mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 22:20:12 +00:00
a4f1e34899
add RobotSimulator, a C++ API similar to pybullet. (work-in-progress, only part of API implemeted)
159 lines
5.8 KiB
Lua
159 lines
5.8 KiB
Lua
project ("App_RobotSimulator")
|
|
|
|
language "C++"
|
|
kind "ConsoleApp"
|
|
|
|
includedirs {"../../src", "../../examples",
|
|
"../../examples/ThirdPartyLibs"}
|
|
defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
|
|
|
|
hasCL = findOpenCL("clew")
|
|
|
|
links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletFileLoader","BulletWorldImporter","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK","Bullet3Common"}
|
|
initOpenGL()
|
|
initGlew()
|
|
|
|
includedirs {
|
|
".",
|
|
"../../src",
|
|
"../ThirdPartyLibs",
|
|
}
|
|
|
|
|
|
if os.is("MacOSX") then
|
|
links{"Cocoa.framework"}
|
|
end
|
|
|
|
if (hasCL) then
|
|
links {
|
|
"Bullet3OpenCL_clew",
|
|
"Bullet3Dynamics",
|
|
"Bullet3Collision",
|
|
"Bullet3Geometry",
|
|
"Bullet3Common",
|
|
}
|
|
end
|
|
|
|
|
|
|
|
if not _OPTIONS["no-enet"] then
|
|
|
|
includedirs {"../../examples/ThirdPartyLibs/enet/include"}
|
|
|
|
if os.is("Windows") then
|
|
-- targetextension {"dylib"}
|
|
defines { "WIN32" }
|
|
links {"Ws2_32","Winmm"}
|
|
end
|
|
if os.is("Linux") then
|
|
end
|
|
if os.is("MacOSX") then
|
|
end
|
|
|
|
links {"enet"}
|
|
|
|
files {
|
|
"../../examples/SharedMemory/PhysicsClientUDP.cpp",
|
|
"../../examples/SharedMemory/PhysicsClientUDP.h",
|
|
"../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp",
|
|
"../../examples/SharedMemory/PhysicsClientUDP_C_API.h",
|
|
}
|
|
defines {"BT_ENABLE_ENET"}
|
|
end
|
|
|
|
if not _OPTIONS["no-clsocket"] then
|
|
|
|
includedirs {"../../examples/ThirdPartyLibs/clsocket/src"}
|
|
|
|
if os.is("Windows") then
|
|
defines { "WIN32" }
|
|
links {"Ws2_32","Winmm"}
|
|
end
|
|
if os.is("Linux") then
|
|
defines {"_LINUX"}
|
|
end
|
|
if os.is("MacOSX") then
|
|
defines {"_DARWIN"}
|
|
end
|
|
|
|
links {"clsocket"}
|
|
|
|
files {
|
|
"../../examples/SharedMemory/PhysicsClientTCP.cpp",
|
|
"../../examples/SharedMemory/PhysicsClientTCP.h",
|
|
"../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp",
|
|
"../../examples/SharedMemory/PhysicsClientTCP_C_API.h",
|
|
}
|
|
defines {"BT_ENABLE_CLSOCKET"}
|
|
end
|
|
|
|
files {
|
|
"RobotSimulatorMain.cpp",
|
|
"b3RobotSimulatorClientAPI.cpp",
|
|
"b3RobotSimulatorClientAPI.h",
|
|
"MinitaurSetup.cpp",
|
|
"MinitaurSetup.h",
|
|
"../../examples/SharedMemory/IKTrajectoryHelper.cpp",
|
|
"../../examples/SharedMemory/IKTrajectoryHelper.h",
|
|
"../../examples/ExampleBrowser/InProcessExampleBrowser.cpp",
|
|
"../../examples/SharedMemory/InProcessMemory.cpp",
|
|
"../../examples/SharedMemory/PhysicsClient.cpp",
|
|
"../../examples/SharedMemory/PhysicsClient.h",
|
|
"../../examples/SharedMemory/PhysicsServer.cpp",
|
|
"../../examples/SharedMemory/PhysicsServer.h",
|
|
"../../examples/SharedMemory/PhysicsServerExample.cpp",
|
|
"../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
|
|
"../../examples/SharedMemory/PhysicsServerSharedMemory.cpp",
|
|
"../../examples/SharedMemory/PhysicsServerSharedMemory.h",
|
|
"../../examples/SharedMemory/PhysicsDirect.cpp",
|
|
"../../examples/SharedMemory/PhysicsDirect.h",
|
|
"../../examples/SharedMemory/PhysicsDirectC_API.cpp",
|
|
"../../examples/SharedMemory/PhysicsDirectC_API.h",
|
|
"../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp",
|
|
"../../examples/SharedMemory/PhysicsServerCommandProcessor.h",
|
|
"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
|
|
"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
|
|
"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp",
|
|
"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h",
|
|
"../../examples/SharedMemory/PhysicsClientC_API.cpp",
|
|
"../../examples/SharedMemory/PhysicsClientC_API.h",
|
|
"../../examples/SharedMemory/Win32SharedMemory.cpp",
|
|
"../../examples/SharedMemory/Win32SharedMemory.h",
|
|
"../../examples/SharedMemory/PosixSharedMemory.cpp",
|
|
"../../examples/SharedMemory/PosixSharedMemory.h",
|
|
"../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp",
|
|
"../../examples/SharedMemory/TinyRendererVisualShapeConverter.h",
|
|
"../../examples/TinyRenderer/geometry.cpp",
|
|
"../../examples/TinyRenderer/model.cpp",
|
|
"../../examples/TinyRenderer/tgaimage.cpp",
|
|
"../../examples/TinyRenderer/our_gl.cpp",
|
|
"../../examples/TinyRenderer/TinyRenderer.cpp",
|
|
"../../examples/Utils/b3ResourcePath.cpp",
|
|
"../../examples/Utils/b3ResourcePath.h",
|
|
"../../examples/Utils/RobotLoggingUtil.cpp",
|
|
"../../examples/Utils/RobotLoggingUtil.h",
|
|
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
|
|
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
|
|
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
|
|
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
|
|
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
|
|
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
|
|
"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
|
|
"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
|
|
"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
|
|
"../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
|
|
"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
|
|
"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
|
|
"../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
|
|
"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
|
|
"../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
|
|
"../../examples/MultiThreading/b3PosixThreadSupport.cpp",
|
|
"../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
|
|
"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
|
|
"../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
|
|
"../../examples/ThirdPartyLibs/stb_image/stb_image.cpp",
|
|
}
|
|
if os.is("Linux") then
|
|
initX11()
|
|
end
|