mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-18 21:10:05 +00:00
Refactor C API part of pybullet out
This commit is contained in:
Gustavo Goretkin
parent
76b27cf410
commit
aff54a2397
@ -1,6 +1,6 @@
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SUBDIRS( HelloWorld BasicDemo )
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IF(BUILD_BULLET3)
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SUBDIRS( ExampleBrowser RobotSimulator SharedMemory ThirdPartyLibs/Gwen ThirdPartyLibs/BussIK ThirdPartyLibs/clsocket OpenGLWindow TwoJoint )
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SUBDIRS( ExampleBrowser RobotSimulator SharedMemory ThirdPartyLibs/Gwen ThirdPartyLibs/BussIK ThirdPartyLibs/clsocket OpenGLWindow TwoJoint c_api)
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ENDIF()
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IF(BUILD_PYBULLET)
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@ -4,17 +4,11 @@ INCLUDE_DIRECTORIES(
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${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
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${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
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${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
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${PYTHON_INCLUDE_DIRS}
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)
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IF(BUILD_PYBULLET_NUMPY)
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INCLUDE_DIRECTORIES(${PYTHON_NUMPY_INCLUDE_DIR})
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ENDIF()
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ADD_DEFINITIONS(-DSTATIC_LINK_SPD_PLUGIN)
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SET(
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pybullet_SRCS
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pybullet.c
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bullet_c_api_SRCS
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../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp
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../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h
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../../examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp
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@ -124,8 +118,8 @@ ENDIF(WIN32)
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IF(BUILD_PYBULLET_ENET)
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SET(
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pybullet_SRCS
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${pybullet_SRCS}
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bullet_c_api_SRCS
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${bullet_c_api_SRCS}
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../../examples/SharedMemory/PhysicsClientUDP.cpp
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../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp
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../../examples/SharedMemory/PhysicsClientUDP.h
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@ -144,8 +138,8 @@ ENDIF(BUILD_PYBULLET_ENET)
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IF(BUILD_PYBULLET_CLSOCKET)
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SET(
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pybullet_SRCS
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${pybullet_SRCS}
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bullet_c_api_SRCS
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${bullet_c_api_SRCS}
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../../examples/SharedMemory/PhysicsClientTCP.cpp
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../../examples/SharedMemory/PhysicsClientTCP.h
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../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp
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@ -156,29 +150,24 @@ IF(BUILD_PYBULLET_CLSOCKET)
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)
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ENDIF()
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ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS})
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ADD_LIBRARY(bullet_c_api SHARED ${bullet_c_api_SRCS})
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SET_TARGET_PROPERTIES(pybullet PROPERTIES PREFIX "")
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SET_TARGET_PROPERTIES(pybullet PROPERTIES POSTFIX "")
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SET_TARGET_PROPERTIES(bullet_c_api PROPERTIES PREFIX "")
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SET_TARGET_PROPERTIES(bullet_c_api PROPERTIES POSTFIX "")
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SET_TARGET_PROPERTIES(pybullet PROPERTIES VERSION ${BULLET_VERSION})
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SET_TARGET_PROPERTIES(pybullet PROPERTIES SOVERSION ${BULLET_VERSION})
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SET_TARGET_PROPERTIES(pybullet PROPERTIES DEBUG_POSTFIX "_d")
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SET_TARGET_PROPERTIES(bullet_c_api PROPERTIES VERSION ${BULLET_VERSION})
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SET_TARGET_PROPERTIES(bullet_c_api PROPERTIES SOVERSION ${BULLET_VERSION})
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SET_TARGET_PROPERTIES(bullet_c_api PROPERTIES DEBUG_POSTFIX "_d")
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IF(WIN32)
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IF(BUILD_PYBULLET_ENET OR BUILD_PYBULLET_CLSOCKET)
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TARGET_LINK_LIBRARIES(pybullet ws2_32)
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TARGET_LINK_LIBRARIES(bullet_c_api ws2_32)
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ENDIF(BUILD_PYBULLET_ENET OR BUILD_PYBULLET_CLSOCKET)
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SET_TARGET_PROPERTIES(pybullet PROPERTIES SUFFIX ".pyd")
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ENDIF(WIN32)
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IF(APPLE)
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SET_TARGET_PROPERTIES(pybullet PROPERTIES SUFFIX ".so")
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ENDIF()
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TARGET_LINK_LIBRARIES(
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pybullet
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bullet_c_api
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BulletExampleBrowserLib
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BulletFileLoader
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BulletWorldImporter
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@ -192,26 +181,4 @@ TARGET_LINK_LIBRARIES(
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gwen
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BussIK
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Bullet3Common
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)
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IF(WIN32)
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TARGET_LINK_LIBRARIES(pybullet ${PYTHON_LIBRARIES})
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ELSEIF(APPLE)
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SET_TARGET_PROPERTIES(
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pybullet
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PROPERTIES LINK_FLAGS "-undefined dynamic_lookup"
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)
