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552cb5852a
bullet3/CMakeLists.txt
Lunkhound b8720f2161 parallel solver: various changes 
- threading: adding btSequentialImpulseConstraintSolverMt
 - task scheduler: added parallelSum so that parallel solver can compute residuals
 - CommonRigidBodyMTBase: add slider for solver least squares residual and allow multithreading without needing OpenMP, TBB, or PPL
 - taskScheduler: don't wait for workers to sleep/signal at the end of each parallel block
 - parallel solver: convertContacts split into an allocContactConstraints and setupContactConstraints stage, the latter of which is done in parallel
 - parallel solver: rolling friction is now interleaved along with normal friction
 - parallel solver: batchified split impulse solving + some cleanup
 - parallel solver: sorting batches from largest to smallest
 - parallel solver: added parallel batch creation
 - parallel solver: added warmstartingWriteBackContacts func + other cleanup
 - task scheduler: truncate low bits to preserve determinism with parallelSum
 - parallel solver: reducing dynamic mem allocs and trying to parallelize more of the batch setup
 - parallel solver: parallelize updating constraint batch ids for merging
 - parallel solver: adding debug visualization
 - task scheduler: make TBB task scheduler parallelSum deterministic
 - parallel solver: split batch gen code into separate file; allow selection of batch gen method
 - task scheduler: add sleepWorkerThreadsHint() at end of simulation
 - parallel solver: added grain size per phase
 - task Scheduler: fix for strange threading issue; also no need for main thread to wait for workers to sleep
 - base constraint solver: break out joint setup into separate function for profiling/overriding
 - parallel solver: allow different batching method for contacts vs joints
 - base constraint solver: add convertJoint and convertBodies to make it possible to parallelize joint and body conversion
 - parallel solver: convert joints and bodies in parallel now
 - parallel solver: speed up batch creation with run-length encoding
 - parallel solver: batch gen: run-length expansion in parallel; collect constraint info in parallel
 - parallel solver: adding spatial grid batching method
 - parallel solver: enhancements to spatial grid batching
 - sequential solver: moving code for writing back into functions that derived classes can call
 - parallel solver: do write back of bodies and joints in parallel
 - parallel solver: removed all batching methods except for spatial grid (others were ineffective)
 - parallel solver: added 2D or 3D grid batching options; and a bit of cleanup
 - move btDefaultTaskScheduler into LinearMath project
2018-02-26 22:47:33 -08:00

481 lines
17 KiB
CMake
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cmake_minimum_required(VERSION 2.4.3)
set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true)
cmake_policy(SET CMP0017 NEW)
#this line has to appear before 'PROJECT' in order to be able to disable incremental linking
SET(MSVC_INCREMENTAL_DEFAULT ON)
PROJECT(BULLET_PHYSICS)
FILE (STRINGS "VERSION" BULLET_VERSION)
IF(COMMAND cmake_policy)
cmake_policy(SET CMP0003 NEW)
if(POLICY CMP0042)
# Enable MACOSX_RPATH by default.
cmake_policy(SET CMP0042 NEW)
endif(POLICY CMP0042)
ENDIF(COMMAND cmake_policy)
IF (NOT CMAKE_BUILD_TYPE)
# SET(CMAKE_BUILD_TYPE "Debug")
SET(CMAKE_BUILD_TYPE "Release")
ENDIF (NOT CMAKE_BUILD_TYPE)
SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG")
#MESSAGE("CMAKE_CXX_FLAGS_DEBUG="+${CMAKE_CXX_FLAGS_DEBUG})
OPTION(USE_DOUBLE_PRECISION "Use double precision" OFF)
OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON)
OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF)
OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" ON)
OPTION(BULLET2_MULTITHREADING "Build Bullet 2 libraries with mutex locking around certain operations (required for multi-threading)" OFF)
IF (BULLET2_MULTITHREADING)
OPTION(BULLET2_USE_OPEN_MP_MULTITHREADING "Build Bullet 2 with support for multi-threading with OpenMP (requires a compiler with OpenMP support)" OFF)
OPTION(BULLET2_USE_TBB_MULTITHREADING "Build Bullet 2 with support for multi-threading with Intel Threading Building Blocks (requires the TBB library to be already installed)" OFF)
IF (MSVC)
OPTION(BULLET2_USE_PPL_MULTITHREADING "Build Bullet 2 with support for multi-threading with Microsoft Parallel Patterns Library (requires MSVC compiler)" OFF)
ENDIF (MSVC)
ENDIF (BULLET2_MULTITHREADING)
IF(NOT WIN32)
SET(DL ${CMAKE_DL_LIBS})
IF(CMAKE_SYSTEM_NAME MATCHES "Linux")
MESSAGE("Linux")
SET(OSDEF -D_LINUX)
ELSE(CMAKE_SYSTEM_NAME MATCHES "Linux")
IF(APPLE)
MESSAGE("Apple")
SET(OSDEF -D_DARWIN)
ELSE(APPLE)
MESSAGE("BSD?")
