix BulletRobotics header install
2020-03-17 06:15:18 +00:00
ENDIF()
Revert "C api refactor build"
2019-06-14 14:49:24 +00:00
ENDIF(WIN32)
export TCP connection mode to pybullet made TCP disconnection detection more reliable
2017-02-21 04:34:05 +00:00
ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS})
remove prefix/postfix from pybullet, so it becomes pybullet.so and pybullet_d.so in debug mode (and on Windows, pybullet.pyd and pybullet_d.pyd) fix build_cmake_pybullet_win32.bat, so it links against correct version of pythonx.lib pythonx_d.lib. Still, I would prefer using premake on Windows, it has more native Visual Studio features.
2016-11-29 17:09:35 +00:00
SET_TARGET_PROPERTIES(pybullet PROPERTIES PREFIX "")
SET_TARGET_PROPERTIES(pybullet PROPERTIES POSTFIX "")
Update CMakeLists to be the same as upstream.
2016-08-22 17:26:56 +00:00
SET_TARGET_PROPERTIES(pybullet PROPERTIES VERSION ${BULLET_VERSION})
SET_TARGET_PROPERTIES(pybullet PROPERTIES SOVERSION ${BULLET_VERSION})
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 20:15:10 +00:00
SET_TARGET_PROPERTIES(pybullet PROPERTIES DEBUG_POSTFIX "_d")
Revert "C api refactor build"
2019-06-14 14:49:24 +00:00
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 20:15:10 +00:00
IF(WIN32)
create BulletRoboticsGUI CMake target, pybullet links against it fix BulletRobotics header install
2020-03-17 06:15:18 +00:00
IF(BUILD_ENET OR BUILD_CLSOCKET)
Revert "C api refactor build"
2019-06-14 14:49:24 +00:00
TARGET_LINK_LIBRARIES(pybullet ws2_32 )
create BulletRoboticsGUI CMake target, pybullet links against it fix BulletRobotics header install
2020-03-17 06:15:18 +00:00
ENDIF()
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 20:15:10 +00:00
Revert "C api refactor build"
2019-06-14 14:49:24 +00:00
SET_TARGET_PROPERTIES(pybullet PROPERTIES SUFFIX ".pyd" )
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 20:15:10 +00:00
ENDIF(WIN32)
Revert "C api refactor build"
2019-06-14 14:49:24 +00:00
IF (APPLE)
SET_TARGET_PROPERTIES(pybullet PROPERTIES SUFFIX ".so" )
OSX Python extension is .so
2019-01-11 19:47:36 +00:00
ENDIF()
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 20:15:10 +00:00
Revert "C api refactor build"
2019-06-14 14:49:24 +00:00
create BulletRoboticsGUI CMake target, pybullet links against it fix BulletRobotics header install
2020-03-17 06:15:18 +00:00
TARGET_LINK_LIBRARIES(pybullet BulletRoboticsGUI BulletExampleBrowserLib BulletRobotics BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK Bullet3Common)
Revert "C api refactor build"
2019-06-14 14:49:24 +00:00
IF (WIN32)
On OSX link with dynamic_lookup
2019-01-12 10:36:28 +00:00
TARGET_LINK_LIBRARIES(pybullet ${PYTHON_LIBRARIES})
Revert "C api refactor build"
2019-06-14 14:49:24 +00:00
ELSEIF (APPLE)
SET_TARGET_PROPERTIES(pybullet PROPERTIES LINK_FLAGS "-undefined dynamic_lookup")
ENDIF ()
On OSX link with dynamic_lookup
2019-01-12 10:36:28 +00:00
# else Linux: dont link
add CMake support for pybullet (still preliminary) requires shared library build: cmake .. -DBUILD_SHARED_LIBS=on then create a symbolic link from libpybullet.so to pybullet.so
2016-05-03 20:02:06 +00:00
Add pybullet install rule
2019-01-11 19:46:06 +00:00
IF(WIN32)
SET(PYTHON_SITE_PACKAGES Lib/site-packages CACHE PATH "Python install path")
ELSE()
Revert "C api refactor build"
2019-06-14 14:49:24 +00:00
SET(PYTHON_SITE_PACKAGES lib/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/site-packages CACHE PATH "Python install path")
Add pybullet install rule
2019-01-11 19:46:06 +00:00
ENDIF()
INSTALL(TARGETS pybullet DESTINATION ${PYTHON_SITE_PACKAGES})
Revert "C api refactor build"
2019-06-14 14:49:24 +00:00
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