mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-10 17:30:12 +00:00
Improve CMake support:
Add CMake install support for libbulletmath,libbulletcollision,libbulletdynamics,libbulletsoftbody,and toplevel include files Options to enable/disable BUILD_DEMOS and BUILD_ETRAS Fixed compile issue in BulletMultiThreaded Fixed double-precision issues with btMatrix3x3::getEulerZYX
This commit is contained in:
erwin.coumans
parent
ccc63bbce7
commit
325fc0bab0
128
CMakeLists.txt
128
CMakeLists.txt
@ -1,59 +1,69 @@
|
||||
cmake_minimum_required(VERSION 2.4)
|
||||
|
||||
PROJECT(BULLET_PHYSICS)
|
||||
|
||||
IF (NOT CMAKE_BUILD_TYPE)
|
||||
SET(CMAKE_BUILD_TYPE "Debug")
|
||||
ENDIF (NOT CMAKE_BUILD_TYPE)
|
||||
|
||||
|
||||
|
||||
IF(COMMAND cmake_policy)
|
||||
cmake_policy(SET CMP0003 NEW)
|
||||
ENDIF(COMMAND cmake_policy)
|
||||
|
||||
|
||||
# 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(${OPENGL_LIBRARIES})
|
||||
ELSE (OPENGL_FOUND)
|
||||
MESSAGE("OPENGL NOT FOUND")
|
||||
SET(OPENGL_gl_LIBRARY opengl32)
|
||||
SET(OPENGL_glu_LIBRARY glu32)
|
||||
ENDIF (OPENGL_FOUND)
|
||||
|
||||
# ADD_DEFINITIONS(-DBT_USE_FREEGLUT)
|
||||
|
||||
FIND_PACKAGE(GLU)
|
||||
|
||||
FIND_PACKAGE(GLUT)
|
||||
IF (GLUT_FOUND)
|
||||
MESSAGE("GLUT FOUND")
|
||||
MESSAGE(${GLUT_glut_LIBRARY})
|
||||
ELSE (GLUT_FOUND)
|
||||
|
||||
IF (MINGW)
|
||||
MESSAGE ("GLUT NOT FOUND not found, trying to use MINGW glut32")
|
||||
SET(GLUT_glut_LIBRARY glut32)
|
||||
ENDIF (MINGW)
|
||||
|
||||
IF (MSVC)
|
||||
MESSAGE ("GLUT NOT FOUND, trying to use Bullet/Glut/glut32.lib for MSVC")
|
||||
SET(GLUT_glut_LIBRARY ${BULLET_PHYSICS_SOURCE_DIR}/Glut/glut32.lib)
|
||||
ENDIF (MSVC)
|
||||
ENDIF (GLUT_FOUND)
|
||||
|
||||
|
||||
IF (WIN32)
|
||||
INCLUDE_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/Glut)
|
||||
ELSE (WIN32)
|
||||
# This is the lines for linux. This should always work if everything is installed and working fine.
|
||||
INCLUDE_DIRECTORIES(/usr/include /usr/local/include ${GLUT_INCLUDE_DIR})
|
||||
ENDIF (WIN32)
|
||||
|
||||
|
||||
SUBDIRS(src Demos Extras)
|
||||
cmake_minimum_required(VERSION 2.4)
|
||||
|
||||
PROJECT(BULLET_PHYSICS)
|
||||
|
||||
IF (NOT CMAKE_BUILD_TYPE)
|
||||
SET(CMAKE_BUILD_TYPE "Debug")
|
||||
ENDIF (NOT CMAKE_BUILD_TYPE)
|
||||
|
||||
|
||||
|
||||
IF(COMMAND cmake_policy)
|
||||
cmake_policy(SET CMP0003 NEW)
|
||||
ENDIF(COMMAND cmake_policy)