SET(OSDEF -D_BSD)
ENDIF(APPLE)
ENDIF(CMAKE_SYSTEM_NAME MATCHES "Linux")
ENDIF(NOT WIN32)
OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF)
OPTION(USE_CUSTOM_VECTOR_MATH "Use custom vectormath library" OFF)
#statically linking VC++ isn't supported for WindowsPhone/WindowsStore
IF (CMAKE_SYSTEM_NAME STREQUAL WindowsPhone OR CMAKE_SYSTEM_NAME STREQUAL WindowsStore)
OPTION(USE_MSVC_RUNTIME_LIBRARY_DLL "Use MSVC Runtime Library DLL (/MD or /MDd)" ON)
ELSE ()
OPTION(USE_MSVC_RUNTIME_LIBRARY_DLL "Use MSVC Runtime Library DLL (/MD or /MDd)" OFF)
ENDIF (CMAKE_SYSTEM_NAME STREQUAL WindowsPhone OR CMAKE_SYSTEM_NAME STREQUAL WindowsStore)
#SET(CMAKE_EXE_LINKER_FLAGS_INIT "/STACK:10000000 /INCREMENTAL:NO")
#SET(CMAKE_EXE_LINKER_FLAGS "/STACK:10000000 /INCREMENTAL:NO")
#MESSAGE("MSVC_INCREMENTAL_YES_FLAG"+${MSVC_INCREMENTAL_YES_FLAG})
IF(MSVC)
IF (NOT USE_MSVC_INCREMENTAL_LINKING)
#MESSAGE("MSVC_INCREMENTAL_DEFAULT"+${MSVC_INCREMENTAL_DEFAULT})
SET( MSVC_INCREMENTAL_YES_FLAG "/INCREMENTAL:NO")
STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags ${CMAKE_EXE_LINKER_FLAGS_DEBUG})
SET(CMAKE_EXE_LINKER_FLAGS_DEBUG "/INCREMENTAL:NO ${replacementFlags}" )
MESSAGE("CMAKE_EXE_LINKER_FLAGS_DEBUG=${CMAKE_EXE_LINKER_FLAGS_DEBUG}")
STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags2 ${CMAKE_EXE_LINKER_FLAGS})
SET(CMAKE_EXE_LINKER_FLAGS ${replacementFlag2})
STRING(REPLACE "INCREMENTAL:YES" "" replacementFlags3 "${CMAKE_EXTRA_LINK_FLAGS}")
SET(CMAKE_EXTRA_LINK_FLAGS ${replacementFlag3})
STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags3 "${CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO}")
SET(CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO ${replacementFlags3})
SET(CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO "/INCREMENTAL:NO ${replacementFlags3}" )
ENDIF (NOT USE_MSVC_INCREMENTAL_LINKING)
IF (NOT USE_MSVC_RUNTIME_LIBRARY_DLL)
#We statically link to reduce dependancies
FOREACH(flag_var CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO )
IF(${flag_var} MATCHES "/MD")
STRING(REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}")
ENDIF(${flag_var} MATCHES "/MD")
IF(${flag_var} MATCHES "/MDd")
STRING(REGEX REPLACE "/MDd" "/MTd" ${flag_var} "${${flag_var}}")
ENDIF(${flag_var} MATCHES "/MDd")
ENDFOREACH(flag_var)
ENDIF (NOT USE_MSVC_RUNTIME_LIBRARY_DLL)
IF (CMAKE_CL_64)
ADD_DEFINITIONS(-D_WIN64)
ELSE()
OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option" OFF)
option(USE_MSVC_SSE2 "Compile your program with SSE2 instructions" ON)
IF (USE_MSVC_SSE)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE")
ENDIF()
IF (USE_MSVC_SSE2)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE2")
ENDIF()
ENDIF()
option(USE_MSVC_AVX "Compile your program with AVX instructions" OFF)
IF(USE_MSVC_AVX)
add_definitions(/arch:AVX)
ENDIF()
OPTION(USE_MSVC_FAST_FLOATINGPOINT "Use MSVC /fp:fast option" ON)
