Merge remote-tracking branch 'upstream/master'

Extras/ConvexDecomposition/premake4.lua

@@ -3,6 +3,9 @@
 	kind "StaticLib"
 	
 	includedirs {".","../../src"}
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	files {
 		"**.cpp",
 		"**.h"

Extras/HACD/premake4.lua

@@ -3,6 +3,9 @@
 	kind "StaticLib"
 	
 	includedirs {"."}
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	files {
 		"**.cpp",
 		"**.h"

Extras/InverseDynamics/premake4.lua

@@ -6,6 +6,9 @@
 		"../../src"
 	}
 
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	files {
 		"*.cpp",
 		"*.hpp"

Extras/Serialize/BulletFileLoader/premake4.lua

@@ -2,6 +2,10 @@
 		
 	kind "StaticLib"
 	
+	if os.is("Linux") then
+	    buildoptions{"-fPIC"}
+	end
+	 
 	includedirs {
 		"../../../src"
 	}

Extras/Serialize/BulletWorldImporter/premake4.lua

@@ -7,6 +7,10 @@
 		"../../../src"
 	}
 
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
+    	 
 	files {
 		"**.cpp",
 		"**.h"

Extras/Serialize/BulletXmlWorldImporter/premake4.lua

@@ -1,7 +1,7 @@
 	project "BulletXmlWorldImporter"
 		
 	kind "StaticLib"
-	targetdir "../../lib"
+	--targetdir "../../lib"
 	includedirs {
 		"../BulletWorldImporter",
 		"../BulletFileLoader",

Extras/VHACD/src/premake4.lua

@@ -1,6 +1,9 @@
 	project "vhacd"
 
 	kind "StaticLib"
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	includedirs {
 		"../inc","../public",
 	}

examples/ExampleBrowser/premake4.lua

@@ -4,6 +4,10 @@ project "App_BulletExampleBrowser"
 
         kind "ConsoleApp"
         
+        if os.is("Linux") then
+	        buildoptions{"-fPIC"}
+	    end
+        
         hasCL = findOpenCL("clew")
 
         if (hasCL) then
@@ -210,6 +214,10 @@ project "BulletExampleBrowserLib"
                 "../ThirdPartyLibs",
                 }
                 
+        if os.is("Linux") then
+            buildoptions{"-fPIC"}
+        end
+
 	if _OPTIONS["lua"] then
 		includedirs{"../ThirdPartyLibs/lua-5.2.3/src"}
 		links {"lua-5.2.3"}

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -2218,7 +2218,6 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 	}
 	
 	b3AlignedObjectArray<SortableTransparentInstance> transparentInstances;
-	
 	{
 		int curOffset = 0;
 		//GLuint lastBindTexture = 0;
@@ -2230,6 +2229,7 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 		b3Vector3 camForwardVec;
 		camForwardVec.setValue(fwd[0],fwd[1],fwd[2]);
 		
+		
 		for (int obj=0;obj<m_graphicsInstances.size();obj++)
 		{
 			b3GraphicsInstance* gfxObj = m_graphicsInstances[obj];
@@ -2245,8 +2245,8 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 					inst.m_instanceId = curOffset;
 					b3Vector3 centerPosition;
 					centerPosition.setValue(m_data->m_instance_positions_ptr[inst.m_instanceId*4+0],
-											m_data->m_instance_positions_ptr[inst.m_instanceId*4+1],
-											m_data->m_instance_positions_ptr[inst.m_instanceId*4+2]);
+								m_data->m_instance_positions_ptr[inst.m_instanceId*4+1],
+								m_data->m_instance_positions_ptr[inst.m_instanceId*4+2]);
 					centerPosition *= -1;//reverse sort opaque instances
 					inst.m_projection = centerPosition.dot(camForwardVec);
 					transparentInstances.push_back(inst);
@@ -2258,8 +2258,8 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 						b3Vector3 centerPosition;
 
