mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 13:50:04 +00:00
c5164e503f
causing serialization issue in URDF/SDF loading in double-precision mode on Windows 32bit. (it was fine on Mac/Linux 64bit) bump serialization version to 2.85, as we change the file format fix in name clash in makesdna.cpp -> intptr_t is already defined.
311 lines
10 KiB
CMake
311 lines
10 KiB
CMake
cmake_minimum_required(VERSION 2.4.3)
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set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true)
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#this line has to appear before 'PROJECT' in order to be able to disable incremental linking
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SET(MSVC_INCREMENTAL_DEFAULT ON)
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PROJECT(BULLET_PHYSICS)
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SET(BULLET_VERSION 2.85)
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IF(COMMAND cmake_policy)
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cmake_policy(SET CMP0003 NEW)
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ENDIF(COMMAND cmake_policy)
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IF (NOT CMAKE_BUILD_TYPE)
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# SET(CMAKE_BUILD_TYPE "Debug")
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SET(CMAKE_BUILD_TYPE "Release")
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ENDIF (NOT CMAKE_BUILD_TYPE)
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SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG")
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#MESSAGE("CMAKE_CXX_FLAGS_DEBUG="+${CMAKE_CXX_FLAGS_DEBUG})
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OPTION(USE_DOUBLE_PRECISION "Use double precision" OFF)
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OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON)
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OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF)
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OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF)
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OPTION(USE_CUSTOM_VECTOR_MATH "Use custom vectormath library" OFF)
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#statically linking VC++ isn't supported for WindowsPhone/WindowsStore
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IF (CMAKE_SYSTEM_NAME STREQUAL WindowsPhone OR CMAKE_SYSTEM_NAME STREQUAL WindowsStore)
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OPTION(USE_MSVC_RUNTIME_LIBRARY_DLL "Use MSVC Runtime Library DLL (/MD or /MDd)" ON)
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ELSE ()
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OPTION(USE_MSVC_RUNTIME_LIBRARY_DLL "Use MSVC Runtime Library DLL (/MD or /MDd)" OFF)
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ENDIF (CMAKE_SYSTEM_NAME STREQUAL WindowsPhone OR CMAKE_SYSTEM_NAME STREQUAL WindowsStore)
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#SET(CMAKE_EXE_LINKER_FLAGS_INIT "/STACK:10000000 /INCREMENTAL:NO")
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#SET(CMAKE_EXE_LINKER_FLAGS "/STACK:10000000 /INCREMENTAL:NO")
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#MESSAGE("MSVC_INCREMENTAL_YES_FLAG"+${MSVC_INCREMENTAL_YES_FLAG})
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IF(MSVC)
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IF (NOT USE_MSVC_INCREMENTAL_LINKING)
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#MESSAGE("MSVC_INCREMENTAL_DEFAULT"+${MSVC_INCREMENTAL_DEFAULT})
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SET( MSVC_INCREMENTAL_YES_FLAG "/INCREMENTAL:NO")
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STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags ${CMAKE_EXE_LINKER_FLAGS_DEBUG})
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SET(CMAKE_EXE_LINKER_FLAGS_DEBUG "/INCREMENTAL:NO ${replacementFlags}" )
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MESSAGE("CMAKE_EXE_LINKER_FLAGS_DEBUG=${CMAKE_EXE_LINKER_FLAGS_DEBUG}")
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STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags2 ${CMAKE_EXE_LINKER_FLAGS})
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SET(CMAKE_EXE_LINKER_FLAGS ${replacementFlag2})
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STRING(REPLACE "INCREMENTAL:YES" "" replacementFlags3 "${CMAKE_EXTRA_LINK_FLAGS}")
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SET(CMAKE_EXTRA_LINK_FLAGS ${replacementFlag3})
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STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags3 "${CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO}")
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SET(CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO ${replacementFlags3})
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SET(CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO "/INCREMENTAL:NO ${replacementFlags3}" )
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ENDIF (NOT USE_MSVC_INCREMENTAL_LINKING)
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IF (NOT USE_MSVC_RUNTIME_LIBRARY_DLL)
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#We statically link to reduce dependancies
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FOREACH(flag_var CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO )
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IF(${flag_var} MATCHES "/MD")
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STRING(REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}")
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ENDIF(${flag_var} MATCHES "/MD")
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IF(${flag_var} MATCHES "/MDd")
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STRING(REGEX REPLACE "/MDd" "/MTd" ${flag_var} "${${flag_var}}")
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ENDIF(${flag_var} MATCHES "/MDd")
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ENDFOREACH(flag_var)
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ENDIF (NOT USE_MSVC_RUNTIME_LIBRARY_DLL)
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IF (CMAKE_CL_64)
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ADD_DEFINITIONS(-D_WIN64)
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ELSE()
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OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option" ON)
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IF (USE_MSVC_SSE)
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE")
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ENDIF()
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ENDIF()
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OPTION(USE_MSVC_FAST_FLOATINGPOINT "Use MSVC /fp:fast option" ON)
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IF (USE_MSVC_FAST_FLOATINGPOINT)
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /fp:fast")
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ENDIF()
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SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4244 /wd4267")
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ENDIF(MSVC)
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IF (WIN32)
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OPTION(INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES "Create MSVC projectfiles that can be distributed" OFF)
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IF (INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
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SET (LIBRARY_OUTPUT_PATH ${BULLET_PHYSICS_SOURCE_DIR}/lib CACHE PATH "Single output directory for building all libraries.")