IF (USE_MSVC_FAST_FLOATINGPOINT)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /fp:fast")
ENDIF()
OPTION(USE_MSVC_STRING_POOLING "Use MSVC /GF string pooling option" ON)
IF (USE_MSVC_STRING_POOLING)
SET(CMAKE_C_FLAGS "/GF ${CMAKE_C_FLAGS}")
SET(CMAKE_CXX_FLAGS "/GF ${CMAKE_CXX_FLAGS}")
ENDIF()
OPTION(USE_MSVC_FUNCTION_LEVEL_LINKING "Use MSVC /Gy function level linking option" ON)
IF(USE_MSVC_FUNCTION_LEVEL_LINKING)
SET(CMAKE_C_FLAGS "/Gy ${CMAKE_C_FLAGS}")
SET(CMAKE_CXX_FLAGS "/Gy ${CMAKE_CXX_FLAGS}")
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /OPT:REF")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /OPT:REF")
ENDIF(USE_MSVC_FUNCTION_LEVEL_LINKING)
OPTION(USE_MSVC_EXEPTIONS "Use MSVC C++ exceptions option" OFF)
OPTION(USE_MSVC_COMDAT_FOLDING "Use MSVC /OPT:ICF COMDAT folding option" ON)
IF(USE_MSVC_COMDAT_FOLDING)
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /OPT:ICF")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /OPT:ICF")
ENDIF()
OPTION(USE_MSVC_DISABLE_RTTI "Use MSVC /GR- disabled RTTI flags option" ON)
IF(USE_MSVC_DISABLE_RTTI)
STRING(REGEX REPLACE "/GR" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS}) # Disable RTTI
SET(CMAKE_C_FLAGS "/GR- ${CMAKE_C_FLAGS}")
SET(CMAKE_CXX_FLAGS "/GR- ${CMAKE_CXX_FLAGS}")
ENDIF(USE_MSVC_DISABLE_RTTI)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4244 /wd4267")
ENDIF(MSVC)
IF (WIN32)
OPTION(INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES "Create MSVC projectfiles that can be distributed" OFF)
IF (INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
SET (LIBRARY_OUTPUT_PATH ${BULLET_PHYSICS_SOURCE_DIR}/lib CACHE PATH "Single output directory for building all libraries.")
SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR})
SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${BULLET_PHYSICS_SOURCE_DIR})
SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${BULLET_PHYSICS_SOURCE_DIR})
SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_MINSIZEREL ${BULLET_PHYSICS_SOURCE_DIR})
SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELWITHDEBINFO ${BULLET_PHYSICS_SOURCE_DIR})
ELSE()
SET (LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib CACHE PATH "Single output directory for building all libraries.")
ENDIF()
OPTION(INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES "Create MSVC projectfiles with relative paths" OFF)
OPTION(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES "Add MSVC postfix for executable names (_Debug)" OFF)
SET(CMAKE_DEBUG_POSTFIX "_Debug" CACHE STRING "Adds a postfix for debug-built libraries.")
SET(CMAKE_MINSIZEREL_POSTFIX "_MinsizeRel" CACHE STRING "Adds a postfix for MinsizeRelease-built libraries.")
SET(CMAKE_RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo" CACHE STRING "Adds a postfix for ReleaseWithDebug-built libraries.")