 						centerPosition.setValue(m_data->m_instance_positions_ptr[inst.m_instanceId*4+0],
-												m_data->m_instance_positions_ptr[inst.m_instanceId*4+1],
-												m_data->m_instance_positions_ptr[inst.m_instanceId*4+2]);
+										m_data->m_instance_positions_ptr[inst.m_instanceId*4+1],
+										m_data->m_instance_positions_ptr[inst.m_instanceId*4+2]);
 						inst.m_projection = centerPosition.dot(camForwardVec);
 						transparentInstances.push_back(inst);
 					}
@@ -2270,6 +2270,7 @@ b3Assert(glGetError() ==GL_NO_ERROR);
 		TransparentDistanceSortPredicate sorter;
 		
 		transparentInstances.quickSort(sorter);
+		
 	}
 
 	

examples/OpenGLWindow/premake4.lua

@@ -13,6 +13,10 @@
 		 	"../../src",
 		}
 
+        if os.is("Linux") then
+            buildoptions{"-fPIC"}
+        end
+        		
 		--links {
 		--}
 		

examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp

@@ -1,7 +1,7 @@
 #include "b3RobotSimulatorClientAPI.h"
 
 #include "../SharedMemory/PhysicsClientC_API.h"
-#include "b3RobotSimulatorClientAPI_InternalData.h""
+#include "b3RobotSimulatorClientAPI_InternalData.h"
 #ifdef BT_ENABLE_ENET
 #include "../SharedMemory/PhysicsClientUDP_C_API.h"
 #endif  //PHYSICS_UDP

examples/SharedMemory/CMakeLists.txt

@@ -92,13 +92,14 @@ INCLUDE_DIRECTORIES(
 	${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
 )
 
+IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
+	LINK_LIBRARIES(BulletSoftBody)
+ENDIF()
+
 LINK_LIBRARIES(
  Bullet3Common BulletWorldImporter BulletFileLoader BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision LinearMath BussIK
 )
 
-IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
-	LINK_LIBRARIES(BulletSoftBody)
-ENDIF()
 
 IF (WIN32)
         ADD_EXECUTABLE(App_PhysicsServer_SharedMemory
@@ -149,7 +150,7 @@ INCLUDE_DIRECTORIES(
 ADD_DEFINITIONS(-DB3_USE_STANDALONE_EXAMPLE)
 
 LINK_LIBRARIES(
- Bullet3Common BulletWorldImporter BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision LinearMath BussIK OpenGLWindow
+	BulletSoftBody Bullet3Common BulletWorldImporter BulletInverseDynamicsUtils BulletInverseDynamics BulletDynamics BulletCollision LinearMath BussIK OpenGLWindow
 )
 
 

examples/SharedMemory/b3PluginManager.cpp

@@ -78,7 +78,7 @@ typedef b3PoolBodyHandle<b3Plugin> b3PluginHandle;
 struct b3PluginManagerInternalData
 {
 	b3ResizablePool<b3PluginHandle> m_plugins;
-	b3HashMap<b3HashString, b3PluginHandle*> m_pluginMap;
+	b3HashMap<b3HashString, int> m_pluginMap;
 	PhysicsDirect* m_physicsDirect;
 	b3AlignedObjectArray<b3KeyboardEvent> m_keyEvents;
 	b3AlignedObjectArray<b3VRControllerEvent> m_vrEvents;
@@ -102,8 +102,12 @@ b3PluginManager::~b3PluginManager()
 {
 	while (m_data->m_pluginMap.size())
 	{
-		b3PluginHandle** plugin = m_data->m_pluginMap.getAtIndex(0);
-		unloadPlugin((*plugin)->m_pluginUniqueId);
+		int* pluginUidPtr = m_data->m_pluginMap.getAtIndex(0);
+		if (pluginUidPtr)
+		{
+			int pluginUid = *pluginUidPtr;
+			unloadPlugin(*pluginUidPtr);
+		}
 	}
 	delete m_data->m_physicsDirect;
 	m_data->m_pluginMap.clear();
@@ -140,11 +144,11 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
 {
 	int pluginUniqueId = -1;
 
