mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
Merge remote-tracking branch 'bp/master'
This commit is contained in:
erwincoumans
commit
36896db828
@ -291,8 +291,6 @@ IF (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)
|
||||
|
||||
|
||||
@ -472,6 +470,7 @@ list (APPEND BULLET_LIBRARIES BulletInverseDynamics)
|
||||
list (APPEND BULLET_LIBRARIES BulletCollision)
|
||||
list (APPEND BULLET_LIBRARIES BulletDynamics)
|
||||
list (APPEND BULLET_LIBRARIES BulletSoftBody)
|
||||
list (APPEND BULLET_LIBRARIES bullet_c_api)
|
||||
set (BULLET_USE_FILE ${BULLET_CONFIG_CMAKE_PATH}/UseBullet.cmake)
|
||||
configure_file ( ${CMAKE_CURRENT_SOURCE_DIR}/BulletConfig.cmake.in
|
||||
${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
|
||||
|
||||
@ -1,6 +1,6 @@
|
||||
SUBDIRS( HelloWorld BasicDemo )
|
||||
IF(BUILD_BULLET3)
|
||||
SUBDIRS( ExampleBrowser RobotSimulator SharedMemory ThirdPartyLibs/Gwen ThirdPartyLibs/BussIK ThirdPartyLibs/clsocket OpenGLWindow TwoJoint )
|
||||
SUBDIRS( ExampleBrowser RobotSimulator SharedMemory ThirdPartyLibs/Gwen ThirdPartyLibs/BussIK ThirdPartyLibs/clsocket OpenGLWindow TwoJoint c_api)
|
||||
ENDIF()
|
||||
|
||||
IF(BUILD_PYBULLET)
|
||||
|
||||
210
examples/c_api/CMakeLists.txt
Normal file
210
examples/c_api/CMakeLists.txt
Normal file
@ -0,0 +1,210 @@
|
||||
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
|
||||
)
|
||||
|
||||
|
||||
SET(
|
||||
bullet_c_api_SRCS
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/Shape.h
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.h
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.cpp
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.h
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.cpp
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.h
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.cpp
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.h
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.h
|
||||
../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
|
||||
../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
|
||||
../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
|
||||
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
|
||||
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
|
||||
../../examples/SharedMemory/IKTrajectoryHelper.cpp
|
||||
../../examples/SharedMemory/IKTrajectoryHelper.h
|
||||
../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
|
||||
../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
|
||||
../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h
|
||||
../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
|
||||
../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h
|
||||
../../examples/OpenGLWindow/SimpleCamera.cpp
|
||||
../../examples/OpenGLWindow/SimpleCamera.h
|
||||
../../examples/TinyRenderer/geometry.cpp
|
||||
../../examples/TinyRenderer/model.cpp
|
||||
../../examples/TinyRenderer/tgaimage.cpp
|
||||
../../examples/TinyRenderer/our_gl.cpp
|
||||
../../examples/TinyRenderer/TinyRenderer.cpp
|
||||
../../examples/SharedMemory/InProcessMemory.cpp
|
||||
../../examples/SharedMemory/PhysicsClient.cpp
|
||||
../../examples/SharedMemory/PhysicsClient.h
|
||||
../../examples/SharedMemory/PhysicsServer.cpp
|
||||
../../examples/SharedMemory/PhysicsServer.h
|
||||
../../examples/SharedMemory/PhysicsServerExample.cpp
|
||||
../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp
|
||||
../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