IF (INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES)
SET(CMAKE_SUPPRESS_REGENERATION 1)
SET(CMAKE_USE_RELATIVE_PATHS 1)
ENDIF(INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES)
ENDIF (WIN32)
OPTION(BUILD_CPU_DEMOS "Build original Bullet CPU examples" ON)
OPTION(INTERNAL_UPDATE_SERIALIZATION_STRUCTURES "Internal update serialization structures" OFF)
IF (INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
ADD_DEFINITIONS( -DBT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
ENDIF (INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
IF (USE_DOUBLE_PRECISION)
ADD_DEFINITIONS( -DBT_USE_DOUBLE_PRECISION)
SET( BULLET_DOUBLE_DEF "-DBT_USE_DOUBLE_PRECISION")
ENDIF (USE_DOUBLE_PRECISION)
IF (NOT USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
ADD_DEFINITIONS(-DSKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
ENDIF ()
IF(USE_GRAPHICAL_BENCHMARK)
ADD_DEFINITIONS( -DUSE_GRAPHICAL_BENCHMARK)
ENDIF (USE_GRAPHICAL_BENCHMARK)
IF(BULLET2_MULTITHREADING)
ADD_DEFINITIONS( -DBT_THREADSAFE=1 )
IF (NOT MSVC)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
ENDIF (NOT MSVC)
IF (NOT WIN32)
LINK_LIBRARIES( pthread )
ENDIF (NOT WIN32)
ENDIF (BULLET2_MULTITHREADING)
IF (BULLET2_USE_OPEN_MP_MULTITHREADING)
ADD_DEFINITIONS("-DBT_USE_OPENMP=1")
IF (MSVC)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /openmp")
ELSE (MSVC)
# GCC, Clang
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp")
ENDIF (MSVC)
ENDIF (BULLET2_USE_OPEN_MP_MULTITHREADING)
IF (BULLET2_USE_TBB_MULTITHREADING)
SET (BULLET2_TBB_INCLUDE_DIR "not found" CACHE PATH "Directory for Intel TBB includes.")
SET (BULLET2_TBB_LIB_DIR "not found" CACHE PATH "Directory for Intel TBB libraries.")
find_library(TBB_LIBRARY tbb PATHS ${BULLET2_TBB_LIB_DIR})
find_library(TBBMALLOC_LIBRARY tbbmalloc PATHS ${BULLET2_TBB_LIB_DIR})
ADD_DEFINITIONS("-DBT_USE_TBB=1")
INCLUDE_DIRECTORIES( ${BULLET2_TBB_INCLUDE_DIR} )
LINK_LIBRARIES( ${TBB_LIBRARY} ${TBBMALLOC_LIBRARY} )
ENDIF (BULLET2_USE_TBB_MULTITHREADING)
IF (BULLET2_USE_PPL_MULTITHREADING)
ADD_DEFINITIONS("-DBT_USE_PPL=1")
ENDIF (BULLET2_USE_PPL_MULTITHREADING)
IF (WIN32)
OPTION(USE_GLUT "Use Glut" ON)
ADD_DEFINITIONS( -D_CRT_SECURE_NO_WARNINGS )
ADD_DEFINITIONS( -D_CRT_SECURE_NO_DEPRECATE )
ADD_DEFINITIONS( -D_SCL_SECURE_NO_WARNINGS )
IF (USE_GLUT AND MSVC)
string (REPLACE "/D_WINDOWS" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS})
remove_definitions(-D_WINDOWS )
ENDIF()
ELSE(WIN32)
OPTION(USE_GLUT "Use Glut" ON)
ENDIF(WIN32)
IF(COMMAND cmake_policy)
cmake_policy(SET CMP0003 NEW)
ENDIF(COMMAND cmake_policy)
# This is the shortcut to finding GLU, GLUT and OpenGL if they are properly installed on your system
# This should be the case.
FIND_PACKAGE(OpenGL)
IF (OPENGL_FOUND)
MESSAGE("OPENGL FOUND")
MESSAGE(${OPENGL_LIBRARIES})
ELSE (OPENGL_FOUND)
MESSAGE("OPENGL NOT FOUND")
SET(OPENGL_gl_LIBRARY opengl32)
SET(OPENGL_glu_LIBRARY glu32)
ENDIF (OPENGL_FOUND)
#FIND_PACKAGE(GLU)
IF (APPLE)
FIND_LIBRARY(COCOA_LIBRARY Cocoa)
ENDIF()
OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON)
# Optional Python configuration
# Will not probe environment for Python configuration (which can abort the
# build process) unless you explicitly turn on BUILD_PYBULLET.
OPTION(BUILD_PYBULLET "Set when you want to build pybullet (Python bindings for Bullet)" OFF)
IF(BUILD_PYBULLET)
SET(PYTHON_VERSION_PYBULLET "" CACHE STRING "Python version pybullet will use.")