-	b3PluginHandle** pluginOrgPtr = m_data->m_pluginMap.find(pluginPath);
-	if (pluginOrgPtr)
+	int* pluginUidPtr = m_data->m_pluginMap.find(pluginPath);
+	if (pluginUidPtr)
 	{
 		//already loaded
-		pluginUniqueId = (*pluginOrgPtr)->m_pluginUniqueId;
+		pluginUniqueId = *pluginUidPtr;
 	}
 	else
 	{
@@ -185,7 +189,7 @@ int b3PluginManager::loadPlugin(const char* pluginPath, const char* postFixStr)
 					plugin->m_ownsPluginHandle = true;
 					plugin->m_pluginHandle = pluginHandle;
 					plugin->m_pluginPath = pluginPath;
-					m_data->m_pluginMap.insert(pluginPath, plugin);
+					m_data->m_pluginMap.insert(pluginPath, pluginUniqueId);
 				}
 				else
 				{
@@ -246,16 +250,19 @@ void b3PluginManager::tickPlugins(double timeStep, bool isPreTick)
 {
 	for (int i=0;i<m_data->m_pluginMap.size();i++)
 	{
-		b3PluginHandle** pluginPtr = m_data->m_pluginMap.getAtIndex(i);
+		int* pluginUidPtr = m_data->m_pluginMap.getAtIndex(i);
 		b3PluginHandle* plugin = 0;
-		if (pluginPtr && *pluginPtr)
+
+		if (pluginUidPtr)
 		{
-			plugin = *pluginPtr;
+			int pluginUid = *pluginUidPtr;
+			plugin = m_data->m_plugins.getHandle(pluginUid);
 		}
 		else
 		{
 			continue;
 		}
+		
 		PFN_TICK  tick = isPreTick? plugin->m_preTickFunc : plugin->m_postTickFunc;
 		if (tick)
 		{
@@ -319,7 +326,7 @@ int b3PluginManager::registerStaticLinkedPlugin(const char* pluginPath, PFN_INIT
 	pluginHandle->m_userPointer = 0;
 	
 
-	m_data->m_pluginMap.insert(pluginPath, pluginHandle);
+	m_data->m_pluginMap.insert(pluginPath, pluginUniqueId);
 
 	{
 		b3PluginContext context;

examples/SharedMemory/premake4.lua

@@ -12,6 +12,9 @@ includedirs {".","../../src", "../ThirdPartyLibs"}
 links {
 	"BulletSoftBody", "Bullet3Common","BulletInverseDynamicsUtils", "BulletInverseDynamics",	"BulletDynamics","BulletCollision", "LinearMath", "BussIK"
 }
+if os.is("Linux") then
+    links{"dl"}
+end
 
 language "C++"
 

examples/SharedMemory/tcp/premake4.lua

@@ -73,6 +73,7 @@ links {
         end
         if os.is("Linux") then
                 defines {"_LINUX"}
+                links{"dl"}
         end
         if os.is("MacOSX") then
                 defines {"_DARWIN"}

examples/SharedMemory/udp/premake4.lua

@@ -14,6 +14,7 @@ project ("App_PhysicsServerSharedMemoryBridgeUDP")
 		links {"Ws2_32","Winmm"}
 	end
 	if os.is("Linux") then
+	    links{"dl"}
 	end
 	if os.is("MacOSX") then
 	end		
@@ -68,6 +69,9 @@ if os.is("Windows") then
 	defines { "WIN32" }
 	links {"Ws2_32","Winmm"}
 end
+	if os.is("Linux") then
+	    links{"dl"}
+	end
 
 language "C++"
 

examples/ThirdPartyLibs/BussIK/premake4.lua

@@ -5,6 +5,9 @@
 	includedirs {
 		"."
 	}
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	files {
 		"*.cpp",
 		"*.h",

examples/ThirdPartyLibs/Gwen/premake4.lua

@@ -11,6 +11,9 @@ end
 	
 	defines { "GWEN_COMPILE_STATIC"  }
 	 defines { "DONT_USE_GLUT"}	
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	includedirs {
 		".",".."
 	}