|
||||
../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
|
||||
../../examples/SharedMemory/PhysicsServerSharedMemory.h
|
||||
../../examples/SharedMemory/PhysicsDirect.cpp
|
||||
../../examples/SharedMemory/PhysicsDirect.h
|
||||
../../examples/SharedMemory/PhysicsDirectC_API.cpp
|
||||
../../examples/SharedMemory/PhysicsDirectC_API.h
|
||||
../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
|
||||
../../examples/SharedMemory/PhysicsServerCommandProcessor.h
|
||||
../../examples/SharedMemory/b3PluginManager.cpp
|
||||
../../examples/SharedMemory/b3PluginManager.h
|
||||
../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
|
||||
../../examples/SharedMemory/PhysicsClientSharedMemory.h
|
||||
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
|
||||
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
|
||||
../../examples/SharedMemory/PhysicsClientC_API.cpp
|
||||
../../examples/SharedMemory/PhysicsClientC_API.h
|
||||
../../examples/SharedMemory/Win32SharedMemory.cpp
|
||||
../../examples/SharedMemory/Win32SharedMemory.h
|
||||
../../examples/SharedMemory/PosixSharedMemory.cpp
|
||||
../../examples/SharedMemory/PosixSharedMemory.h
|
||||
../../examples/Utils/b3ResourcePath.cpp
|
||||
../../examples/Utils/b3ResourcePath.h
|
||||
../../examples/Utils/RobotLoggingUtil.cpp
|
||||
../../examples/Utils/RobotLoggingUtil.h
|
||||
../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
|
||||
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
|
||||
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
|
||||
../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
|
||||
../../examples/ThirdPartyLibs/stb_image/stb_image_write.cpp
|
||||
../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
|
||||
../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
|
||||
../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
|
||||
../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
|
||||
../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
|
||||
../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
|
||||
../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
|
||||
../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
|
||||
../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
|
||||
../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
|
||||
../../examples/MultiThreading/b3PosixThreadSupport.cpp
|
||||
../../examples/MultiThreading/b3Win32ThreadSupport.cpp
|
||||
../../examples/MultiThreading/b3ThreadSupportInterface.cpp
|
||||
)
|
||||
IF(BUILD_PYBULLET_CLSOCKET)
|
||||
ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
|
||||
ENDIF(BUILD_PYBULLET_CLSOCKET)
|
||||
|
||||
IF(WIN32)
|
||||
IF(BUILD_PYBULLET_ENET)
|
||||
ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
|
||||
ENDIF(BUILD_PYBULLET_ENET)
|
||||
IF(BUILD_PYBULLET_CLSOCKET)
|
||||
ADD_DEFINITIONS(-DWIN32)
|
||||
ENDIF(BUILD_PYBULLET_CLSOCKET)
|
||||
|
||||
ELSE(WIN32)
|
||||
IF(BUILD_PYBULLET_ENET)
|
||||
ADD_DEFINITIONS(-DHAS_SOCKLEN_T -DBT_ENABLE_ENET)
|
||||
ENDIF(BUILD_PYBULLET_ENET)
|
||||
|
||||
IF(BUILD_PYBULLET_CLSOCKET)
|
||||
ADD_DEFINITIONS(${OSDEF})
|
||||
ENDIF(BUILD_PYBULLET_CLSOCKET)
|
||||
ENDIF(WIN32)
|
||||
|
||||
IF(BUILD_PYBULLET_ENET)
|
||||
SET(
|
||||
bullet_c_api_SRCS
|
||||
${bullet_c_api_SRCS}
|
||||
../../examples/SharedMemory/PhysicsClientUDP.cpp
|
||||
../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp
|
||||
../../examples/SharedMemory/PhysicsClientUDP.h
|
||||
