mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-12 12:50:08 +00:00
a4f1e34899
add RobotSimulator, a C++ API similar to pybullet. (work-in-progress, only part of API implemeted)
350 lines
8.0 KiB
Lua
350 lines
8.0 KiB
Lua
|
|
solution "0_Bullet3Solution"
|
|
|
|
local osversion = os.getversion()
|
|
print(string.format(" %d.%d.%d (%s)",
|
|
osversion.majorversion, osversion.minorversion, osversion.revision,
|
|
osversion.description))
|
|
|
|
if _ACTION == "vs2010" or _ACTION=="vs2008" then
|
|
buildoptions
|
|
{
|
|
-- Multithreaded compiling
|
|
"/MP",
|
|
-- Disable a few useless warnings
|
|
"/wd4244",
|
|
"/wd4267"
|
|
}
|
|
end
|
|
|
|
act = ""
|
|
|
|
if _ACTION then
|
|
act = _ACTION
|
|
end
|
|
|
|
newoption {
|
|
trigger = "ios",
|
|
description = "Enable iOS target (requires xcode4)"
|
|
}
|
|
|
|
newoption
|
|
{
|
|
trigger = "enable_system_opengl",
|
|
description = "Try to link and use the system OpenGL headers version instead of dynamically loading OpenGL (dlopen is default)"
|
|
}
|
|
|
|
newoption
|
|
{
|
|
trigger = "enable_openvr",
|
|
description = "Enable experimental Virtual Reality examples, using OpenVR for HTC Vive and Oculus Rift"
|
|
}
|
|
newoption
|
|
{
|
|
trigger = "enable_system_x11",
|
|
description = "Try to link and use system X11 headers instead of dynamically loading X11 (dlopen is default)"
|
|
}
|
|
|
|
newoption
|
|
{
|
|
trigger = "noopengl3",
|
|
description = "Don't compile any OpenGL3+ code"
|
|
}
|
|
|
|
newoption
|
|
{
|
|
trigger = "midi",
|
|
description = "Use Midi controller to control parameters"
|
|
}
|
|
|
|
-- _OPTIONS["midi"] = "1";
|
|
|
|
newoption
|
|
{
|
|
trigger = "no-demos",
|
|
description = "Don't build demos"
|
|
}
|
|
|
|
newoption
|
|
{
|
|
trigger = "no-extras",
|
|
description = "Don't build Extras"
|
|
}
|
|
|
|
newoption
|
|
{
|
|
trigger = "standalone-examples",
|
|
description = "Build standalone examples with reduced dependencies."
|
|
}
|
|
|
|
newoption
|
|
{
|
|
trigger = "no-clsocket",
|
|
description = "Disable clsocket and clsocket tests (used for optional TCP networking in pybullet and shared memory C-API)"
|
|
}
|
|
|
|
|
|
newoption
|
|
{
|
|
trigger = "no-enet",
|
|
description = "Disable enet and enet tests (used for optional UDP networking in pybullet and shared memory C-API)"
|
|
}
|
|
|
|
newoption
|
|
{
|
|
trigger = "lua",
|
|
description = "Enable Lua scipting support in Example Browser"
|
|
}
|
|
|
|
newoption
|
|
{
|
|
trigger = "enable_pybullet",
|
|
description = "Enable high-level Python scripting of Bullet with URDF/SDF import and synthetic camera."
