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}
	)
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
		../SharedMemory/GraphicsServerExample.cpp
		../SharedMemory/GraphicsClientExample.cpp
		../SharedMemory/RemoteGUIHelper.cpp
		../SharedMemory/GraphicsServerExample.h
		../SharedMemory/GraphicsClientExample.h
		../SharedMemory/RemoteGUIHelper.h
		../SharedMemory/GraphicsSharedMemoryCommands.h
		../SharedMemory/GraphicsSharedMemoryPublic.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)
	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})

SET_TARGET_PROPERTIES(pybullet PROPERTIES PREFIX "")
SET_TARGET_PROPERTIES(pybullet PROPERTIES POSTFIX "")

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)

	SET_TARGET_PROPERTIES(pybullet PROPERTIES SUFFIX ".pyd" )
ENDIF(WIN32)

IF (APPLE)
  SET_TARGET_PROPERTIES(pybullet PROPERTIES SUFFIX ".so" )
ENDIF()



TARGET_LINK_LIBRARIES(pybullet BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK Bullet3Common)

IF (WIN32)
  TARGET_LINK_LIBRARIES(pybullet ${PYTHON_LIBRARIES})
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")
ENDIF()

INSTALL(TARGETS pybullet DESTINATION ${PYTHON_SITE_PACKAGES})