|
||||
|
||||
|
||||
# This is the shortcut to finding GLU, GLUT and OpenGL if they are properly installed on your system
|
||||
# This should be the case.
|
||||
|
||||
FIND_PACKAGE(OpenGL)
|
||||
IF (OPENGL_FOUND)
|
||||
MESSAGE("OPENGL FOUND")
|
||||
MESSAGE(${OPENGL_LIBRARIES})
|
||||
ELSE (OPENGL_FOUND)
|
||||
MESSAGE("OPENGL NOT FOUND")
|
||||
SET(OPENGL_gl_LIBRARY opengl32)
|
||||
SET(OPENGL_glu_LIBRARY glu32)
|
||||
ENDIF (OPENGL_FOUND)
|
||||
|
||||
# ADD_DEFINITIONS(-DBT_USE_FREEGLUT)
|
||||
|
||||
FIND_PACKAGE(GLU)
|
||||
|
||||
FIND_PACKAGE(GLUT)
|
||||
IF (GLUT_FOUND)
|
||||
MESSAGE("GLUT FOUND")
|
||||
MESSAGE(${GLUT_glut_LIBRARY})
|
||||
ELSE (GLUT_FOUND)
|
||||
|
||||
IF (MINGW)
|
||||
MESSAGE ("GLUT NOT FOUND not found, trying to use MINGW glut32")
|
||||
SET(GLUT_glut_LIBRARY glut32)
|
||||
ENDIF (MINGW)
|
||||
|
||||
IF (MSVC)
|
||||
MESSAGE ("GLUT NOT FOUND, trying to use Bullet/Glut/glut32.lib for MSVC")
|
||||
SET(GLUT_glut_LIBRARY ${BULLET_PHYSICS_SOURCE_DIR}/Glut/glut32.lib)
|
||||
ENDIF (MSVC)
|
||||
ENDIF (GLUT_FOUND)
|
||||
|
||||
|
||||
IF (WIN32)
|
||||
INCLUDE_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/Glut)
|
||||
ELSE (WIN32)
|
||||
# This is the lines for linux. This should always work if everything is installed and working fine.
|
||||
INCLUDE_DIRECTORIES(/usr/include /usr/local/include ${GLUT_INCLUDE_DIR})
|
||||
ENDIF (WIN32)
|
||||
|
||||
|
||||
OPTION(BUILD_DEMOS "Set when you want to build the demos" ON)
|
||||
IF(BUILD_DEMOS)
|
||||
SUBDIRS(Demos)
|
||||
ENDIF(BUILD_DEMOS)
|
||||
|
||||
OPTION(BUILD_EXTRAS "Set when you want to build the extras" ON)
|
||||
IF(BUILD_EXTRAS)
|
||||
SUBDIRS(Extras)
|
||||
ENDIF(BUILD_EXTRAS)
|
||||
|
||||
SUBDIRS(src)
|
||||
|
||||
@ -1,135 +1,70 @@
|
||||
|
||||
INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/src }
|
||||
)
|
||||
|
||||
ADD_LIBRARY(LibBulletCollision
|
||||
|
||||
SET(LibBulletCollision_SRCS
|
||||
BroadphaseCollision/btAxisSweep3.cpp
|
||||
BroadphaseCollision/btAxisSweep3.h
|
||||
BroadphaseCollision/btBroadphaseProxy.cpp
|
||||
BroadphaseCollision/btBroadphaseProxy.h
|
||||
BroadphaseCollision/btCollisionAlgorithm.cpp
|
||||
BroadphaseCollision/btCollisionAlgorithm.h
|
||||
BroadphaseCollision/btDispatcher.cpp
|
||||
BroadphaseCollision/btDispatcher.h
|
||||
BroadphaseCollision/btDbvtBroadphase.cpp
|
||||
BroadphaseCollision/btDbvtBroadphase.h
|
||||
BroadphaseCollision/btDbvt.cpp
|
||||
BroadphaseCollision/btDbvt.h
|
||||
BroadphaseCollision/btMultiSapBroadphase.cpp
|
||||
BroadphaseCollision/btMultiSapBroadphase.h
|
||||
BroadphaseCollision/btOverlappingPairCache.cpp
|
||||
BroadphaseCollision/btOverlappingPairCache.h
|
||||
BroadphaseCollision/btOverlappingPairCallback.h
|
||||
BroadphaseCollision/btQuantizedBvh.cpp
|
||||
BroadphaseCollision/btQuantizedBvh.h
|
||||
BroadphaseCollision/btSimpleBroadphase.cpp
|
||||
BroadphaseCollision/btSimpleBroadphase.h
|
||||
CollisionDispatch/btCollisionDispatcher.cpp
|
||||
CollisionDispatch/btCollisionDispatcher.h
|
||||
CollisionDispatch/btCollisionObject.cpp
|
||||
CollisionDispatch/btCollisionObject.h
|
||||
CollisionDispatch/btCollisionWorld.cpp
|
||||