../../examples/SharedMemory/PhysicsClientUDP_C_API.h
|
||||
../../examples/ThirdPartyLibs/enet/win32.c
|
||||
../../examples/ThirdPartyLibs/enet/unix.c
|
||||
../../examples/ThirdPartyLibs/enet/callbacks.c
|
||||
../../examples/ThirdPartyLibs/enet/compress.c
|
||||
../../examples/ThirdPartyLibs/enet/host.c
|
||||
../../examples/ThirdPartyLibs/enet/list.c
|
||||
../../examples/ThirdPartyLibs/enet/packet.c
|
||||
../../examples/ThirdPartyLibs/enet/peer.c
|
||||
../../examples/ThirdPartyLibs/enet/protocol.c
|
||||
)
|
||||
ENDIF(BUILD_PYBULLET_ENET)
|
||||
|
||||
IF(BUILD_PYBULLET_CLSOCKET)
|
||||
SET(
|
||||
bullet_c_api_SRCS
|
||||
${bullet_c_api_SRCS}
|
||||
../../examples/SharedMemory/PhysicsClientTCP.cpp
|
||||
../../examples/SharedMemory/PhysicsClientTCP.h
|
||||
../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp
|
||||
../../examples/SharedMemory/PhysicsClientTCP_C_API.h
|
||||
../../examples/ThirdPartyLibs/clsocket/src/SimpleSocket.cpp
|
||||
../../examples/ThirdPartyLibs/clsocket/src/ActiveSocket.cpp
|
||||
../../examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp
|
||||
)
|
||||
ENDIF()
|
||||
|
||||
ADD_LIBRARY(bullet_c_api SHARED ${bullet_c_api_SRCS})
|
||||
|
||||
SET_TARGET_PROPERTIES(bullet_c_api PROPERTIES PREFIX "")
|
||||
SET_TARGET_PROPERTIES(bullet_c_api PROPERTIES POSTFIX "")
|
||||
|
||||
SET_TARGET_PROPERTIES(bullet_c_api PROPERTIES VERSION ${BULLET_VERSION})
|
||||
SET_TARGET_PROPERTIES(bullet_c_api PROPERTIES SOVERSION ${BULLET_VERSION})
|
||||
SET_TARGET_PROPERTIES(bullet_c_api PROPERTIES DEBUG_POSTFIX "_d")
|
||||
|
||||
IF(WIN32)
|
||||
IF(BUILD_PYBULLET_ENET OR BUILD_PYBULLET_CLSOCKET)
|
||||
TARGET_LINK_LIBRARIES(bullet_c_api ws2_32)
|
||||
ENDIF(BUILD_PYBULLET_ENET OR BUILD_PYBULLET_CLSOCKET)
|
||||
ENDIF(WIN32)
|
||||
|
||||
|
||||
TARGET_LINK_LIBRARIES(
|
||||
bullet_c_api
|
||||
BulletExampleBrowserLib
|
||||
BulletFileLoader
|
||||
BulletWorldImporter
|
||||
BulletSoftBody
|
||||
BulletDynamics
|
||||
BulletCollision
|
||||
BulletInverseDynamicsUtils
|
||||
BulletInverseDynamics
|
||||
LinearMath
|
||||
OpenGLWindow
|
||||
gwen
|
||||
BussIK
|
||||
Bullet3Common
|
||||
)
|
||||
|
||||
TARGET_LINK_LIBRARIES(bullet_c_api ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
|
||||
|
||||
IF (INSTALL_LIBS)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
#INSTALL of other files requires CMake 2.6
|
||||
IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
|
||||
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
INSTALL(TARGETS bullet_c_api DESTINATION lib)
|
||||
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
INSTALL(TARGETS bullet_c_api RUNTIME DESTINATION bin
|
||||
LIBRARY DESTINATION lib${LIB_SUFFIX}
|
||||
ARCHIVE DESTINATION lib${LIB_SUFFIX})
|
||||
|
||||
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
|
||||
|
||||
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
SET_TARGET_PROPERTIES(bullet_c_api PROPERTIES FRAMEWORK true)
|
||||
|
||||
SET_TARGET_PROPERTIES(bullet_c_api PROPERTIES PUBLIC_HEADER "${Root_HDRS}")
|
||||
# Have to list out sub-directories manually:
|
||||
|
||||
|
||||
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF (INSTALL_LIBS)
|
||||
@ -1,165 +1,21 @@
|
||||
|
||||
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}
|
||||
)
|
||||
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}
|
||||
)
|
||||
IF(BUILD_PYBULLET_NUMPY)
|
||||
INCLUDE_DIRECTORIES(
|
||||
${PYTHON_NUMPY_INCLUDE_DIR}
|
||||
)
|
||||
