SET(SharedMemory_SRCS
	plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
	plugins/collisionFilterPlugin/collisionFilterPlugin.h
	plugins/pdControlPlugin/pdControlPlugin.cpp
	plugins/pdControlPlugin/pdControlPlugin.h
	b3RobotSimulatorClientAPI_NoDirect.cpp
	b3RobotSimulatorClientAPI_NoDirect.h
	IKTrajectoryHelper.cpp
	IKTrajectoryHelper.h
	PhysicsClient.cpp
	PhysicsClientSharedMemory.cpp
	PhysicsClientExample.cpp
	PhysicsServerExample.cpp
	PhysicsServerExampleBullet2.cpp
	PhysicsServerSharedMemory.cpp
	PhysicsServerSharedMemory.h
	PhysicsServer.cpp
	PhysicsServer.h
	PhysicsClientC_API.cpp
	SharedMemoryCommands.h
	SharedMemoryPublic.h
	PhysicsServer.cpp
	PosixSharedMemory.cpp
	Win32SharedMemory.cpp
	InProcessMemory.cpp
	PhysicsDirect.cpp
	PhysicsDirect.h
	PhysicsDirectC_API.cpp
	PhysicsDirectC_API.h
	PhysicsLoopBack.cpp
	PhysicsLoopBack.h
	PhysicsLoopBackC_API.cpp
	PhysicsLoopBackC_API.h
	PhysicsClientSharedMemory_C_API.cpp
	PhysicsClientSharedMemory_C_API.h
	PhysicsClientSharedMemory2_C_API.cpp
	PhysicsClientSharedMemory2_C_API.h
	PhysicsClientSharedMemory2.cpp
	PhysicsClientSharedMemory2.h
	SharedMemoryCommandProcessor.cpp
	SharedMemoryCommandProcessor.h
	PhysicsServerCommandProcessor.cpp
	PhysicsServerCommandProcessor.h
	plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
	plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
SharedMemoryCommands.h
	SharedMemoryPublic.h
	b3PluginManager.cpp
	../TinyRenderer/geometry.cpp
	../TinyRenderer/model.cpp
	../TinyRenderer/tgaimage.cpp
	../TinyRenderer/our_gl.cpp
	../TinyRenderer/TinyRenderer.cpp
	../OpenGLWindow/SimpleCamera.cpp
	../OpenGLWindow/SimpleCamera.h
	../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h
	../Importers/ImportURDFDemo/MultiBodyCreationInterface.h
	../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
	../Importers/ImportURDFDemo/MyMultiBodyCreator.h
	../Importers/ImportURDFDemo/BulletUrdfImporter.cpp
	../Importers/ImportURDFDemo/BulletUrdfImporter.h
	../Importers/ImportURDFDemo/UrdfParser.cpp
 	../Importers/ImportURDFDemo/urdfStringSplit.cpp
	../Importers/ImportURDFDemo/UrdfParser.cpp
	../Importers/ImportURDFDemo/UrdfParser.h
	../Importers/ImportURDFDemo/URDF2Bullet.cpp
	../Importers/ImportURDFDemo/URDF2Bullet.h
	../Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
	../Importers/ImportMJCFDemo/BulletMJCFImporter.h
	../Utils/b3ResourcePath.cpp
	../Utils/b3Clock.cpp
	../Utils/RobotLoggingUtil.cpp
	../Utils/RobotLoggingUtil.h
	../Utils/ChromeTraceUtil.cpp
	../Utils/ChromeTraceUtil.h
	../Importers/ImportURDFDemo/URDFImporterInterface.h
	../Importers/ImportURDFDemo/URDFJointTypes.h
	../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
	../Importers/ImportObjDemo/LoadMeshFromObj.cpp
	../Importers/ImportSTLDemo/ImportSTLSetup.h
	../Importers/ImportSTLDemo/LoadMeshFromSTL.h
	../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
	../Importers/ImportColladaDemo/ColladaGraphicsInstance.h
	../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
	../ThirdPartyLibs/tinyxml2/tinyxml2.cpp
	../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
	../ThirdPartyLibs/stb_image/stb_image.cpp
	../MultiThreading/b3ThreadSupportInterface.cpp
	../MultiThreading/b3ThreadSupportInterface.h
)

