mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 06:00:12 +00:00
6442613ba6
On some systems, such as Android, threads are not provided via `-lpthread`. CMake comes with a built-in module for finding the correct threads library. Use it to fix the linking issue on Android and possibly other systems.
199 lines
8.4 KiB
CMake
199 lines
8.4 KiB
CMake
IF (BULLET_BUILD_RBDL_COMPARE_TEST)
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INCLUDE_DIRECTORIES(
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.
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../../src
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../gtest-1.7.0/include
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../../examples/ThirdPartyLibs
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${BULLET_RBDL_SOURCE_DIR}/include/
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${BULLET_RBDL_SOURCE_DIR}/addons/urdfreader/
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${BULLET_RBDL_BINARY_DIR}/include
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)
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ADD_DEFINITIONS(-D_VARIADIC_MAX=10)
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ADD_DEFINITIONS(-DRBDL_USE_SIMPLE_MATH)
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IF (MSVC)
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LINK_LIBRARIES( BulletDynamics BulletCollision Bullet3Common LinearMath gtest rbdl_urdfreader-static rbdl-static)
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ELSE (MSVC)
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LINK_LIBRARIES( BulletDynamics BulletCollision Bullet3Common LinearMath gtest rbdl_urdfreader rbdl)
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ENDIF (MSVC)
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IF (NOT WIN32)
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FIND_PACKAGE(Threads)
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LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} )
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ENDIF()
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ADD_EXECUTABLE(Test_DynamicsABA_bulletVSrbdl
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test_dynABA_bulletVSrbdl.cpp
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../../examples/Utils/b3ResourcePath.cpp
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../../examples/Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h
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../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
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../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
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../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
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../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
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../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
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../../examples/Importers/ImportURDFDemo/UrdfParser.h
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../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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../../examples/Importers/ImportURDFDemo/URDF2Bullet.h
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../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
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../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
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../../examples/Utils/b3Clock.cpp
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../../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
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../../Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
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../../Extras/Serialize/BulletFileLoader/bChunk.cpp
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../../Extras/Serialize/BulletFileLoader/bFile.cpp
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../../Extras/Serialize/BulletFileLoader/bDNA.cpp
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../../Extras/Serialize/BulletFileLoader/btBulletFile.cpp
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../../examples/Importers/ImportURDFDemo/URDFImporterInterface.h
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../../examples/Importers/ImportURDFDemo/URDFJointTypes.h
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../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
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../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
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../../examples/Importers/ImportSTLDemo/ImportSTLSetup.h
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../../examples/Importers/ImportSTLDemo/LoadMeshFromSTL.h
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../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
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../../examples/Importers/ImportColladaDemo/ColladaGraphicsInstance.h
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../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
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../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
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)
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ADD_TEST(Test_DynamicsABA_bulletVSrbdl_PASS Test_DynamicsABA_bulletVSrbdl)
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IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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SET_TARGET_PROPERTIES(Test_DynamicsABA_bulletVSrbdl PROPERTIES DEBUG_POSTFIX "_Debug")
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SET_TARGET_PROPERTIES(Test_DynamicsABA_bulletVSrbdl PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
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SET_TARGET_PROPERTIES(Test_DynamicsABA_bulletVSrbdl PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
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ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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ENDIF (BULLET_BUILD_RBDL_COMPARE_TEST)
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INCLUDE_DIRECTORIES(
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.
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../../src
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../gtest-1.7.0/include
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../../Extras/InverseDynamics
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)
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#ADD_DEFINITIONS(-DGTEST_HAS_PTHREAD=1)
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ADD_DEFINITIONS(-D_VARIADIC_MAX=10)
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LINK_LIBRARIES(
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BulletInverseDynamicsUtils BulletInverseDynamics Bullet3Common LinearMath gtest
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)
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IF (NOT WIN32)
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FIND_PACKAGE(Threads)
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LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} )
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ENDIF()
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ADD_EXECUTABLE(Test_BulletInverseDynamicsJacobian
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test_invdyn_jacobian.cpp
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)
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ADD_TEST(Test_BulletInverseDynamicsJacobian_PASS Test_BulletInverseDynamicsJacobian)
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IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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SET_TARGET_PROPERTIES(Test_BulletInverseDynamicsJacobian PROPERTIES DEBUG_POSTFIX "_Debug")
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SET_TARGET_PROPERTIES(Test_BulletInverseDynamicsJacobian PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
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SET_TARGET_PROPERTIES(Test_BulletInverseDynamicsJacobian PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
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ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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INCLUDE_DIRECTORIES(
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.