|
|
}
|
|
|
|
if os.is("Linux") then
|
|
default_python_include_dir = "/usr/include/python2.7"
|
|
default_python_lib_dir = "/usr/local/lib/"
|
|
end
|
|
|
|
|
|
if os.is("Windows") then
|
|
default_python_include_dir = "C:/Python-3.5.2/include"
|
|
default_python_lib_dir = "C:/Python-3.5.2/libs"
|
|
end
|
|
|
|
newoption
|
|
{
|
|
trigger = "python_include_dir",
|
|
value = default_python_include_dir,
|
|
description = "Python (2.x or 3.x) include directory"
|
|
}
|
|
|
|
newoption
|
|
{
|
|
trigger = "python_lib_dir",
|
|
value = default_python_lib_dir,
|
|
description = "Python (2.x or 3.x) library directory "
|
|
}
|
|
|
|
|
|
newoption {
|
|
trigger = "targetdir",
|
|
value = "path such as ../bin",
|
|
description = "Set the output location for the generated project files"
|
|
}
|
|
|
|
newoption
|
|
{
|
|
trigger = "no-test",
|
|
description = "Disable all tests"
|
|
}
|
|
|
|
newoption
|
|
{
|
|
trigger = "no-gtest",
|
|
description = "Disable unit tests using gtest"
|
|
}
|
|
|
|
newoption
|
|
{
|
|
trigger = "no-bullet3",
|
|
description = "Do not build bullet3 libs"
|
|
}
|
|
|
|
newoption
|
|
{
|
|
trigger = "double",
|
|
description = "Double precision version of Bullet"
|
|
}
|
|
|
|
if _OPTIONS["double"] then
|
|
defines {"BT_USE_DOUBLE_PRECISION"}
|
|
end
|
|
|
|
|
|
configurations {"Release", "Debug"}
|
|
configuration "Release"
|
|
flags { "Optimize", "EnableSSE2","StaticRuntime", "NoMinimalRebuild", "FloatFast"}
|
|
configuration "Debug"
|
|
defines {"_DEBUG=1"}
|
|
flags { "Symbols", "StaticRuntime" , "NoMinimalRebuild", "NoEditAndContinue" ,"FloatFast"}
|
|
|
|
if os.is("Linux") or os.is("macosx") then
|
|
if os.is64bit() then
|
|
platforms {"x64"}
|
|
else
|
|
platforms {"x32"}
|
|
end
|
|
else
|
|
platforms {"x32","x64"}
|
|
end
|
|
|
|
configuration {"x32"}
|
|
targetsuffix ("_" .. act)
|
|
configuration "x64"
|
|
targetsuffix ("_" .. act .. "_64" )
|
|
configuration {"x64", "debug"}
|
|
targetsuffix ("_" .. act .. "_x64_debug")
|
|
configuration {"x64", "release"}
|
|
targetsuffix ("_" .. act .. "_x64_release" )
|
|
configuration {"x32", "debug"}
|
|
targetsuffix ("_" .. act .. "_debug" )
|
|
|
|
configuration{}
|
|
|
|
postfix=""
|
|
|
|
if _ACTION == "xcode4" then
|
|
if _OPTIONS["ios"] then
|
|
_OPTIONS["no-bullet3"] = "1"
|
|
_OPTIONS["no-gtest"] = "1"
|
|
|
|
postfix = "ios";
|
|
xcodebuildsettings
|
|
{
|
|
'INFOPLIST_FILE = "../../test/Bullet2/Info.plist"',
|
|
'CODE_SIGN_IDENTITY = "iPhone Developer"',
|
|
"SDKROOT = iphoneos",
|
|
'ARCHS = "armv7"',
|
|
'TARGETED_DEVICE_FAMILY = "1,2"',
|
|
'VALID_ARCHS = "armv7"',
|
|
}
|
|
else
|
|
xcodebuildsettings
|
|
{
|
|
'ARCHS = "$(ARCHS_STANDARD_32_BIT) $(ARCHS_STANDARD_64_BIT)"',
|
|
'VALID_ARCHS = "x86_64 i386"',
|
|
-- 'SDKROOT = "macosx10.9"',
|
|
}
|
|
end
|
|
end
|
|
|
|
-- comment-out for now, URDF reader needs exceptions
|
|
-- flags { "NoRTTI", "NoExceptions"}
|
|
-- defines { "_HAS_EXCEPTIONS=0" }
|
|
--printf ( _OPTIONS["targetdir"] )
|
|
|
|
targetdir( _OPTIONS["targetdir"] or "../bin" )
|
|
location("./" .. act .. postfix)
|
|
|
|
if not _OPTIONS["python_include_dir"] then
|
|
_OPTIONS["python_include_dir"] = default_python_include_dir
