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add premake4.lua build for BulletRobotics target, C++ API, similar to PyBullet. Use BulletRobotics target for App_HelloBulletRobotics (without GUI) and App_RobotSimulator

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This commit is contained in:
erwincoumans
2018-06-08 19:14:03 -07:00
parent 8a70afa4f6
commit 046a86cd84
3 changed files with 248 additions and 85 deletions
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179
Extras/BulletRobotics/premake4.lua Normal file
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@@ -0,0 +1,179 @@
project ("BulletRobotics")
language "C++"
kind "StaticLib"
includedirs {"../../src", "../../examples",
"../../examples/ThirdPartyLibs"}
defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
hasCL = findOpenCL("clew")
links{"BulletExampleBrowserLib","gwen", "BulletFileLoader","BulletWorldImporter","OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK", "Bullet3Common"}
initOpenGL()
initGlew()
includedirs {
"../../src",
"../../examples",
"../../examples/SharedMemory",
"../ThirdPartyLibs",
"../ThirdPartyLibs/enet/include",
"../ThirdPartyLibs/clsocket/src",
}
if os.is("MacOSX") then
-- targetextension {"so"}
links{"Cocoa.framework","Python"}
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 {
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h",
"../../examples/SharedMemory/IKTrajectoryHelper.cpp",
"../../examples/SharedMemory/IKTrajectoryHelper.h",
"../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
"../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
"../../examples/OpenGLWindow/SimpleCamera.cpp",
"../../examples/OpenGLWindow/SimpleCamera.h",
"../../examples/TinyRenderer/geometry.cpp",
"../../examples/TinyRenderer/model.cpp",
"../../examples/TinyRenderer/tgaimage.cpp",
"../../examples/TinyRenderer/our_gl.cpp",
"../../examples/TinyRenderer/TinyRenderer.cpp",
"../../examples/SharedMemory/InProcessMemory.cpp",
"../../examples/SharedMemory/PhysicsClient.cpp",
"../../examples/SharedMemory/PhysicsClient.h",
"../../examples/SharedMemory/PhysicsServer.cpp",
"../../examples/SharedMemory/PhysicsServer.h",
"../../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/b3PluginManager.cpp",
"../../examples/SharedMemory/b3PluginManager.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/SharedMemoryPublic.h",
"../../examples/SharedMemory/Win32SharedMemory.cpp",
"../../examples/SharedMemory/Win32SharedMemory.h",
"../../examples/SharedMemory/PosixSharedMemory.cpp",
"../../examples/SharedMemory/PosixSharedMemory.h",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
"../../examples/Utils/RobotLoggingUtil.cpp",
"../../examples/Utils/RobotLoggingUtil.h",
"../../examples/Utils/b3Clock.cpp",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ERPCFMHelper.hpp",
"../../examples/Utils/b3ReferenceFrameHelper.hpp",
"../../examples/Utils/ChromeTraceUtil.cpp",
"../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../../examples/ThirdPartyLibs/stb_image/stb_image.cpp",
"../../examples/ThirdPartyLibs/BussIK/Jacobian.cpp",
"../../examples/ThirdPartyLibs/BussIK/LinearR2.cpp",
"../../examples/ThirdPartyLibs/BussIK/LinearR3.cpp",
"../../examples/ThirdPartyLibs/BussIK/LinearR4.cpp",
"../../examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp",
"../../examples/ThirdPartyLibs/BussIK/Misc.cpp",
"../../examples/ThirdPartyLibs/BussIK/Node.cpp",
"../../examples/ThirdPartyLibs/BussIK/Tree.cpp",
"../../examples/ThirdPartyLibs/BussIK/VectorRn.cpp",
"../../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/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
"../../examples/MultiThreading/b3PosixThreadSupport.cpp",
"../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
}
if (_OPTIONS["enable_static_vr_plugin"]) then
files {"../../examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
end

1
Extras/premake4.lua
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@@ -7,3 +7,4 @@ include "Serialize/BulletFileLoader"
include "Serialize/BulletWorldImporter" include "Serialize/BulletWorldImporter"
include "Serialize/BulletXmlWorldImporter" include "Serialize/BulletXmlWorldImporter"
include "obj2sdf" include "obj2sdf"
include "BulletRobotics"