INCLUDE_DIRECTORIES(${PYTHON_NUMPY_INCLUDE_DIR})
|
||||
ENDIF()
|
||||
|
||||
ADD_DEFINITIONS(-DSTATIC_LINK_SPD_PLUGIN)
|
||||
|
||||
SET(pybullet_SRCS
|
||||
pybullet.c
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/Shape.h
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.h
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.cpp
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.h
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.cpp
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.h
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.cpp
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.h
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp
|
||||
../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.h
|
||||
../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
|
||||
../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
|
||||
../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
|
||||
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
|
||||
../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
|
||||
../../examples/SharedMemory/IKTrajectoryHelper.cpp
|
||||
../../examples/SharedMemory/IKTrajectoryHelper.h
|
||||
../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
|
||||
../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
|
||||
../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h
|
||||
../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
|
||||
../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h
|
||||
../../examples/OpenGLWindow/SimpleCamera.cpp
|
||||
../../examples/OpenGLWindow/SimpleCamera.h
|
||||
../../examples/TinyRenderer/geometry.cpp
|
||||
../../examples/TinyRenderer/model.cpp
|
||||
../../examples/TinyRenderer/tgaimage.cpp
|
||||
../../examples/TinyRenderer/our_gl.cpp
|
||||
../../examples/TinyRenderer/TinyRenderer.cpp
|
||||
../../examples/SharedMemory/InProcessMemory.cpp
|
||||
../../examples/SharedMemory/PhysicsClient.cpp
|
||||
../../examples/SharedMemory/PhysicsClient.h
|
||||
../../examples/SharedMemory/PhysicsServer.cpp
|
||||
../../examples/SharedMemory/PhysicsServer.h
|
||||
../../examples/SharedMemory/PhysicsServerExample.cpp
|
||||
../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp
|
||||
../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
|
||||
../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
|
||||
../../examples/SharedMemory/PhysicsServerSharedMemory.h
|
||||
../../examples/SharedMemory/PhysicsDirect.cpp
|
||||
../../examples/SharedMemory/PhysicsDirect.h
|
||||
../../examples/SharedMemory/PhysicsDirectC_API.cpp
|
||||
../../examples/SharedMemory/PhysicsDirectC_API.h
|
||||
../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
|
||||
../../examples/SharedMemory/PhysicsServerCommandProcessor.h
|
||||
../../examples/SharedMemory/b3PluginManager.cpp
|
||||
../../examples/SharedMemory/b3PluginManager.h
|
||||
|
||||
../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
|
||||
../../examples/SharedMemory/PhysicsClientSharedMemory.h
|
||||
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
|
||||
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
|
||||
|
||||
../../examples/SharedMemory/PhysicsClientC_API.cpp
|
||||
../../examples/SharedMemory/PhysicsClientC_API.h
|
||||
../../examples/SharedMemory/Win32SharedMemory.cpp
|
||||
../../examples/SharedMemory/Win32SharedMemory.h
|
||||
../../examples/SharedMemory/PosixSharedMemory.cpp
|
||||
../../examples/SharedMemory/PosixSharedMemory.h
|
||||
