mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-07 08:10:08 +00:00
ba8964c4ac
This change adds support for calculating Jacobians and dot(Jacobian)*u terms, along with the required support for the 3xN matrices in the standalone math library. It also adds functions to compute kinematics only (position, velocity, accel). To facilitate tests, the Cl also adds a RandomTreeCreator to create randomized multibody trees. Thanks to Thomas Buschmann for this contribution!
48 lines
1.8 KiB
CMake
48 lines
1.8 KiB
CMake
INCLUDE_DIRECTORIES(
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${BULLET_PHYSICS_SOURCE_DIR}/src
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)
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ADD_LIBRARY(
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BulletInverseDynamicsUtils
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CloneTreeCreator.cpp
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CoilCreator.cpp
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MultiBodyTreeCreator.cpp
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btMultiBodyTreeCreator.cpp
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DillCreator.cpp
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MultiBodyTreeDebugGraph.cpp
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invdyn_bullet_comparison.cpp
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IDRandomUtil.cpp
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RandomTreeCreator.cpp
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SimpleTreeCreator.cpp
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MultiBodyNameMap.cpp
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User2InternalIndex.cpp
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)
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SET_TARGET_PROPERTIES(BulletInverseDynamicsUtils PROPERTIES VERSION ${BULLET_VERSION})
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SET_TARGET_PROPERTIES(BulletInverseDynamicsUtils PROPERTIES SOVERSION ${BULLET_VERSION})
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IF (BUILD_SHARED_LIBS)
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TARGET_LINK_LIBRARIES(BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision Bullet3Common LinearMath)
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ENDIF (BUILD_SHARED_LIBS)
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IF (INSTALL_EXTRA_LIBS)
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IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
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#FILES_MATCHING requires CMake 2.6
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IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
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IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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INSTALL(TARGETS BulletInverseDynamicsUtils DESTINATION .)
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ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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INSTALL(TARGETS BulletInverseDynamicsUtils DESTINATION lib${LIB_SUFFIX})
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INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN
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".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)
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ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
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IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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SET_TARGET_PROPERTIES(BulletInverseDynamicsUtils PROPERTIES FRAMEWORK true)
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SET_TARGET_PROPERTIES(BulletInverseDynamicsUtils PROPERTIES PUBLIC_HEADER "BulletInverseDynamicsUtilsCommon.h" )
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ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
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ENDIF (INSTALL_EXTRA_LIBS)
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