153
examples/RobotSimulator/premake4.lua
View File

@@ -1,73 +1,4 @@
myfiles =
{
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.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/PhysicsServerExampleBullet2.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/b3PluginManager.cpp",
"../../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/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
"../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
"../../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/tinyxml2/tinyxml2.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",
}
project ("App_RobotSimulator") project ("App_RobotSimulator")
@@ -78,9 +9,8 @@ project ("App_RobotSimulator")
"../../examples/ThirdPartyLibs"} "../../examples/ThirdPartyLibs"}
defines {"B3_USE_ROBOTSIM_GUI", "PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"} defines {"B3_USE_ROBOTSIM_GUI", "PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
hasCL = findOpenCL("clew")
links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletFileLoader","BulletWorldImporter","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK","Bullet3Common"} links{"BulletRobotics", "BulletExampleBrowserLib", "gwen", "OpenGL_Window","BulletFileLoader","BulletWorldImporter","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","Bullet3Common"}
initOpenGL() initOpenGL()
initGlew() initGlew()
@@ -96,17 +26,6 @@ project ("App_RobotSimulator")
links{"Cocoa.framework"} links{"Cocoa.framework"}
end end
if (hasCL) then
links {
"Bullet3OpenCL_clew",
"Bullet3Dynamics",
"Bullet3Collision",
"Bullet3Geometry",
"Bullet3Common",
}
end
if not _OPTIONS["no-enet"] then if not _OPTIONS["no-enet"] then
@@ -200,7 +119,10 @@ if not _OPTIONS["no-enet"] then
"b3RobotSimulatorClientAPI.h", "b3RobotSimulatorClientAPI.h",
"MinitaurSetup.cpp", "MinitaurSetup.cpp",
"MinitaurSetup.h", "MinitaurSetup.h",
myfiles "../../examples/ExampleBrowser/InProcessExampleBrowser.cpp",
"../../examples/SharedMemory/PhysicsServerExample.cpp",
"../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp",
"../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
} }
if (_OPTIONS["enable_static_vr_plugin"]) then if (_OPTIONS["enable_static_vr_plugin"]) then
@@ -225,7 +147,7 @@ project ("App_VRGloveHandSimulator")
hasCL = findOpenCL("clew") hasCL = findOpenCL("clew")
links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletFileLoader","BulletWorldImporter","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK","Bullet3Common"} links{"BulletRobotics", "BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletFileLoader","BulletWorldImporter","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK","Bullet3Common"}
initOpenGL() initOpenGL()
initGlew() initGlew()
@@ -288,7 +210,7 @@ project ("App_VRGloveHandSimulator")
"VRGloveSimulatorMain.cpp", "VRGloveSimulatorMain.cpp",
"b3RobotSimulatorClientAPI.cpp", "b3RobotSimulatorClientAPI.cpp",
"b3RobotSimulatorClientAPI.h", "b3RobotSimulatorClientAPI.h",
myfiles
} }
if (_OPTIONS["enable_static_vr_plugin"]) then if (_OPTIONS["enable_static_vr_plugin"]) then
@@ -299,3 +221,64 @@ end
initX11() initX11()
end end
end end
project ("App_HelloBulletRobotics")
language "C++"
kind "ConsoleApp"
links{"BulletRobotics","BulletFileLoader","BulletWorldImporter","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","Bullet3Common"}
includedirs {
".",
"../../src",
"../../examples/SharedMemory",
"../ThirdPartyLibs",
}
if not _OPTIONS["no-enet"] then
includedirs {"../../examples/ThirdPartyLibs/enet/include"}
if os.is("Windows") then
defines { "WIN32" }
links {"Ws2_32","Winmm"}
end
if os.is("Linux") then
end
if os.is("MacOSX") then
end
links {"enet"}
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"}
defines {"BT_ENABLE_CLSOCKET"}
end
if os.is("MacOSX") then
links{"Cocoa.framework"}
end
files {
"HelloBulletRobotics.cpp"
}