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ENDIF()
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# else Linux: dont link
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IF(WIN32)
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SET(PYTHON_SITE_PACKAGES Lib/site-packages CACHE PATH "Python install path")
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ELSE()
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SET(
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PYTHON_SITE_PACKAGES
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lib/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/site-packages
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CACHE PATH "Python install path"
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)
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ENDIF()
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INSTALL(TARGETS pybullet DESTINATION ${PYTHON_SITE_PACKAGES})
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)
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@ -15,146 +15,7 @@ ADD_DEFINITIONS(-DSTATIC_LINK_SPD_PLUGIN)
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SET(
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pybullet_SRCS
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pybullet.c
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../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp
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../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h
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../../examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp
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../../examples/SharedMemory/plugins/stablePDPlugin/Shape.h
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../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp
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../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.h
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../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.cpp
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../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.h
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../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.cpp
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../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.h
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../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.cpp
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../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.h
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../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp
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../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.h
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../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
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../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
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../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
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../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
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../../examples/SharedMemory/IKTrajectoryHelper.cpp
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../../examples/SharedMemory/IKTrajectoryHelper.h
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../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
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../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
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../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h
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../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
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../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h
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../../examples/OpenGLWindow/SimpleCamera.cpp
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../../examples/OpenGLWindow/SimpleCamera.h
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../../examples/TinyRenderer/geometry.cpp
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../../examples/TinyRenderer/model.cpp
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../../examples/TinyRenderer/tgaimage.cpp
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../../examples/TinyRenderer/our_gl.cpp
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../../examples/TinyRenderer/TinyRenderer.cpp
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../../examples/SharedMemory/InProcessMemory.cpp
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../../examples/SharedMemory/PhysicsClient.cpp
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../../examples/SharedMemory/PhysicsClient.h
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../../examples/SharedMemory/PhysicsServer.cpp
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../../examples/SharedMemory/PhysicsServer.h
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../../examples/SharedMemory/PhysicsServerExample.cpp
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../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp
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../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
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../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
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../../examples/SharedMemory/PhysicsServerSharedMemory.h
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../../examples/SharedMemory/PhysicsDirect.cpp
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../../examples/SharedMemory/PhysicsDirect.h
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../../examples/SharedMemory/PhysicsDirectC_API.cpp
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../../examples/SharedMemory/PhysicsDirectC_API.h
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../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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../../examples/SharedMemory/PhysicsServerCommandProcessor.h
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../../examples/SharedMemory/b3PluginManager.cpp
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../../examples/SharedMemory/b3PluginManager.h
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../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
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../../examples/SharedMemory/PhysicsClientSharedMemory.h
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../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
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../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
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../../examples/SharedMemory/PhysicsClientC_API.cpp
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../../examples/SharedMemory/PhysicsClientC_API.h
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../../examples/SharedMemory/Win32SharedMemory.cpp
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../../examples/SharedMemory/Win32SharedMemory.h
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../../examples/SharedMemory/PosixSharedMemory.cpp
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../../examples/SharedMemory/PosixSharedMemory.h
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../../examples/Utils/b3ResourcePath.cpp
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../../examples/Utils/b3ResourcePath.h