examples/ThirdPartyLibs/clsocket/premake4.lua

@@ -16,6 +16,9 @@
 	includedirs {
 		".","include","src"
 	}
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	files {
 		"src/SimpleSocket.cpp",
 		"src/ActiveSocket.cpp",

examples/ThirdPartyLibs/enet/premake4.lua

@@ -18,6 +18,9 @@
 	includedirs {
 		".","include"
 	}
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	files {
 		"callbacks.c",
 		"compress.c",

examples/ThirdPartyLibs/lua-5.2.3/premake4.lua

@@ -18,6 +18,9 @@
 	includedirs {
 		"src"
 	}
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	files {
 		"src/*.c",
 		"src/*.h"

examples/ThirdPartyLibs/serial/premake4.lua

@@ -4,6 +4,9 @@
 	
 	includedirs {"include"}
 	
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	if os.is("Windows") then 
 		files{
 			 "src/impl/win.cc",

examples/pybullet/gym/pybullet_envs/baselines/enjoy_kuka_diverse_object_grasping.py

@@ -47,7 +47,7 @@ def main():
         print(obs)
         episode_rew = 0
         while not done:
-            env.render()
+            env.render(mode='human')
             act = policy.sample_action(obs, .1)
             print("Action")
             print(act)

examples/pybullet/gym/pybullet_envs/bullet/cartpole_bullet.py

@@ -17,7 +17,7 @@ import time
 import subprocess
 import pybullet as p
 import pybullet_data
-
+from pkg_resources import parse_version
 
 logger = logging.getLogger(__name__)
 
@@ -99,3 +99,9 @@ class CartPoleBulletEnv(gym.Env):
 
   def _render(self, mode='human', close=False):
       return
+
+  if parse_version(gym.__version__)>=parse_version('0.9.6'):
+    render = _render
+    reset = _reset
+    seed = _seed
+    step = _step

examples/pybullet/gym/pybullet_envs/bullet/kukaCamGymEnv.py

@@ -14,6 +14,8 @@ import pybullet as p
 from . import kuka
 import random
 import pybullet_data
+from pkg_resources import parse_version
+
 maxSteps = 1000
 
 RENDER_HEIGHT = 720
@@ -254,3 +256,8 @@ class KukaCamGymEnv(gym.Env):
     #print(reward)
     return reward
 
+  if parse_version(gym.__version__)>=parse_version('0.9.6'):  
+    render = _render
+    reset = _reset
+    seed = _seed
+    step = _step

examples/pybullet/gym/pybullet_envs/bullet/kukaGymEnv.py

@@ -13,6 +13,7 @@ import pybullet as p
 from . import kuka
 import random
 import pybullet_data
+from pkg_resources import parse_version
 
 largeValObservation = 100
 
@@ -185,6 +186,7 @@ class KukaGymEnv(gym.Env):
   def _render(self, mode="rgb_array", close=False):
     if mode != "rgb_array":
       return np.array([])
+    
     base_pos,orn = self._p.getBasePositionAndOrientation(self._kuka.kukaUid)
     view_matrix = self._p.computeViewMatrixFromYawPitchRoll(
         cameraTargetPosition=base_pos,
@@ -199,7 +201,12 @@ class KukaGymEnv(gym.Env):
     (_, _, px, _, _) = self._p.getCameraImage(
         width=RENDER_WIDTH, height=RENDER_HEIGHT, viewMatrix=view_matrix,
         projectionMatrix=proj_matrix, renderer=self._p.ER_BULLET_HARDWARE_OPENGL)
-    rgb_array = np.array(px)
+        #renderer=self._p.ER_TINY_RENDERER)
+
+        
+    rgb_array = np.array(px, dtype=np.uint8)
+    rgb_array = np.reshape(rgb_array, (RENDER_WIDTH, RENDER_HEIGHT, 4))
+		
     rgb_array = rgb_array[:, :, :3]
     return rgb_array
 
@@ -276,10 +283,8 @@ class KukaGymEnv(gym.Env):
     #print(reward)
     return reward
 