../../examples/Utils/b3ResourcePath.cpp
|
||||
../../examples/Utils/b3ResourcePath.h
|
||||
../../examples/Utils/RobotLoggingUtil.cpp
|
||||
../../examples/Utils/RobotLoggingUtil.h
|
||||
|
||||
../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
|
||||
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
|
||||
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
|
||||
../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
|
||||
../../examples/ThirdPartyLibs/stb_image/stb_image_write.cpp
|
||||
../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
|
||||
../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
|
||||
../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
|
||||
../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
|
||||
../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
|
||||
../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
|
||||
../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
|
||||
../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
|
||||
../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
|
||||
../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
|
||||
../../examples/MultiThreading/b3PosixThreadSupport.cpp
|
||||
../../examples/MultiThreading/b3Win32ThreadSupport.cpp
|
||||
../../examples/MultiThreading/b3ThreadSupportInterface.cpp
|
||||
|
||||
SET(
|
||||
pybullet_SRCS
|
||||
pybullet.c
|
||||
)
|
||||
IF(BUILD_PYBULLET_CLSOCKET)
|
||||
ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
|
||||
ENDIF(BUILD_PYBULLET_CLSOCKET)
|
||||
|
||||
IF(WIN32)
|
||||
LINK_LIBRARIES(
|
||||
${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
|
||||
)
|
||||
IF(BUILD_PYBULLET_ENET)
|
||||
ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
|
||||
ENDIF(BUILD_PYBULLET_ENET)
|
||||
IF(BUILD_PYBULLET_CLSOCKET)
|
||||
ADD_DEFINITIONS(-DWIN32)
|
||||
ENDIF(BUILD_PYBULLET_CLSOCKET)
|
||||
|
||||
ELSE(WIN32)
|
||||
IF(BUILD_PYBULLET_ENET)
|
||||
ADD_DEFINITIONS(-DHAS_SOCKLEN_T -DBT_ENABLE_ENET)
|
||||
ENDIF(BUILD_PYBULLET_ENET)
|
||||
|
||||
IF(BUILD_PYBULLET_CLSOCKET)
|
||||
ADD_DEFINITIONS(${OSDEF})
|
||||
ENDIF(BUILD_PYBULLET_CLSOCKET)
|
||||
ENDIF(WIN32)
|
||||
|
||||
|
||||
IF(BUILD_PYBULLET_ENET)
|
||||
set(pybullet_SRCS ${pybullet_SRCS}
|
||||
../../examples/SharedMemory/PhysicsClientUDP.cpp
|
||||
../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp
|
||||
../../examples/SharedMemory/PhysicsClientUDP.h
|
||||
../../examples/SharedMemory/PhysicsClientUDP_C_API.h
|
||||
../../examples/ThirdPartyLibs/enet/win32.c
|
||||
../../examples/ThirdPartyLibs/enet/unix.c
|
||||
../../examples/ThirdPartyLibs/enet/callbacks.c
|
||||
../../examples/ThirdPartyLibs/enet/compress.c
|
||||
../../examples/ThirdPartyLibs/enet/host.c
|
||||
../../examples/ThirdPartyLibs/enet/list.c
|
||||
../../examples/ThirdPartyLibs/enet/packet.c
|
||||
../../examples/ThirdPartyLibs/enet/peer.c
|
||||
../../examples/ThirdPartyLibs/enet/protocol.c
|
||||
)
|
||||
ENDIF(BUILD_PYBULLET_ENET)
|
||||
|
||||
IF(BUILD_PYBULLET_CLSOCKET)
|
||||
set(pybullet_SRCS ${pybullet_SRCS}
|
||||
../../examples/SharedMemory/PhysicsClientTCP.cpp
|
||||
../../examples/SharedMemory/PhysicsClientTCP.h
|
||||
../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp
|
||||
../../examples/SharedMemory/PhysicsClientTCP_C_API.h
|
||||
../../examples/ThirdPartyLibs/clsocket/src/SimpleSocket.cpp
|
||||
../../examples/ThirdPartyLibs/clsocket/src/ActiveSocket.cpp
|
||||
../../examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp
|
||||
)
|
||||
ENDIF()
|
||||
|
||||
ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS})
|
||||
|
||||
@ -170,35 +26,41 @@ SET_TARGET_PROPERTIES(pybullet PROPERTIES VERSION ${BULLET_VERSION})
|
||||
SET_TARGET_PROPERTIES(pybullet PROPERTIES SOVERSION ${BULLET_VERSION})
|
||||
SET_TARGET_PROPERTIES(pybullet PROPERTIES DEBUG_POSTFIX "_d")
|
||||
|
||||
|
||||
IF(WIN32)
|
||||
IF(BUILD_PYBULLET_ENET OR BUILD_PYBULLET_CLSOCKET)
|
||||
TARGET_LINK_LIBRARIES(pybullet ws2_32 )
|
||||
ENDIF(BUILD_PYBULLET_ENET OR BUILD_PYBULLET_CLSOCKET)
|
||||
IF(BUILD_PYBULLET_ENET OR BUILD_PYBULLET_CLSOCKET)
|
||||
TARGET_LINK_LIBRARIES(pybullet ws2_32)
|
||||
ENDIF(BUILD_PYBULLET_ENET OR BUILD_PYBULLET_CLSOCKET)
|
||||
|
||||
SET_TARGET_PROPERTIES(pybullet PROPERTIES SUFFIX ".pyd" )
|
||||
SET_TARGET_PROPERTIES(pybullet PROPERTIES SUFFIX ".pyd")
|
||||
ENDIF(WIN32)
|
||||
|
||||
IF (APPLE)
|
||||
SET_TARGET_PROPERTIES(pybullet PROPERTIES SUFFIX ".so" )
|
||||
IF(APPLE)
|
||||
SET_TARGET_PROPERTIES(pybullet PROPERTIES SUFFIX ".so")
|
||||
ENDIF()
|
||||
|
||||
TARGET_LINK_LIBRARIES(
|
||||
pybullet
|
||||
bullet_c_api
|
||||
)
|
||||
|
||||
|
||||
TARGET_LINK_LIBRARIES(pybullet BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK Bullet3Common)
|
||||
|
||||
IF (WIN32)
|
||||
IF(WIN32)
|
||||
TARGET_LINK_LIBRARIES(pybullet ${PYTHON_LIBRARIES})
|
||||
ELSEIF (APPLE)
|
||||
SET_TARGET_PROPERTIES(pybullet PROPERTIES LINK_FLAGS "-undefined dynamic_lookup")
|
||||
ENDIF ()
|
||||
ELSEIF(APPLE)
|
||||
SET_TARGET_PROPERTIES(
|
||||
pybullet
|
||||
PROPERTIES LINK_FLAGS "-undefined dynamic_lookup"
|
||||
)
|
||||
ENDIF()
|
||||
# else Linux: dont link
|
||||
|
||||
IF(WIN32)
|
||||
SET(PYTHON_SITE_PACKAGES Lib/site-packages CACHE PATH "Python install path")
|
||||
ELSE()
|
||||
SET(PYTHON_SITE_PACKAGES lib/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/site-packages CACHE PATH "Python install path")
|
||||
SET(
|
||||
PYTHON_SITE_PACKAGES
|
||||
lib/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/site-packages
|
||||
CACHE PATH "Python install path"
|
||||
)
|
||||
ENDIF()
|
||||
|
||||
INSTALL(TARGETS pybullet DESTINATION ${PYTHON_SITE_PACKAGES})
|
||||
|
||||
|
||||
@ -20,7 +20,7 @@ subject to the following restrictions:
|
||||
#include "btMLCPSolverInterface.h"
|
||||
#include "btLemkeAlgorithm.h"
|
||||
|
||||
///The btLemkeSolver is based on "Fast Implementation of Lemke’s Algorithm for Rigid Body Contact Simulation (John E. Lloyd) "
|
||||
///The btLemkeSolver is based on "Fast Implementation of Lemke’s Algorithm for Rigid Body Contact Simulation (John E. Lloyd) "
|
||||
///It is a slower but more accurate solver. Increase the m_maxLoops for better convergence, at the cost of more CPU time.
|
||||
///The original implementation of the btLemkeAlgorithm was done by Kilian Grundl from the MBSim team
|
||||
class btLemkeSolver : public btMLCPSolverInterface
|
||||
@ -67,7 +67,7 @@ public:
|
||||
btMatrixXu A1;
|
||||
btMatrixXu B(n, n);
|
||||
{
|
||||
BT_PROFILE("inverse(slow)");
|
||||
//BT_PROFILE("inverse(slow)");
|
||||
A1.resize(A.rows(), A.cols());
|
||||
for (int row = 0; row < A.rows(); row++)
|
||||
{
|
||||
@ -174,7 +174,7 @@ public:
|
||||
y1.resize(n, 1);
|
||||
btLemkeAlgorithm lemke(M, qq, m_debugLevel);
|
||||
{
|
||||
BT_PROFILE("lemke.solve");
|
||||
//BT_PROFILE("lemke.solve");
|
||||
lemke.setSystem(M, qq);
|
||||
z1 = lemke.solve(m_maxLoops);
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user