Merge pull request #1793 from jslee02/fix_build_clang6

Fix build errors with Clang 6 (also resolve #1510)
2024-12-14 22:00:05 +00:00 · 2018-07-19 09:20:42 +02:00 · 2018-07-19 09:20:42 +02:00 · c254768d1a
commit c254768d1a
parent a8d81eb155 8b26945f8f
8 changed files with 129 additions and 36 deletions
--- a/.ci/docker/env.list
+++ b/.ci/docker/env.list
@ -0,0 +1,7 @@
+TRAVIS_OS_NAME
+TRAVIS_PULL_REQUEST
+
+BUILD_NAME
+CC
+CXX
+SUDO
--- a/.ci/docker/ubuntu-bionic
+++ b/.ci/docker/ubuntu-bionic
@ -0,0 +1,18 @@
+FROM ubuntu:bionic
+
+RUN apt-get update -qq
+RUN apt-get install -y \
+    build-essential  \
+    clang \
+    cmake \
+    curl \
+    git \
+    libgl-dev \
+    libglu-dev \
+    libpython3-dev \
+    lsb-release \
+    pkg-config \
+    python3 \
+    python3-distutils \
+    software-properties-common \
+    sudo
--- a/.ci/docker/ubuntu-xenial
+++ b/.ci/docker/ubuntu-xenial
@ -0,0 +1,17 @@
+FROM ubuntu:xenial
+
+RUN apt-get update -qq
+RUN apt-get install -y \
+    build-essential  \
+    clang \
+    cmake \
+    curl \
+    git \
+    libgl-dev \
+    libglu-dev \
+    libpython3-dev \
+    lsb-release \
+    pkg-config \
+    python3 \
+    software-properties-common \
+    sudo
--- a/.ci/script.sh
+++ b/.ci/script.sh
@ -0,0 +1,30 @@
+#!/usr/bin/env bash
+set -ex
+
+echo "CXX="$CXX
+echo "CC="$CC
+if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then
+  $SUDO apt-get update
+  $SUDO apt-get install -y python3
+  $SUDO apt-get install -y python3-pip
+  $SUDO pip3 install -U wheel
+  $SUDO pip3 install -U setuptools
+  $SUDO python3 setup.py install
+  python3 examples/pybullet/unittests/unittests.py --verbose
+  python3 examples/pybullet/unittests/userDataTest.py --verbose
+  python3 examples/pybullet/unittests/saveRestoreStateTest.py --verbose
+fi
+cmake . -DBUILD_PYBULLET=ON -G"Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror
+make -j8
+ctest -j8 --output-on-failure
+
+# Build again with double precision
+cmake . -G "Unix Makefiles" -DUSE_DOUBLE_PRECISION=ON #-DCMAKE_CXX_FLAGS=-Werror
+make -j8
+ctest -j8 --output-on-failure
+
+# Build again with shared libraries
+cmake . -G "Unix Makefiles" -DBUILD_SHARED_LIBS=ON
+make -j8
+ctest -j8 --output-on-failure
+$SUDO make install
--- a/.travis.yml
+++ b/.travis.yml
@ -1,35 +1,56 @@
 language: cpp
-os:
-  - linux
-  - osx
-compiler:
-  - gcc
-  - clang
-addons:
-  apt:
-    packages:
-      - python3
-
-
+matrix:
+  include:
+    - os: linux
+      compiler: gcc
+      env:
+        - BUILD_NAME=TRUSTY_GCC
+        - SUDO=sudo
+    - os: linux
+      compiler: clang
+      env:
+        - BUILD_NAME=TRUSTY_CLANG
+        - SUDO=sudo
+    - os: linux
+      compiler: gcc
+      env:
+        - BUILD_NAME=XENIAL_GCC
+        - DOCKER_FILE="ubuntu-xenial"
+      services: docker
+    - os: linux
+      compiler: clang
+      env:
+        - BUILD_NAME=XENIAL_CLANG
+        - DOCKER_FILE="ubuntu-xenial"
+      services: docker
+    - os: linux
+      compiler: gcc
+      env:
+        - BUILD_NAME=BIONIC_GCC
+        - DOCKER_FILE="ubuntu-bionic"
+      services: docker
+    - os: linux
+      compiler: clang
+      env:
+        - BUILD_NAME=BIONIC_CLANG
+        - DOCKER_FILE="ubuntu-bionic"
+      services: docker
+    - os: osx
+      compiler: gcc
+      env:
+        - BUILD_NAME=OSX_GCC
+    - os: osx
+      compiler: clang