INCLUDE_DIRECTORIES(
	${BULLET_PHYSICS_SOURCE_DIR}/src
	${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
)

IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
	LINK_LIBRARIES(BulletSoftBody)
ENDIF()

LINK_LIBRARIES(
 Bullet3Common BulletWorldImporter BulletFileLoader BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision LinearMath BussIK
)


IF (WIN32)
        ADD_EXECUTABLE(App_PhysicsServer_SharedMemory
                ${SharedMemory_SRCS}
                main.cpp
                ../MultiThreading/b3Win32ThreadSupport.cpp
	              ../MultiThreading/b3Win32ThreadSupport.h
                ${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
        )
ELSE(WIN32)
			 IF(APPLE)
			        LINK_LIBRARIES(  pthread dl )
			        ADD_EXECUTABLE(App_PhysicsServer_SharedMemory
			                ${SharedMemory_SRCS}
			                ../MultiThreading/b3PosixThreadSupport.cpp
	               			../MultiThreading/b3PosixThreadSupport.h
			                main.cpp
			        )

        ELSE(APPLE)
                                LINK_LIBRARIES(  pthread ${DL} )
			        ADD_EXECUTABLE(App_PhysicsServer_SharedMemory
			                ${SharedMemory_SRCS}
			                ../MultiThreading/b3PosixThreadSupport.cpp
	               			../MultiThreading/b3PosixThreadSupport.h
			                main.cpp
			        )
        ENDIF(APPLE)
ENDIF(WIN32)




IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
                        SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory PROPERTIES  DEBUG_POSTFIX "_Debug")
                        SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory PROPERTIES  MINSIZEREL_POSTFIX "_MinsizeRel")
                        SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)



INCLUDE_DIRECTORIES(
	${BULLET_PHYSICS_SOURCE_DIR}/src
	${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
	${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/glad
)

ADD_DEFINITIONS(-DB3_USE_STANDALONE_EXAMPLE)

LINK_LIBRARIES(
	BulletSoftBody Bullet3Common BulletWorldImporter BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision LinearMath BussIK OpenGLWindow
)



IF (WIN32)
 				ADD_DEFINITIONS(-DGLEW_STATIC)
				LINK_LIBRARIES( ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY} )

        ADD_EXECUTABLE(App_PhysicsServer_SharedMemory_GUI
                ${SharedMemory_SRCS}
								../StandaloneMain/main_opengl_single_example.cpp
								../ExampleBrowser/OpenGLGuiHelper.cpp
								../ExampleBrowser/GL_ShapeDrawer.cpp
								../ExampleBrowser/CollisionShape2TriangleMesh.cpp
								../MultiThreading/b3Win32ThreadSupport.cpp
								../MultiThreading/b3Win32ThreadSupport.h
			          ${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
        )
ELSE(WIN32)
			 IF(APPLE)
			        LINK_LIBRARIES(  pthread dl )
			        FIND_LIBRARY(COCOA NAMES Cocoa)
              MESSAGE(${COCOA})
              LINK_LIBRARIES(${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})

			        ADD_EXECUTABLE(App_PhysicsServer_SharedMemory_GUI
			                ${SharedMemory_SRCS}
	               			../StandaloneMain/main_opengl_single_example.cpp
											../ExampleBrowser/OpenGLGuiHelper.cpp
											../ExampleBrowser/GL_ShapeDrawer.cpp
											../ExampleBrowser/CollisionShape2TriangleMesh.cpp
			                ../MultiThreading/b3PosixThreadSupport.cpp
	               			../MultiThreading/b3PosixThreadSupport.h
			        )

        ELSE(APPLE)
				LINK_LIBRARIES(  pthread ${DL} )
         			ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
              ADD_DEFINITIONS("-DGLEW_STATIC")
              ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")

			        ADD_EXECUTABLE(App_PhysicsServer_SharedMemory_GUI
			                ${SharedMemory_SRCS}
	              			../StandaloneMain/main_opengl_single_example.cpp
											../ExampleBrowser/OpenGLGuiHelper.cpp
											../ExampleBrowser/GL_ShapeDrawer.cpp
											../ExampleBrowser/CollisionShape2TriangleMesh.cpp
			                ../MultiThreading/b3PosixThreadSupport.cpp
	               			../MultiThreading/b3PosixThreadSupport.h
			        )
        ENDIF(APPLE)
ENDIF(WIN32)




IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
                        SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory_GUI PROPERTIES  DEBUG_POSTFIX "_Debug")
                        SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory_GUI PROPERTIES  MINSIZEREL_POSTFIX "_MinsizeRel")
                        SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory_GUI PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)


#VR/OpenVR on Windows and Mac OSX
IF (WIN32 OR APPLE)

INCLUDE_DIRECTORIES(
	${BULLET_PHYSICS_SOURCE_DIR}/src
	${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
	${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/glad
	${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/headers
	${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/samples/shared
)



LINK_LIBRARIES(
 Bullet3Common BulletWorldImporter BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision LinearMath BussIK openvr_api OpenGLWindow
)




 				ADD_DEFINITIONS(-DGLEW_STATIC)
				LINK_LIBRARIES( ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY} )
				IF(WIN32)
				SET(Platform_SRCS
					../MultiThreading/b3Win32ThreadSupport.cpp
					../MultiThreading/b3Win32ThreadSupport.h
					${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
				)
				IF (CMAKE_CL_64)
					LINK_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/lib/win64)
				ELSE(CMAKE_CL_64)
					LINK_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/lib/win32)
				ENDIF(CMAKE_CL_64)
				ELSE(WIN32)

					set_source_files_properties(../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp ../StandaloneMain/hellovr_opengl_main.cpp  PROPERTIES COMPILE_FLAGS "-x objective-c++")
    					find_library(FOUNDATION_FRAMEWORK Foundation)
    					mark_as_advanced(FOUNDATION_FRAMEWORK)
    					set(EXTRA_LIBS ${EXTRA_LIBS} ${FOUNDATION_FRAMEWORK})

					set(CMAKE_MACOSX_RPATH 0)
  					
					SET(Platform_SRCS
                                        ../MultiThreading/b3PosixThreadSupport.cpp
                                        ../MultiThreading/b3PosixThreadSupport.h
                                	)

					IF (CMAKE_SIZEOF_VOID_P MATCHES 8)
						MESSAGE("CL64")
						LINK_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/bin/osx64)
					ELSE()
						MESSAGE("CL32")
						set(ARCH_TARGET osx32)
						LINK_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/bin/osx32)
					ENDIF()
					add_definitions(-DOSX -DPOSIX)

				ENDIF(WIN32)
        ADD_EXECUTABLE(App_PhysicsServer_SharedMemory_VR
                ${SharedMemory_SRCS}
		${Platform_SRCS}
          ../StandaloneMain/hellovr_opengl_main.cpp
					../ExampleBrowser/OpenGLGuiHelper.cpp
					../ExampleBrowser/GL_ShapeDrawer.cpp
					../ExampleBrowser/CollisionShape2TriangleMesh.cpp
					../RenderingExamples/TinyVRGui.cpp
					../RenderingExamples/TimeSeriesCanvas.cpp
					../RenderingExamples/TimeSeriesFontData.cpp
					../ThirdPartyLibs/openvr/samples/shared/lodepng.cpp
					../ThirdPartyLibs/openvr/samples/shared/lodepng.h
					../ThirdPartyLibs/openvr/samples/shared/Matrices.cpp
					../ThirdPartyLibs/openvr/samples/shared/Matrices.h
					../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp
					../ThirdPartyLibs/openvr/samples/shared/pathtools.h
					../ThirdPartyLibs/openvr/samples/shared/strtools.cpp
					../ThirdPartyLibs/openvr/samples/shared/strtools.h
					../ThirdPartyLibs/openvr/samples/shared/Vectors.h
        )


IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
	IF (CMAKE_CL_64)
		ADD_CUSTOM_COMMAND(
			TARGET App_PhysicsServer_SharedMemory_VR
			POST_BUILD
			COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/bin/win64/openvr_api.dll  ${CMAKE_CURRENT_BINARY_DIR}/openvr64pi.dll
		)
	ELSE(CMAKE_CL_64)
		ADD_CUSTOM_COMMAND(
			TARGET App_PhysicsServer_SharedMemory_VR
			POST_BUILD
			COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/bin/win32/openvr_api.dll  ${CMAKE_CURRENT_BINARY_DIR}/openvr_api.dll
		)
	ENDIF(CMAKE_CL_64)