CollisionDispatch/btCollisionWorld.h
|
||||
CollisionDispatch/btCompoundCollisionAlgorithm.cpp
|
||||
CollisionDispatch/btCompoundCollisionAlgorithm.h
|
||||
CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
|
||||
CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
|
||||
CollisionDispatch/btDefaultCollisionConfiguration.cpp
|
||||
CollisionDispatch/btDefaultCollisionConfiguration.h
|
||||
CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
|
||||
CollisionDispatch/btSphereSphereCollisionAlgorithm.h
|
||||
CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
|
||||
CollisionDispatch/btBoxBoxCollisionAlgorithm.h
|
||||
CollisionDispatch/btBoxBoxDetector.cpp
|
||||
CollisionDispatch/btBoxBoxDetector.h
|
||||
CollisionDispatch/btGhostObject.cpp
|
||||
CollisionDispatch/btGhostObject.h
|
||||
CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
|
||||
CollisionDispatch/btSphereBoxCollisionAlgorithm.h
|
||||
CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
|
||||
CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
|
||||
CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
|
||||
CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
|
||||
CollisionDispatch/btConvexConvexAlgorithm.cpp
|
||||
CollisionDispatch/btConvexConvexAlgorithm.h
|
||||
CollisionDispatch/btEmptyCollisionAlgorithm.cpp
|
||||
CollisionDispatch/btEmptyCollisionAlgorithm.h
|
||||
CollisionDispatch/btManifoldResult.cpp
|
||||
CollisionDispatch/btManifoldResult.h
|
||||
CollisionDispatch/btSimulationIslandManager.cpp
|
||||
CollisionDispatch/btSimulationIslandManager.h
|
||||
CollisionDispatch/btUnionFind.cpp
|
||||
CollisionDispatch/btUnionFind.h
|
||||
CollisionDispatch/SphereTriangleDetector.cpp
|
||||
CollisionDispatch/SphereTriangleDetector.h
|
||||
CollisionShapes/btBoxShape.cpp
|
||||
CollisionShapes/btBoxShape.h
|
||||
CollisionShapes/btBvhTriangleMeshShape.cpp
|
||||
CollisionShapes/btBvhTriangleMeshShape.h
|
||||
CollisionShapes/btCapsuleShape.cpp
|
||||
CollisionShapes/btCapsuleShape.h
|
||||
CollisionShapes/btCollisionShape.cpp
|
||||
CollisionShapes/btCollisionShape.h
|
||||
CollisionShapes/btCompoundShape.cpp
|
||||
CollisionShapes/btCompoundShape.h
|
||||
CollisionShapes/btConcaveShape.cpp
|
||||
CollisionShapes/btConcaveShape.h
|
||||
CollisionShapes/btConeShape.cpp
|
||||
CollisionShapes/btConeShape.h
|
||||
CollisionShapes/btConvexHullShape.cpp
|
||||
CollisionShapes/btConvexHullShape.h
|
||||
CollisionShapes/btConvexPointCloudShape.cpp
|
||||
CollisionShapes/btConvexPointCloudShape.h
|
||||
CollisionShapes/btConvexShape.cpp
|
||||
CollisionShapes/btConvexShape.h
|
||||
CollisionShapes/btConvexInternalShape.cpp
|
||||
CollisionShapes/btConvexInternalShape.h
|
||||
CollisionShapes/btConvexTriangleMeshShape.cpp
|
||||
CollisionShapes/btConvexTriangleMeshShape.h
|
||||
CollisionShapes/btCylinderShape.cpp
|
||||
CollisionShapes/btCylinderShape.h
|
||||
CollisionShapes/btEmptyShape.cpp
|
||||
CollisionShapes/btEmptyShape.h
|
||||
CollisionShapes/btHeightfieldTerrainShape.cpp
|
||||
CollisionShapes/btHeightfieldTerrainShape.h
|
||||
CollisionShapes/btMinkowskiSumShape.cpp
|
||||
CollisionShapes/btMinkowskiSumShape.h