+      env:
+        - BUILD_NAME=OSX_CLANG
+before_install:
+  - if [ -n "$DOCKER_FILE" ]; then
+      docker build -t "$DOCKER_FILE" -f ".ci/docker/$DOCKER_FILE" .;
+      docker run -itd -v $TRAVIS_BUILD_DIR:$TRAVIS_BUILD_DIR --env-file .ci/docker/env.list --name bullet-docker "$DOCKER_FILE";
+    fi
 script:
-  - echo "CXX="$CXX
-  - echo "CC="$CC
-  - if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then sudo apt-get install python3-pip; fi
-  - if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then sudo pip3 install -U pip wheel; fi
-  - if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then sudo pip3 install setuptools; fi
-  - if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then sudo python3 setup.py install; fi
-  - if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then python3 examples/pybullet/unittests/unittests.py --verbose; fi
-  - if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then python3 examples/pybullet/unittests/userDataTest.py --verbose; fi
-  - if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then python3 examples/pybullet/unittests/saveRestoreStateTest.py --verbose; fi
-  - cmake . -DBUILD_PYBULLET=ON -G"Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror
-  - make -j8
-  - ctest -j8 --output-on-failure
-  # Build again with double precision
-  - cmake . -G "Unix Makefiles" -DUSE_DOUBLE_PRECISION=ON #-DCMAKE_CXX_FLAGS=-Werror
-  - make -j8
-  - ctest -j8 --output-on-failure
-  # Build again with shared libraries
-  - cmake . -G "Unix Makefiles" -DBUILD_SHARED_LIBS=ON
-  - make -j8
-  - ctest -j8 --output-on-failure
-  - sudo make install
+  - if [ -n "$DOCKER_FILE" ]; then
+      docker exec bullet-docker /bin/sh -c "cd $TRAVIS_BUILD_DIR && ./.ci/script.sh";
+    else
+      '.ci/script.sh';
+    fi
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -316,7 +316,7 @@ IF(BUILD_PYBULLET)
 	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)
-	set(EXACT_PYTHON_VERSION_FLAG EXACT REQUIRED)
+	    set(EXACT_PYTHON_VERSION_FLAG EXACT REQUIRED)
 	ENDIF(EXACT_PYTHON_VERSION)
 	# first find the python interpreter
 	FIND_PACKAGE(PythonInterp ${PYTHON_VERSION_PYBULLET} ${EXACT_PYTHON_VERSION_FLAG})
--- a/examples/MultiBody/InvertedPendulumPDControl.cpp
+++ b/examples/MultiBody/InvertedPendulumPDControl.cpp
@ -268,7 +268,7 @@ btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GU
        btVector3 posr = local_origin[i+1];
    //	float pos[4]={posr.x(),posr.y(),posr.z(),1};

-        float quat[4]={-world_to_local[i+1].x(),-world_to_local[i+1].y(),-world_to_local[i+1].z(),world_to_local[i+1].w()};
+		const btScalar quat[4]={-world_to_local[i+1].x(),-world_to_local[i+1].y(),-world_to_local[i+1].z(),world_to_local[i+1].w()};
 		btCollisionShape* shape =0;

 		if (i==0)
--- a/examples/MultiBody/MultiBodyConstraintFeedback.cpp
+++ b/examples/MultiBody/MultiBodyConstraintFeedback.cpp
@ -320,7 +320,7 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
            btVector3 posr = local_origin[i+1];
        //	float pos[4]={posr.x(),posr.y(),posr.z(),1};

-            float quat[4]={-world_to_local[i+1].x(),-world_to_local[i+1].y(),-world_to_local[i+1].z(),world_to_local[i+1].w()};
+			const btScalar quat[4]={-world_to_local[i+1].x(),-world_to_local[i+1].y(),-world_to_local[i+1].z(),world_to_local[i+1].w()};
 			btCollisionShape* shape =0;

 			if (i==0)