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SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR})
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SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${BULLET_PHYSICS_SOURCE_DIR})
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SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${BULLET_PHYSICS_SOURCE_DIR})
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SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_MINSIZEREL ${BULLET_PHYSICS_SOURCE_DIR})
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SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELWITHDEBINFO ${BULLET_PHYSICS_SOURCE_DIR})
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ELSE()
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SET (LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib CACHE PATH "Single output directory for building all libraries.")
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ENDIF()
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OPTION(INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES "Create MSVC projectfiles with relative paths" OFF)
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OPTION(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES "Add MSVC postfix for executable names (_Debug)" OFF)
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SET(CMAKE_DEBUG_POSTFIX "_Debug" CACHE STRING "Adds a postfix for debug-built libraries.")
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SET(CMAKE_MINSIZEREL_POSTFIX "_MinsizeRel" CACHE STRING "Adds a postfix for MinsizeRelease-built libraries.")
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SET(CMAKE_RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo" CACHE STRING "Adds a postfix for ReleaseWithDebug-built libraries.")
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IF (INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES)
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SET(CMAKE_SUPPRESS_REGENERATION 1)
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SET(CMAKE_USE_RELATIVE_PATHS 1)
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ENDIF(INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES)
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ENDIF (WIN32)
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OPTION(BUILD_CPU_DEMOS "Build original Bullet CPU examples" ON)
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OPTION(INTERNAL_UPDATE_SERIALIZATION_STRUCTURES "Internal update serialization structures" OFF)
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IF (INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
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ADD_DEFINITIONS( -DBT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
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ENDIF (INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
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IF (USE_DOUBLE_PRECISION)
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ADD_DEFINITIONS( -DBT_USE_DOUBLE_PRECISION)
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SET( BULLET_DOUBLE_DEF "-DBT_USE_DOUBLE_PRECISION")
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ENDIF (USE_DOUBLE_PRECISION)
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IF(USE_GRAPHICAL_BENCHMARK)
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ADD_DEFINITIONS( -DUSE_GRAPHICAL_BENCHMARK)
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ENDIF (USE_GRAPHICAL_BENCHMARK)
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IF (WIN32)
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OPTION(USE_GLUT "Use Glut" ON)
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ADD_DEFINITIONS( -D_CRT_SECURE_NO_WARNINGS )
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ADD_DEFINITIONS( -D_CRT_SECURE_NO_DEPRECATE )
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ADD_DEFINITIONS( -D_SCL_SECURE_NO_WARNINGS )
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IF (USE_GLUT AND MSVC)
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string (REPLACE "/D_WINDOWS" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS})
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remove_definitions(-D_WINDOWS )
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ENDIF()
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ELSE(WIN32)
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OPTION(USE_GLUT "Use Glut" ON)
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ENDIF(WIN32)
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IF(COMMAND cmake_policy)
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cmake_policy(SET CMP0003 NEW)
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ENDIF(COMMAND cmake_policy)
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# This is the shortcut to finding GLU, GLUT and OpenGL if they are properly installed on your system
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# This should be the case.