|
||||
CollisionShapes/btMaterial.h
|
||||
CollisionShapes/btMultimaterialTriangleMeshShape.cpp
|
||||
CollisionShapes/btMultimaterialTriangleMeshShape.h
|
||||
CollisionShapes/btMultiSphereShape.cpp
|
||||
CollisionShapes/btMultiSphereShape.h
|
||||
CollisionShapes/btOptimizedBvh.cpp
|
||||
CollisionShapes/btOptimizedBvh.h
|
||||
CollisionShapes/btPolyhedralConvexShape.cpp
|
||||
CollisionShapes/btPolyhedralConvexShape.h
|
||||
CollisionShapes/btScaledBvhTriangleMeshShape.cpp
|
||||
CollisionShapes/btScaledBvhTriangleMeshShape.h
|
||||
CollisionShapes/btTetrahedronShape.cpp
|
||||
CollisionShapes/btTetrahedronShape.h
|
||||
CollisionShapes/btSphereShape.cpp
|
||||
CollisionShapes/btSphereShape.h
|
||||
CollisionShapes/btShapeHull.h
|
||||
CollisionShapes/btShapeHull.cpp
|
||||
CollisionShapes/btStaticPlaneShape.cpp
|
||||
CollisionShapes/btStaticPlaneShape.h
|
||||
CollisionShapes/btStridingMeshInterface.cpp
|
||||
CollisionShapes/btStridingMeshInterface.h
|
||||
CollisionShapes/btTriangleCallback.cpp
|
||||
CollisionShapes/btTriangleCallback.h
|
||||
CollisionShapes/btTriangleBuffer.cpp
|
||||
CollisionShapes/btTriangleBuffer.h
|
||||
CollisionShapes/btTriangleIndexVertexArray.cpp
|
||||
CollisionShapes/btTriangleIndexVertexArray.h
|
||||
CollisionShapes/btTriangleIndexVertexMaterialArray.h
|
||||
CollisionShapes/btTriangleIndexVertexMaterialArray.cpp
|
||||
CollisionShapes/btTriangleMesh.cpp
|
||||
CollisionShapes/btTriangleMesh.h
|
||||
CollisionShapes/btTriangleMeshShape.cpp
|
||||
CollisionShapes/btTriangleMeshShape.h
|
||||
CollisionShapes/btUniformScalingShape.cpp
|
||||
CollisionShapes/btUniformScalingShape.h
|
||||
Gimpact/btContactProcessing.cpp
|
||||
Gimpact/btGImpactShape.cpp
|
||||
Gimpact/gim_contact.cpp
|
||||
@ -142,25 +77,109 @@ ADD_LIBRARY(LibBulletCollision
|
||||
Gimpact/btGImpactQuantizedBvh.cpp
|
||||
Gimpact/gim_box_set.cpp
|
||||
NarrowPhaseCollision/btContinuousConvexCollision.cpp
|
||||
NarrowPhaseCollision/btContinuousConvexCollision.h
|
||||
NarrowPhaseCollision/btGjkEpa2.cpp
|
||||
NarrowPhaseCollision/btGjkEpa2.h
|
||||
NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
|
||||
NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
|
||||
NarrowPhaseCollision/btConvexCast.cpp
|
||||
NarrowPhaseCollision/btConvexCast.h
|
||||
NarrowPhaseCollision/btGjkConvexCast.cpp
|
||||
NarrowPhaseCollision/btGjkConvexCast.h
|
||||
NarrowPhaseCollision/btGjkPairDetector.cpp
|
||||
NarrowPhaseCollision/btGjkPairDetector.h
|
||||
NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
|
||||
NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
|
||||
NarrowPhaseCollision/btPersistentManifold.cpp
|
||||
NarrowPhaseCollision/btPersistentManifold.h
|
||||
NarrowPhaseCollision/btRaycastCallback.cpp
|
||||
NarrowPhaseCollision/btRaycastCallback.h
|
||||
NarrowPhaseCollision/btSubSimplexConvexCast.cpp
|
||||
NarrowPhaseCollision/btSubSimplexConvexCast.h
|
||||
NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
|
||||
)
|
||||
|
||||
SET(LibBulletCollision_HDRS
|
||||
BroadphaseCollision/btAxisSweep3.h
|
||||
BroadphaseCollision/btBroadphaseProxy.h
|
||||
BroadphaseCollision/btCollisionAlgorithm.h