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../../examples/Utils/RobotLoggingUtil.cpp
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../../examples/Utils/RobotLoggingUtil.h
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../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
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../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
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../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
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../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
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../../examples/ThirdPartyLibs/stb_image/stb_image_write.cpp
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../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
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../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
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../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
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../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
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../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
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../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
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../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
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../../examples/MultiThreading/b3PosixThreadSupport.cpp
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../../examples/MultiThreading/b3Win32ThreadSupport.cpp
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../../examples/MultiThreading/b3ThreadSupportInterface.cpp
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)
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IF(BUILD_PYBULLET_CLSOCKET)
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ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
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ENDIF(BUILD_PYBULLET_CLSOCKET)
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IF(WIN32)
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LINK_LIBRARIES(${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
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IF(BUILD_PYBULLET_ENET)
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ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
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ENDIF(BUILD_PYBULLET_ENET)
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IF(BUILD_PYBULLET_CLSOCKET)
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ADD_DEFINITIONS(-DWIN32)
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ENDIF(BUILD_PYBULLET_CLSOCKET)
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ELSE(WIN32)
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IF(BUILD_PYBULLET_ENET)
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ADD_DEFINITIONS(-DHAS_SOCKLEN_T -DBT_ENABLE_ENET)
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ENDIF(BUILD_PYBULLET_ENET)
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IF(BUILD_PYBULLET_CLSOCKET)
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ADD_DEFINITIONS(${OSDEF})
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ENDIF(BUILD_PYBULLET_CLSOCKET)
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ENDIF(WIN32)
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IF(BUILD_PYBULLET_ENET)
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SET(
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pybullet_SRCS
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${pybullet_SRCS}
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../../examples/SharedMemory/PhysicsClientUDP.cpp
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../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp
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../../examples/SharedMemory/PhysicsClientUDP.h
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../../examples/SharedMemory/PhysicsClientUDP_C_API.h
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../../examples/ThirdPartyLibs/enet/win32.c
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../../examples/ThirdPartyLibs/enet/unix.c
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../../examples/ThirdPartyLibs/enet/callbacks.c
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../../examples/ThirdPartyLibs/enet/compress.c
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../../examples/ThirdPartyLibs/enet/host.c
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../../examples/ThirdPartyLibs/enet/list.c
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../../examples/ThirdPartyLibs/enet/packet.c
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../../examples/ThirdPartyLibs/enet/peer.c
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../../examples/ThirdPartyLibs/enet/protocol.c
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)
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ENDIF(BUILD_PYBULLET_ENET)
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IF(BUILD_PYBULLET_CLSOCKET)
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SET(
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pybullet_SRCS
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${pybullet_SRCS}
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../../examples/SharedMemory/PhysicsClientTCP.cpp
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../../examples/SharedMemory/PhysicsClientTCP.h
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../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp
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../../examples/SharedMemory/PhysicsClientTCP_C_API.h
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../../examples/ThirdPartyLibs/clsocket/src/SimpleSocket.cpp
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../../examples/ThirdPartyLibs/clsocket/src/ActiveSocket.cpp
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../../examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp
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)
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ENDIF()
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ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS})
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@ -179,19 +40,7 @@ ENDIF()
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TARGET_LINK_LIBRARIES(
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pybullet
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BulletExampleBrowserLib
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BulletFileLoader
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BulletWorldImporter
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BulletSoftBody
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BulletDynamics
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BulletCollision
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BulletInverseDynamicsUtils
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BulletInverseDynamics
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LinearMath
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OpenGLWindow
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gwen
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BussIK
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Bullet3Common
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bullet_c_api
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)
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IF(WIN32)
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