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../../src
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../gtest-1.7.0/include
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../../Extras/InverseDynamics
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../../examples/ThirdPartyLibs
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)
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#ADD_DEFINITIONS(-DGTEST_HAS_PTHREAD=1)
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ADD_DEFINITIONS(-D_VARIADIC_MAX=10)
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LINK_LIBRARIES(
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BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics Bullet3Common LinearMath gtest
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)
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IF (NOT WIN32)
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FIND_PACKAGE(Threads)
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LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} )
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ENDIF()
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ADD_EXECUTABLE(Test_BulletInverseForwardDynamics
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test_invdyn_bullet.cpp
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../../examples/Utils/b3ResourcePath.cpp
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../../examples/Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h
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../../examples/Importers/ImportURDFDemo/MultiBodyCreationInterface.h
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../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
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../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
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../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
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../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
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../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
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../../examples/Importers/ImportURDFDemo/UrdfParser.h
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../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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../../examples/Importers/ImportURDFDemo/URDF2Bullet.h
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../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
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../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
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../../examples/Utils/b3Clock.cpp
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../../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
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../../Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
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../../Extras/Serialize/BulletFileLoader/bChunk.cpp
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../../Extras/Serialize/BulletFileLoader/bFile.cpp
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../../Extras/Serialize/BulletFileLoader/bDNA.cpp
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../../Extras/Serialize/BulletFileLoader/btBulletFile.cpp
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../../examples/Importers/ImportURDFDemo/URDFImporterInterface.h
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../../examples/Importers/ImportURDFDemo/URDFJointTypes.h
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../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
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../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
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../../examples/Importers/ImportSTLDemo/ImportSTLSetup.h
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../../examples/Importers/ImportSTLDemo/LoadMeshFromSTL.h
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../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
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../../examples/Importers/ImportColladaDemo/ColladaGraphicsInstance.h
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../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
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../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
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)
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ADD_TEST(Test_BulletInverseForwardDynamics_PASS Test_BulletInverseForwardDynamics)
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IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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SET_TARGET_PROPERTIES(Test_BulletInverseForwardDynamics PROPERTIES DEBUG_POSTFIX "_Debug")
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SET_TARGET_PROPERTIES(Test_BulletInverseForwardDynamics PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
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SET_TARGET_PROPERTIES(Test_BulletInverseForwardDynamics PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
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ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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INCLUDE_DIRECTORIES(
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.
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../../src
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../gtest-1.7.0/include
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../../Extras/InverseDynamics
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)
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#ADD_DEFINITIONS(-DGTEST_HAS_PTHREAD=1)
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ADD_DEFINITIONS(-D_VARIADIC_MAX=10)
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LINK_LIBRARIES(
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BulletInverseDynamicsUtils BulletInverseDynamics Bullet3Common LinearMath gtest
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)
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IF (NOT WIN32)
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FIND_PACKAGE(Threads)
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LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} )
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ENDIF()
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ADD_EXECUTABLE(Test_BulletInverseDynamics
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test_invdyn_kinematics.cpp
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)
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ADD_TEST(Test_BulletInverseDynamics_PASS Test_BulletInverseDynamics)
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IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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SET_TARGET_PROPERTIES(Test_BulletInverseDynamics PROPERTIES DEBUG_POSTFIX "_Debug")
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SET_TARGET_PROPERTIES(Test_BulletInverseDynamics PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
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SET_TARGET_PROPERTIES(Test_BulletInverseDynamics PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
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ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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