|
||||
BroadphaseCollision/btDispatcher.h
|
||||
BroadphaseCollision/btDbvtBroadphase.h
|
||||
BroadphaseCollision/btDbvt.h
|
||||
BroadphaseCollision/btMultiSapBroadphase.h
|
||||
BroadphaseCollision/btOverlappingPairCache.h
|
||||
BroadphaseCollision/btOverlappingPairCallback.h
|
||||
BroadphaseCollision/btQuantizedBvh.h
|
||||
BroadphaseCollision/btSimpleBroadphase.h
|
||||
CollisionDispatch/btCollisionDispatcher.h
|
||||
CollisionDispatch/btCollisionObject.h
|
||||
CollisionDispatch/btCollisionWorld.h
|
||||
CollisionDispatch/btCompoundCollisionAlgorithm.h
|
||||
CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
|
||||
CollisionDispatch/btDefaultCollisionConfiguration.h
|
||||
CollisionDispatch/btSphereSphereCollisionAlgorithm.h
|
||||
CollisionDispatch/btBoxBoxCollisionAlgorithm.h
|
||||
CollisionDispatch/btBoxBoxDetector.h
|
||||
CollisionDispatch/btGhostObject.h
|
||||
CollisionDispatch/btSphereBoxCollisionAlgorithm.h
|
||||
CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
|
||||
CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
|
||||
CollisionDispatch/btConvexConvexAlgorithm.h
|
||||
CollisionDispatch/btEmptyCollisionAlgorithm.h
|
||||
CollisionDispatch/btManifoldResult.h
|
||||
CollisionDispatch/btSimulationIslandManager.h
|
||||
CollisionDispatch/btUnionFind.h
|
||||
CollisionDispatch/SphereTriangleDetector.h
|
||||
CollisionShapes/btBoxShape.h
|
||||
CollisionShapes/btBvhTriangleMeshShape.h
|
||||
CollisionShapes/btCapsuleShape.h
|
||||
CollisionShapes/btCollisionShape.h
|
||||
CollisionShapes/btCompoundShape.h
|
||||
CollisionShapes/btConcaveShape.h
|
||||
CollisionShapes/btConeShape.h
|
||||
CollisionShapes/btConvexHullShape.h
|
||||
CollisionShapes/btConvexPointCloudShape.h
|
||||
CollisionShapes/btConvexShape.h
|
||||
CollisionShapes/btConvexInternalShape.h
|
||||
CollisionShapes/btConvexTriangleMeshShape.h
|
||||
CollisionShapes/btCylinderShape.h
|
||||
CollisionShapes/btEmptyShape.h
|
||||
CollisionShapes/btHeightfieldTerrainShape.h
|
||||
CollisionShapes/btMinkowskiSumShape.h
|
||||
CollisionShapes/btMaterial.h
|
||||
CollisionShapes/btMultimaterialTriangleMeshShape.h
|
||||
CollisionShapes/btMultiSphereShape.h
|
||||
CollisionShapes/btOptimizedBvh.h
|
||||
CollisionShapes/btPolyhedralConvexShape.h
|
||||
CollisionShapes/btScaledBvhTriangleMeshShape.h
|
||||
CollisionShapes/btTetrahedronShape.h
|
||||
CollisionShapes/btSphereShape.h
|
||||
CollisionShapes/btShapeHull.h
|
||||
CollisionShapes/btStaticPlaneShape.h
|
||||
CollisionShapes/btStridingMeshInterface.h
|
||||
CollisionShapes/btTriangleCallback.h
|
||||
CollisionShapes/btTriangleBuffer.h
|
||||
CollisionShapes/btTriangleIndexVertexArray.h
|
||||
CollisionShapes/btTriangleIndexVertexMaterialArray.h
|
||||
CollisionShapes/btTriangleMesh.h
|
||||
CollisionShapes/btTriangleMeshShape.h
|
||||
CollisionShapes/btUniformScalingShape.h
|
||||
Gimpact/btGImpactShape.h
|
||||
Gimpact/gim_contact.h
|
||||
Gimpact/btGImpactBvh.h
|
||||
Gimpact/btGenericPoolAllocator.h
|
||||
Gimpact/gim_memory.h
|
||||
Gimpact/btGImpactCollisionAlgorithm.h
|
||||
Gimpact/btTriangleShapeEx.h
|
||||
Gimpact/gim_tri_collision.h
|
||||