-    def reset(self):
-        """Resets the state of the environment and returns an initial observation.
-
-        Returns: observation (object): the initial observation of the
-            space.
-        """
-        return self._reset()
+  if parse_version(gym.__version__)>=parse_version('0.9.6'):
+    render = _render
+    reset = _reset
+    seed = _seed
+    step = _step

examples/pybullet/gym/pybullet_envs/bullet/kuka_diverse_object_gym_env.py

@@ -10,7 +10,8 @@ import pybullet_data
 import pdb
 import distutils.dir_util
 import glob
-
+from pkg_resources import parse_version
+import gym
 
 class KukaDiverseObjectEnv(KukaGymEnv):
   """Class for Kuka environment with diverse objects.
@@ -324,3 +325,9 @@ class KukaDiverseObjectEnv(KukaGymEnv):
     for object_index in selected_objects:
       selected_objects_filenames += [found_object_directories[object_index]]
     return selected_objects_filenames
+  
+  if parse_version(gym.__version__)>=parse_version('0.9.6'):
+    
+    reset = _reset
+    
+    step = _step

examples/pybullet/gym/pybullet_envs/bullet/minitaur_duck_gym_env.py

@@ -385,3 +385,8 @@ class MinitaurBulletDuckEnv(gym.Env):
           scale=self._observation_noise_stdev, size=observation.shape) *
                       self.minitaur.GetObservationUpperBound())
     return observation
+
+  render = _render
+  reset = _reset
+  seed = _seed
+  step = _step

examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py

@@ -20,6 +20,7 @@ from . import minitaur
 import os
 import pybullet_data
 from . import minitaur_env_randomizer
+from pkg_resources import parse_version
 
 NUM_SUBSTEPS = 5
 NUM_MOTORS = 8
@@ -376,3 +377,9 @@ class MinitaurBulletEnv(gym.Env):
           scale=self._observation_noise_stdev, size=observation.shape) *
                       self.minitaur.GetObservationUpperBound())
     return observation
+
+  if parse_version(gym.__version__)>=parse_version('0.9.6'):
+    render = _render
+    reset = _reset
+    seed = _seed
+    step = _step

examples/pybullet/gym/pybullet_envs/bullet/racecarGymEnv.py

@@ -14,6 +14,7 @@ from . import racecar
 import random
 from . import bullet_client
 import pybullet_data
+from pkg_resources import parse_version
 
 RENDER_HEIGHT = 720
 RENDER_WIDTH = 960
@@ -174,3 +175,9 @@ class RacecarGymEnv(gym.Env):
       reward = -closestPoints[0][8]
       #print(reward)
     return reward
+
+  if parse_version(gym.__version__)>=parse_version('0.9.6'):
+    render = _render
+    reset = _reset
+    seed = _seed
+    step = _step

examples/pybullet/gym/pybullet_envs/bullet/racecarZEDGymEnv.py

@@ -14,6 +14,7 @@ from . import bullet_client
 from . import racecar
 import random
 import pybullet_data
+from pkg_resources import parse_version
 
 RENDER_HEIGHT = 720
 RENDER_WIDTH = 960
@@ -189,3 +190,9 @@ class RacecarZEDGymEnv(gym.Env):
       reward = -closestPoints[0][8]
       #print(reward)
     return reward
+
+  if parse_version(gym.__version__)>=parse_version('0.9.6'):
+    render = _render
+    reset = _reset
+    seed = _seed
+    step = _step

examples/pybullet/gym/pybullet_envs/bullet/simpleHumanoidGymEnv.py

@@ -12,7 +12,7 @@ import time
 import pybullet as p
 from . import simpleHumanoid
 import random
-
+from pkg_resources import parse_version
 
 import pybullet_data
 
@@ -109,3 +109,9 @@ class SimpleHumanoidGymEnv(gym.Env):
     reward=self._humanoid.distance
     print(reward)
     return reward
+
+  if parse_version(gym.__version__)>=parse_version('0.9.6'):
+    render = _render
+    reset = _reset
+    seed = _seed
+    step = _step

examples/pybullet/gym/pybullet_envs/env_bases.py

@@ -1,7 +1,7 @@
 import gym, gym.spaces, gym.utils, gym.utils.seeding
 import numpy as np
 import pybullet as p
-
+from pkg_resources import parse_version
 
 class MJCFBaseBulletEnv(gym.Env):
 	"""
@@ -100,6 +100,7 @@ class MJCFBaseBulletEnv(gym.Env):
 		rgb_array = rgb_array[:, :, :3]
 		return rgb_array
 