	ADD_CUSTOM_COMMAND(
                TARGET App_PhysicsServer_SharedMemory_VR
                POST_BUILD
                COMMAND ${CMAKE_COMMAND} ARGS -E copy_directory ${BULLET_PHYSICS_SOURCE_DIR}/data ${PROJECT_BINARY_DIR}/data
        )
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)


SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory_VR PROPERTIES  COMPILE_DEFINITIONS BT_ENABLE_VR )




IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
                        SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory_VR PROPERTIES  DEBUG_POSTFIX "_Debug")
                        SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory_VR PROPERTIES  MINSIZEREL_POSTFIX "_MinsizeRel")
                        SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory_VR PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

#VR/OpenVR on Linux
ELSE(WIN32 OR APPLE)
       IF(CMAKE_SIZEOF_VOID_P MATCHES 8)
                LINK_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/bin/linux64)
        ELSE()
                LINK_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/bin/linux32)
        ENDIF()

        ADD_EXECUTABLE(App_PhysicsServer_SharedMemory_VR
                ${SharedMemory_SRCS}
               ../StandaloneMain/hellovr_opengl_main.cpp
               ../ExampleBrowser/OpenGLGuiHelper.cpp
               ../ExampleBrowser/GL_ShapeDrawer.cpp
               ../ExampleBrowser/CollisionShape2TriangleMesh.cpp
               ../RenderingExamples/TinyVRGui.cpp
               ../RenderingExamples/TinyVRGui.h
               ../RenderingExamples/TimeSeriesCanvas.cpp
               ../RenderingExamples/TimeSeriesFontData.cpp
               ../MultiThreading/b3PosixThreadSupport.cpp
               ../MultiThreading/b3PosixThreadSupport.h
               ../ThirdPartyLibs/openvr/samples/shared/lodepng.cpp
               ../ThirdPartyLibs/openvr/samples/shared/lodepng.h
               ../ThirdPartyLibs/openvr/samples/shared/Matrices.cpp
               ../ThirdPartyLibs/openvr/samples/shared/Matrices.h
               ../ThirdPartyLibs/openvr/samples/shared/pathtools.cpp
               ../ThirdPartyLibs/openvr/samples/shared/pathtools.h
               ../ThirdPartyLibs/openvr/samples/shared/strtools.cpp
               ../ThirdPartyLibs/openvr/samples/shared/strtools.h
               ../ThirdPartyLibs/openvr/samples/shared/Vectors.h
        )

       target_include_directories(App_PhysicsServer_SharedMemory_VR PRIVATE
                ${BULLET_PHYSICS_SOURCE_DIR}/src
                ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
                ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
                ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/headers
                ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/samples
                ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/openvr/samples/shared
       )

       target_compile_definitions(App_PhysicsServer_SharedMemory_VR PRIVATE
               POSIX
               LINUX
               BT_ENABLE_VR
               GLEW_STATIC
               GLEW_INIT_OPENGL11_FUNCTIONS=1
               GLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1
       )

       target_compile_options(App_PhysicsServer_SharedMemory_VR PRIVATE
               -std=c++11
       )

       target_link_libraries(App_PhysicsServer_SharedMemory_VR PRIVATE
               openvr_api
               pthread
               ${DL}
               ${OPENGL_gl_LIBRARY}
               ${OPENGL_glu_LIBRARY}
               Bullet3Common
               BulletWorldImporter
               BulletInverseDynamicsUtils
               BulletInverseDynamics
               BulletDynamics
               BulletCollision
               LinearMath
               BussIK
               OpenGLWindow
       )

       IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
               SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory_VR PROPERTIES  DEBUG_POSTFIX "_Debug")
               SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory_VR PROPERTIES  MINSIZEREL_POSTFIX "_MinsizeRel")
               SET_TARGET_PROPERTIES(App_PhysicsServer_SharedMemory_VR PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
       ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

ENDIF(WIN32 OR APPLE)