|
|
end
|
|
|
|
if not _OPTIONS["python_lib_dir"] then
|
|
_OPTIONS["python_lib_dir"] = default_python_lib_dir
|
|
end
|
|
|
|
|
|
projectRootDir = os.getcwd() .. "/../"
|
|
print("Project root directory: " .. projectRootDir);
|
|
|
|
dofile ("findOpenCL.lua")
|
|
dofile ("findDirectX11.lua")
|
|
dofile ("findOpenGLGlewGlut.lua")
|
|
|
|
if (not findOpenGL3()) then
|
|
defines {"NO_OPENGL3"}
|
|
end
|
|
|
|
language "C++"
|
|
|
|
|
|
if not _OPTIONS["no-demos"] then
|
|
include "../examples/ExampleBrowser"
|
|
include "../examples/RobotSimulator"
|
|
include "../examples/OpenGLWindow"
|
|
include "../examples/ThirdPartyLibs/Gwen"
|
|
include "../examples/HelloWorld"
|
|
include "../examples/SharedMemory"
|
|
include "../examples/ThirdPartyLibs/BussIK"
|
|
|
|
if _OPTIONS["lua"] then
|
|
include "../examples/ThirdPartyLibs/lua-5.2.3"
|
|
end
|
|
if _OPTIONS["enable_pybullet"] then
|
|
include "../examples/pybullet"
|
|
end
|
|
|
|
if _OPTIONS["standalone-examples"] then
|
|
include "../examples/SimpleOpenGL3"
|
|
include "../examples/TinyRenderer"
|
|
include "../examples/BasicDemo"
|
|
include "../examples/InverseDynamics"
|
|
include "../examples/ExtendedTutorials"
|
|
include "../examples/MultiThreading"
|
|
end
|
|
|
|
if not _OPTIONS["no-test"] then
|
|
include "../test/SharedMemory"
|
|
end
|
|
end
|
|
|
|
if _OPTIONS["midi"] then
|
|
include "../examples/ThirdPartyLibs/midi"
|
|
end
|
|
|
|
if not _OPTIONS["no-clsocket"] then
|
|
defines {"BT_ENABLE_CLSOCKET"}
|
|
include "../examples/ThirdPartyLibs/clsocket"
|
|
include "../test/clsocket"
|
|
end
|
|
|
|
if not _OPTIONS["no-enet"] then
|
|
defines {"BT_ENABLE_ENET"}
|
|
|
|
include "../examples/ThirdPartyLibs/enet"
|
|
include "../test/enet/nat_punchthrough/client"
|
|
include "../test/enet/nat_punchthrough/server"
|
|
include "../test/enet/chat/client"
|
|
include "../test/enet/chat/server"
|
|
end
|
|
|
|
if _OPTIONS["no-bullet3"] then
|
|
print "--no-bullet3 implies --no-demos"
|
|
_OPTIONS["no-demos"] = "1"
|
|
else
|
|
include "../src/Bullet3Common"
|
|
include "../src/Bullet3Geometry"
|
|
include "../src/Bullet3Collision"
|
|
include "../src/Bullet3Dynamics"
|
|
include "../src/Bullet3OpenCL"
|
|
include "../src/Bullet3Serialize/Bullet2FileLoader"
|
|
end
|
|
|
|
if _OPTIONS["no-extras"] then
|
|
print "--no-extras implies --no-demos"
|
|
_OPTIONS["no-demos"] = "1"
|
|
else
|
|
include "../Extras"
|
|
end
|
|
|
|
if not _OPTIONS["no-test"] then
|
|
include "../test/Bullet2"
|
|
|
|
if not _OPTIONS["no-gtest"] then
|
|
include "../test/gtest-1.7.0"
|
|
-- include "../test/hello_gtest"
|
|
include "../test/collision"
|
|
include "../test/BulletDynamics/pendulum"
|
|
if not _OPTIONS["no-bullet3"] then
|
|
if not _OPTIONS["no-extras"] then
|
|
include "../test/InverseDynamics"
|
|
end
|
|
include "../test/TestBullet3OpenCL"
|
|
end
|
|
if not _OPTIONS["no-demos"] then
|
|
-- Gwen is only used for demos
|
|
include "../test/GwenOpenGLTest"
|
|
end
|
|
end
|
|
end
|
|
|
|
include "../src/BulletInverseDynamics"
|
|
include "../src/BulletSoftBody"
|
|
include "../src/BulletDynamics"
|
|
include "../src/BulletCollision"
|
|
include "../src/LinearMath"
|
|
|