Gimpact/btGImpactQuantizedBvh.h
|
||||
Gimpact/gim_box_set.h
|
||||
NarrowPhaseCollision/btContinuousConvexCollision.h
|
||||
NarrowPhaseCollision/btContinuousConvexCollision.h
|
||||
NarrowPhaseCollision/btGjkEpa2.h
|
||||
NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
|
||||
NarrowPhaseCollision/btConvexCast.h
|
||||
NarrowPhaseCollision/btGjkConvexCast.h
|
||||
NarrowPhaseCollision/btGjkPairDetector.h
|
||||
NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
|
||||
NarrowPhaseCollision/btPersistentManifold.h
|
||||
NarrowPhaseCollision/btRaycastCallback.h
|
||||
NarrowPhaseCollision/btSubSimplexConvexCast.h
|
||||
NarrowPhaseCollision/btVoronoiSimplexSolver.h
|
||||
)
|
||||
|
||||
#ADD_LIBRARY(LibBulletCollision SHARED ${LibBulletCollision_SRCS} ${LibBulletCollision_HDRS})
|
||||
ADD_LIBRARY(LibBulletCollision ${LibBulletCollision_SRCS} ${LibBulletCollision_HDRS})
|
||||
|
||||
INSTALL(TARGETS LibBulletCollision DESTINATION lib)
|
||||
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} DESTINATION include FILES_MATCHING PATTERN "*.h")
|
||||
|
||||
@ -2,35 +2,43 @@ INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/src }
|
||||
)
|
||||
|
||||
ADD_LIBRARY(LibBulletDynamics
|
||||
|
||||
SET(LibBulletDynamics_SRCS
|
||||
ConstraintSolver/btContactConstraint.cpp
|
||||
ConstraintSolver/btContactConstraint.h
|
||||
ConstraintSolver/btConeTwistConstraint.cpp
|
||||
ConstraintSolver/btConeTwistConstraint.h
|
||||
ConstraintSolver/btGeneric6DofConstraint.cpp
|
||||
ConstraintSolver/btGeneric6DofConstraint.h
|
||||
ConstraintSolver/btHingeConstraint.cpp
|
||||
ConstraintSolver/btHingeConstraint.h
|
||||
ConstraintSolver/btPoint2PointConstraint.cpp
|
||||
ConstraintSolver/btPoint2PointConstraint.h
|
||||
ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
|
||||
ConstraintSolver/btSequentialImpulseConstraintSolver.h
|
||||
ConstraintSolver/btSliderConstraint.cpp
|
||||
ConstraintSolver/btSliderConstraint.h
|
||||
ConstraintSolver/btSolve2LinearConstraint.cpp
|
||||
ConstraintSolver/btSolve2LinearConstraint.h
|
||||
ConstraintSolver/btTypedConstraint.cpp
|
||||
ConstraintSolver/btTypedConstraint.h
|
||||
Dynamics/Bullet-C-API.cpp
|
||||
Dynamics/btDiscreteDynamicsWorld.cpp
|
||||
Dynamics/btDiscreteDynamicsWorld.h
|
||||
Dynamics/btSimpleDynamicsWorld.cpp
|
||||
Dynamics/btSimpleDynamicsWorld.h
|
||||
Dynamics/btRigidBody.cpp
|
||||
Dynamics/btRigidBody.h
|
||||
Vehicle/btRaycastVehicle.cpp
|
||||
Vehicle/btRaycastVehicle.h
|
||||
Vehicle/btWheelInfo.cpp
|
||||
)
|
||||
|
||||
SET(LibBulletDynamics_HDRS
|
||||
ConstraintSolver/btContactConstraint.h
|
||||
ConstraintSolver/btConeTwistConstraint.h
|
||||
ConstraintSolver/btGeneric6DofConstraint.h
|
||||
ConstraintSolver/btHingeConstraint.h
|
||||
ConstraintSolver/btPoint2PointConstraint.h
|
||||
ConstraintSolver/btSequentialImpulseConstraintSolver.h
|
||||
ConstraintSolver/btSliderConstraint.h
|
||||
ConstraintSolver/btSolve2LinearConstraint.h
|
||||
ConstraintSolver/btTypedConstraint.h
|
||||
Dynamics/btDiscreteDynamicsWorld.h
|
||||
Dynamics/btSimpleDynamicsWorld.h
|
||||
Dynamics/btRigidBody.h
|
||||
Vehicle/btRaycastVehicle.h
|
||||
Vehicle/btWheelInfo.h