SET(Python_ADDITIONAL_VERSIONS 3 3.6 3.5 3.4 3.3 3.2 3.1 3.0 2.7 2.7.12 2.7.10 2.7.3 )
SET_PROPERTY(CACHE PYTHON_VERSION_PYBULLET PROPERTY STRINGS ${Python_ADDITIONAL_VERSIONS})
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)
ENDIF(EXACT_PYTHON_VERSION)
# first find the python interpreter
FIND_PACKAGE(PythonInterp ${PYTHON_VERSION_PYBULLET} ${EXACT_PYTHON_VERSION_FLAG})
# python library should exactly match that of the interpreter
# the following can result in fatal error if you don't have the right python configuration
FIND_PACKAGE(PythonLibs ${PYTHON_VERSION_STRING} EXACT)
ENDIF(BUILD_PYBULLET)
OPTION(BUILD_ENET "Set when you want to build apps with enet UDP networking support" ON)
OPTION(BUILD_CLSOCKET "Set when you want to build apps with enet TCP networking support" ON)
IF(BUILD_PYBULLET)
FIND_PACKAGE(PythonLibs)
OPTION(BUILD_PYBULLET_NUMPY "Set when you want to build pybullet with NumPy support" OFF)
OPTION(BUILD_PYBULLET_ENET "Set when you want to build pybullet with enet UDP networking support" ON)
OPTION(BUILD_PYBULLET_CLSOCKET "Set when you want to build pybullet with enet TCP networking support" ON)
OPTION(BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK "Set when you want to use the Python Framework on Mac" OFF)
IF(BUILD_PYBULLET_NUMPY)
#include(FindNumPy)
FIND_PACKAGE(NumPy)
if (PYTHON_NUMPY_FOUND)
message("NumPy found")
add_definitions(-DPYBULLET_USE_NUMPY)
else()
message("NumPy not found")
endif()
ENDIF()
IF(WIN32)
SET(BUILD_SHARED_LIBS OFF CACHE BOOL "Shared Libs" FORCE)
ELSE(WIN32)
SET(BUILD_SHARED_LIBS ON CACHE BOOL "Shared Libs" FORCE)
ENDIF(WIN32)
IF(APPLE)
OPTION(BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK "Set when you want to use the Python Framework on Mac" ON)
IF(NOT BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK)
add_definitions(-DB3_NO_PYTHON_FRAMEWORK)
ENDIF(NOT BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK)
OPTION(BUILD_PYBULLET_SHOW_PY_VERSION "Set when you want to show the PY_MAJOR_VERSION and PY_MAJOR_VERSION using #pragme message." OFF)
IF(BUILD_PYBULLET_SHOW_PY_VERSION)
add_definitions(-DB3_DUMP_PYTHON_VERSION)
ENDIF()
ENDIF(APPLE)
ENDIF(BUILD_PYBULLET)
IF(BUILD_BULLET3)
IF(APPLE)
MESSAGE("Mac OSX Version is ${_CURRENT_OSX_VERSION}")
IF(_CURRENT_OSX_VERSION VERSION_LESS 10.9)
MESSAGE("Mac OSX below 10.9 has no OpenGL 3 support so please disable the BUILD_OPENGL3_DEMOS option")
#unset(BUILD_OPENGL3_DEMOS CACHE)
OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build the OpenGL3+ demos" OFF)
ELSE()
OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build the OpenGL3+ demos" ON)
ENDIF()
ELSE()
OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build Bullet 3 OpenGL3+ demos" ON)
ENDIF()
ELSE(BUILD_BULLET3)
unset(BUILD_OPENGL3_DEMOS CACHE)
OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build Bullet 3 OpenGL3+ demos" OFF)
ENDIF(BUILD_BULLET3)
IF(BUILD_OPENGL3_DEMOS)
IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/Demos3 AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/Demos3)
SUBDIRS(Demos3)
ENDIF()
ELSE()
ADD_DEFINITIONS(-DNO_OPENGL3)
ENDIF(BUILD_OPENGL3_DEMOS)
OPTION(BUILD_BULLET2_DEMOS "Set when you want to build the Bullet 2 demos" ON)
IF(BUILD_BULLET2_DEMOS)
IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/examples AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/examples)
SUBDIRS(examples)
ENDIF()
ENDIF(BUILD_BULLET2_DEMOS)
OPTION(BUILD_EXTRAS "Set when you want to build the extras" ON)
IF(BUILD_EXTRAS)
SUBDIRS(Extras)
ENDIF(BUILD_EXTRAS)
SUBDIRS(src)
IF("${CMAKE_GENERATOR}" MATCHES "Unix Makefiles")
OPTION(INSTALL_LIBS "Set when you want to install libraries" ON)
ELSE()
IF(APPLE AND FRAMEWORK)
OPTION(INSTALL_LIBS "Set when you want to install libraries" ON)
ELSE()
#by default, don't enable the 'INSTALL' option for Xcode and MSVC projectfiles
OPTION(INSTALL_LIBS "Set when you want to install libraries" OFF)
ENDIF()
ENDIF()
IF(INSTALL_LIBS)
#INSTALL of other files requires CMake 2.6
IF(BUILD_EXTRAS)
IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
OPTION(INSTALL_EXTRA_LIBS "Set when you want extra libraries installed" ON)
ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
ENDIF(BUILD_EXTRAS)
SET (LIB_SUFFIX "" CACHE STRING "Define suffix of directory name (32/64)" )
SET (LIB_DESTINATION "lib${LIB_SUFFIX}" CACHE STRING "Library directory name")
## the following are directories where stuff will be installed to
SET(INCLUDE_INSTALL_DIR "include/bullet/" CACHE PATH "The subdirectory to the header prefix")
SET(PKGCONFIG_INSTALL_PREFIX "lib${LIB_SUFFIX}/pkgconfig/" CACHE STRING "Base directory for pkgconfig files")
IF(NOT MSVC)
CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/bullet.pc.cmake ${CMAKE_CURRENT_BINARY_DIR}/bullet.pc @ONLY)
INSTALL(
FILES
${CMAKE_CURRENT_BINARY_DIR}/bullet.pc
DESTINATION
${PKGCONFIG_INSTALL_PREFIX})
ENDIF(NOT MSVC)
ENDIF()
OPTION(BUILD_UNIT_TESTS "Build Unit Tests" ON)
IF (BUILD_UNIT_TESTS)
ENABLE_TESTING()
SUBDIRS(test)
ENDIF()
set (BULLET_CONFIG_CMAKE_PATH lib${LIB_SUFFIX}/cmake/bullet )
list (APPEND BULLET_LIBRARIES LinearMath)
list (APPEND BULLET_LIBRARIES Bullet3Common)
list (APPEND BULLET_LIBRARIES BulletInverseDynamics)
list (APPEND BULLET_LIBRARIES BulletCollision)
list (APPEND BULLET_LIBRARIES BulletDynamics)
list (APPEND BULLET_LIBRARIES BulletSoftBody)
set (BULLET_USE_FILE ${BULLET_CONFIG_CMAKE_PATH}/UseBullet.cmake)
configure_file ( ${CMAKE_CURRENT_SOURCE_DIR}/BulletConfig.cmake.in
${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
@ONLY ESCAPE_QUOTES
)
OPTION(INSTALL_CMAKE_FILES "Install generated CMake files" ON)
IF (INSTALL_CMAKE_FILES)
install ( FILES ${CMAKE_CURRENT_SOURCE_DIR}/UseBullet.cmake
${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
DESTINATION ${BULLET_CONFIG_CMAKE_PATH}
)
ENDIF (INSTALL_CMAKE_FILES)
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