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FIND_PACKAGE(OpenGL)
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IF (OPENGL_FOUND)
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MESSAGE("OPENGL FOUND")
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MESSAGE(${OPENGL_LIBRARIES})
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ELSE (OPENGL_FOUND)
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MESSAGE("OPENGL NOT FOUND")
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SET(OPENGL_gl_LIBRARY opengl32)
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SET(OPENGL_glu_LIBRARY glu32)
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ENDIF (OPENGL_FOUND)
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#FIND_PACKAGE(GLU)
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IF (APPLE)
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FIND_LIBRARY(COCOA_LIBRARY Cocoa)
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ENDIF()
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OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON)
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FIND_PACKAGE(PythonLibs)
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OPTION(BUILD_PYBULLET "Set when you want to build pybullet (experimental Python bindings for Bullet)" OFF)
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IF(BUILD_PYBULLET)
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IF(WIN32)
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SET(BUILD_SHARED_LIBS OFF CACHE BOOL "Shared Libs" FORCE)
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ELSE(WIN32)
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SET(BUILD_SHARED_LIBS ON CACHE BOOL "Shared Libs" FORCE)
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ENDIF(WIN32)
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ENDIF(BUILD_PYBULLET)
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IF(BUILD_BULLET3)
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IF(APPLE)
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MESSAGE("Mac OSX Version is ${_CURRENT_OSX_VERSION}")
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IF(_CURRENT_OSX_VERSION VERSION_LESS 10.9)
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MESSAGE("Mac OSX below 10.9 has no OpenGL 3 support so please disable the BUILD_OPENGL3_DEMOS option")
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#unset(BUILD_OPENGL3_DEMOS CACHE)
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OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build the OpenGL3+ demos" OFF)
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ELSE()
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OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build the OpenGL3+ demos" ON)
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ENDIF()
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ELSE()
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OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build Bullet 3 OpenGL3+ demos" ON)
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ENDIF()
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ELSE(BUILD_BULLET3)
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unset(BUILD_OPENGL3_DEMOS CACHE)
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OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build Bullet 3 OpenGL3+ demos" OFF)
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ENDIF(BUILD_BULLET3)
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IF(BUILD_OPENGL3_DEMOS)
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IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/Demos3 AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/Demos3)
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SUBDIRS(Demos3)
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ENDIF()
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ELSE()
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ADD_DEFINITIONS(-DNO_OPENGL3)
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ENDIF(BUILD_OPENGL3_DEMOS)
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OPTION(BUILD_BULLET2_DEMOS "Set when you want to build the Bullet 2 demos" ON)
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IF(BUILD_BULLET2_DEMOS)
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IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/examples AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/examples)
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SUBDIRS(examples)
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ENDIF()
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ENDIF(BUILD_BULLET2_DEMOS)
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OPTION(BUILD_EXTRAS "Set when you want to build the extras" ON)
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IF(BUILD_EXTRAS)
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SUBDIRS(Extras)
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ENDIF(BUILD_EXTRAS)
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#Maya Dynamica plugin is moved to http://dynamica.googlecode.com
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SUBDIRS(src)
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IF("${CMAKE_GENERATOR}" MATCHES "Unix Makefiles")
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OPTION(INSTALL_LIBS "Set when you want to install libraries" ON)
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ELSE()
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IF(APPLE AND FRAMEWORK)
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OPTION(INSTALL_LIBS "Set when you want to install libraries" ON)
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ELSE()
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#by default, don't enable the 'INSTALL' option for Xcode and MSVC projectfiles
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OPTION(INSTALL_LIBS "Set when you want to install libraries" OFF)
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ENDIF()
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ENDIF()
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IF(INSTALL_LIBS)
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SET (LIB_SUFFIX "" CACHE STRING "Define suffix of directory name (32/64)" )
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SET (LIB_DESTINATION "lib${LIB_SUFFIX}" CACHE STRING "Library directory name")
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## the following are directories where stuff will be installed to
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SET(INCLUDE_INSTALL_DIR "include/bullet/" CACHE PATH "The subdirectory to the header prefix")
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SET(PKGCONFIG_INSTALL_PREFIX "lib${LIB_SUFFIX}/pkgconfig/" CACHE STRING "Base directory for pkgconfig files")
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IF(NOT MSVC)
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CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/bullet.pc.cmake ${CMAKE_CURRENT_BINARY_DIR}/bullet.pc @ONLY)
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INSTALL(
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FILES
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${CMAKE_CURRENT_BINARY_DIR}/bullet.pc
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DESTINATION
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${PKGCONFIG_INSTALL_PREFIX})
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ENDIF(NOT MSVC)
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ENDIF(INSTALL_LIBS)
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#INSTALL of other files requires CMake 2.6
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IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
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OPTION(INSTALL_EXTRA_LIBS "Set when you want extra libraries installed" OFF)
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ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
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OPTION(BUILD_UNIT_TESTS "Build Unit Tests" ON)
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IF (BUILD_UNIT_TESTS)
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ENABLE_TESTING()
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SUBDIRS(test)
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ENDIF()
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set (BULLET_CONFIG_CMAKE_PATH lib${LIB_SUFFIX}/cmake/bullet )
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list (APPEND BULLET_LIBRARIES LinearMath)
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IF(BUILD_BULLET3)
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list (APPEND BULLET_LIBRARIES BulletInverseDynamics)
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ENDIF(BUILD_BULLET3)
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list (APPEND BULLET_LIBRARIES BulletCollision)
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list (APPEND BULLET_LIBRARIES BulletDynamics)
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list (APPEND BULLET_LIBRARIES BulletSoftBody)
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set (BULLET_USE_FILE ${BULLET_CONFIG_CMAKE_PATH}/UseBullet.cmake)
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configure_file ( ${CMAKE_CURRENT_SOURCE_DIR}/BulletConfig.cmake.in
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${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
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@ONLY ESCAPE_QUOTES
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)
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install ( FILES ${CMAKE_CURRENT_SOURCE_DIR}/UseBullet.cmake
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${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
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DESTINATION ${BULLET_CONFIG_CMAKE_PATH}
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)
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