|
||||
)
|
||||
|
||||
#ADD_LIBRARY(LibBulletDynamics SHARED ${LibBulletDynamics_SRCS} ${LibBulletDynamics_HDRS})
|
||||
ADD_LIBRARY(LibBulletDynamics ${LibBulletDynamics_SRCS} ${LibBulletDynamics_HDRS})
|
||||
|
||||
INSTALL(TARGETS LibBulletDynamics DESTINATION lib)
|
||||
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} DESTINATION include FILES_MATCHING PATTERN "*.h")
|
||||
|
||||
@ -39,8 +39,8 @@ SpuSubsimplexRayCast::SpuSubsimplexRayCast (void* shapeB, SpuConvexPolyhedronVer
|
||||
* MSUM(Pellet, ConvexShape)
|
||||
*
|
||||
*/
|
||||
void supportPoints (const btTransform xformRay,
|
||||
const btTransform xformB,
|
||||
void supportPoints (const btTransform& xformRay,
|
||||
const btTransform& xformB,
|
||||
const int shapeType,
|
||||
const void* shape,
|
||||
SpuConvexPolyhedronVertexData* convexVertexData,
|
||||
|
||||
@ -3,19 +3,30 @@ INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/src }
|
||||
)
|
||||
|
||||
ADD_LIBRARY(LibBulletSoftBody
|
||||
SET(LibBulletSoftBody_SRCS
|
||||
btSoftBody.cpp
|
||||
btSoftBody.h
|
||||
btSoftBodyHelpers.cpp
|
||||
btSparseSDF.h
|
||||
btSoftBodyHelpers.h
|
||||
btSoftBodyRigidBodyCollisionConfiguration.cpp
|
||||
btSoftRigidCollisionAlgorithm.cpp
|
||||
btSoftRigidCollisionAlgorithm.h
|
||||
btSoftSoftCollisionAlgorithm.cpp
|
||||
btSoftSoftCollisionAlgorithm.h
|
||||
btSoftBodyConcaveCollisionAlgorithm.cpp
|
||||
btSoftBodyConcaveCollisionAlgorithm.h
|
||||
btSoftRigidDynamicsWorld.h
|
||||
btSoftRigidDynamicsWorld.cpp
|
||||
)
|
||||
|
||||
SET(LibBulletSoftBody_HDRS
|
||||
btSoftBody.h
|
||||
btSparseSDF.h
|
||||
btSoftBodyHelpers.h
|
||||
btSoftRigidCollisionAlgorithm.h
|
||||
btSoftSoftCollisionAlgorithm.h
|
||||
btSoftBodyConcaveCollisionAlgorithm.h
|
||||
btSoftRigidDynamicsWorld.h
|
||||
)
|
||||
|
||||
|
||||
#ADD_LIBRARY(LibBulletSoftBody SHARED ${LibBulletSoftBody_SRCS} ${LibBulletSoftBody_HDRS})
|
||||
ADD_LIBRARY(LibBulletSoftBody ${LibBulletSoftBody_SRCS} ${LibBulletSoftBody_HDRS})
|
||||
|
||||
INSTALL(TARGETS LibBulletSoftBody DESTINATION lib)
|
||||
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} DESTINATION include FILES_MATCHING PATTERN "*.h")
|
||||
|
||||
|
||||
@ -3,3 +3,5 @@ SUBDIRS( BulletSoftBody BulletCollision BulletDynamics LinearMath )
|
||||
else (CMAKE_SIZEOF_VOID_P MATCHES "8")
|
||||
SUBDIRS( BulletMultiThreaded BulletSoftBody BulletCollision BulletDynamics LinearMath )
|
||||
endif (CMAKE_SIZEOF_VOID_P MATCHES "8")
|
||||
|
||||
INSTALL(FILES btBulletCollisionCommon.h btBulletDynamicsCommon.h Bullet-C-Api.h DESTINATION include)
|
||||
@ -3,7 +3,14 @@ INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/src }
|
||||
)
|
||||
|
||||
ADD_LIBRARY(LibLinearMath
|
||||
SET(LibLinearMath_SRCS
|
||||
btConvexHull.cpp
|
||||
btQuickprof.cpp
|
||||
btGeometryUtil.cpp
|
||||
btAlignedAllocator.cpp
|
||||
)
|
||||
|
||||
SET(LibLinearMath_HDRS
|
||||
btAlignedObjectArray.h
|
||||
btList.h
|
||||
btPoolAllocator.h
|
||||
@ -16,7 +23,6 @@ ADD_LIBRARY(LibLinearMath
|
||||
btScalar.h
|
||||
btAabbUtil2.h
|
||||
btConvexHull.h
|
||||
btConvexHull.cpp
|
||||
btMinMax.h
|
||||
btQuaternion.h
|
||||
btStackAlloc.h
|
||||
@ -27,8 +33,10 @@ ADD_LIBRARY(LibLinearMath
|
||||
btIDebugDraw.h
|
||||
btQuickprof.h
|
||||
btTransformUtil.h
|
||||
btQuickprof.cpp
|
||||
btGeometryUtil.cpp
|
||||
btAlignedAllocator.cpp
|
||||
)
|
||||
|
||||
# ADD_LIBRARY(LibLinearMath SHARED ${LibLinearMath_SRCS} ${LibLinearMath_HDRS})
|
||||
ADD_LIBRARY(LibLinearMath ${LibLinearMath_SRCS} ${LibLinearMath_HDRS})
|
||||
|
||||
INSTALL(TARGETS LibLinearMath DESTINATION lib)
|
||||
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} DESTINATION include FILES_MATCHING PATTERN "*.h")
|
||||
|
||||
@ -293,18 +293,18 @@ class btMatrix3x3 {
|
||||
euler_out2.yaw = 0;
|
||||
|
||||
// From difference of angles formula
|
||||
double delta = btAtan2(m_el[0].x(),m_el[0].z());
|
||||
btScalar delta = btAtan2(m_el[0].x(),m_el[0].z());
|
||||
if (m_el[2].x() > 0) //gimbal locked up
|
||||
{
|
||||
euler_out.pitch = SIMD_PI / 2.0;
|
||||
euler_out2.pitch = SIMD_PI / 2.0;
|
||||
euler_out.pitch = SIMD_PI / btScalar(2.0);
|
||||
euler_out2.pitch = SIMD_PI / btScalar(2.0);
|
||||
euler_out.roll = euler_out.pitch + delta;
|
||||
euler_out2.roll = euler_out.pitch + delta;
|
||||
}
|
||||
else // gimbal locked down
|
||||
{
|
||||
euler_out.pitch = -SIMD_PI / 2.0;
|
||||
euler_out2.pitch = -SIMD_PI / 2.0;
|
||||
euler_out.pitch = -SIMD_PI / btScalar(2.0);
|
||||
euler_out2.pitch = -SIMD_PI / btScalar(2.0);
|
||||
euler_out.roll = -euler_out.pitch + delta;
|
||||
euler_out2.roll = -euler_out.pitch + delta;
|
||||
}
|
||||
@ -314,32 +314,29 @@ class btMatrix3x3 {
|
||||
euler_out.pitch = - btAsin(m_el[2].x());
|
||||
euler_out2.pitch = SIMD_PI - euler_out.pitch;
|
||||
|
||||
euler_out.roll = btAtan2(m_el[2].y()/cos(euler_out.pitch),
|
||||
m_el[2].z()/cos(euler_out.pitch));
|
||||
euler_out2.roll = btAtan2(m_el[2].y()/cos(euler_out2.pitch),
|
||||
m_el[2].z()/cos(euler_out2.pitch));
|
||||
euler_out.roll = btAtan2(m_el[2].y()/btCos(euler_out.pitch),
|
||||
m_el[2].z()/btCos(euler_out.pitch));
|
||||
euler_out2.roll = btAtan2(m_el[2].y()/btCos(euler_out2.pitch),
|
||||
m_el[2].z()/btCos(euler_out2.pitch));
|
||||
|
||||
euler_out.yaw = btAtan2(m_el[1].x()/cos(euler_out.pitch),
|
||||
m_el[0].x()/cos(euler_out.pitch));
|
||||
euler_out2.yaw = btAtan2(m_el[1].x()/cos(euler_out2.pitch),
|
||||
m_el[0].x()/cos(euler_out2.pitch));
|
||||
euler_out.yaw = btAtan2(m_el[1].x()/btCos(euler_out.pitch),
|
||||
m_el[0].x()/btCos(euler_out.pitch));
|
||||
euler_out2.yaw = btAtan2(m_el[1].x()/btCos(euler_out2.pitch),
|
||||
m_el[0].x()/btCos(euler_out2.pitch));
|
||||
}
|
||||
|
||||
if (solution_number == 1)
|
||||
{ yaw = euler_out.yaw;
|
||||
pitch = euler_out.pitch;
|
||||
roll = euler_out.roll;
|
||||
{
|
||||
yaw = euler_out.yaw;
|
||||
pitch = euler_out.pitch;
|
||||
roll = euler_out.roll;
|
||||
}
|
||||
else
|
||||
{ yaw = euler_out2.yaw;
|
||||
pitch = euler_out2.pitch;
|
||||
roll = euler_out2.roll;
|
||||
{
|
||||
yaw = euler_out2.yaw;
|
||||
pitch = euler_out2.pitch;
|
||||
roll = euler_out2.roll;
|
||||
}
|
||||
|
||||
|
||||
|
||||
return;
|
||||
|
||||
}
|
||||
|
||||
/**@brief Create a scaled copy of the matrix
|
||||
|
||||
Loading…
Reference in New Issue
Block a user