+
 	def _close(self):
 		if (self.ownsPhysicsClient):
 			if (self.physicsClientId>=0):
@@ -109,6 +110,18 @@ class MJCFBaseBulletEnv(gym.Env):
 	def HUD(self, state, a, done):
 		pass
 
+	# backwards compatibility for gym >= v0.9.x
+	# for extension of this class.
+	def step(self, *args, **kwargs):
+		return self._step(*args, **kwargs)
+
+	if parse_version(gym.__version__)>=parse_version('0.9.6'):
+		close = _close
+		render = _render
+		reset = _reset
+		seed = _seed
+
+
 class Camera:
 	def __init__(self):
 		pass

examples/pybullet/gym/pybullet_envs/examples/minitaur_gym_env_example.py

@@ -1,6 +1,12 @@
 r"""An example to run of the minitaur gym environment with sine gaits.
 """
 
+import os
+import inspect
+currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
+parentdir = os.path.dirname(os.path.dirname(currentdir))
+os.sys.path.insert(0,parentdir)
+
 import math
 import numpy as np
 from pybullet_envs.bullet import minitaur_gym_env

examples/pybullet/gym/pybullet_envs/examples/testBike.py

@@ -1,3 +1,9 @@
+import os
+import inspect
+currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
+parentdir = os.path.dirname(os.path.dirname(currentdir))
+os.sys.path.insert(0,parentdir)
+
 import pybullet as p
 import math
 import time

src/Bullet3Collision/premake4.lua

@@ -6,6 +6,9 @@
 		
 	includedirs {".."}
 
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 
 	files {
 		"**.cpp",

src/Bullet3Common/premake4.lua

@@ -4,6 +4,10 @@
 				
 	kind "StaticLib"
 		
+	if os.is("Linux") then
+	    buildoptions{"-fPIC"}
+	end
+
 	includedirs {".."}
 
 	files {

src/Bullet3Dynamics/premake4.lua

@@ -8,6 +8,9 @@
 		".."
 	}		
 	
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 
 	files {
 		"**.cpp",

src/Bullet3Geometry/premake4.lua

@@ -6,6 +6,9 @@
 		
 	includedirs {".."}
 	
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 
 	files {
 		"**.cpp",

src/Bullet3OpenCL/premake4.lua

@@ -9,6 +9,9 @@ function createProject(vendor)
 			
 		kind "StaticLib"
 		
+        if os.is("Linux") then
+            buildoptions{"-fPIC"}
+        end
 		
 		includedirs {
 			".",".."

src/Bullet3Serialize/Bullet2FileLoader/premake4.lua

@@ -6,6 +6,10 @@
 		"../../../src"
 	}
 	
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
+	 
 	files {
 		"**.cpp",
 		"**.h"

src/BulletCollision/premake4.lua

@@ -1,6 +1,9 @@
 	project "BulletCollision"
 
 	kind "StaticLib"
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	includedirs {
 		"..",
 	}

src/BulletDynamics/premake4.lua

@@ -3,6 +3,9 @@
 	includedirs {
 		"..",
 	}
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	files {
 		"Dynamics/*.cpp",
                 "Dynamics/*.h",

src/BulletInverseDynamics/premake4.lua

@@ -1,6 +1,9 @@
 	project "BulletInverseDynamics"
 
 	kind "StaticLib"
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	includedirs {
 		"..",
 	}

src/BulletSoftBody/premake4.lua

@@ -5,6 +5,9 @@
 	includedirs {
 		"..",
 	}
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
 	files {
 		"**.cpp",
 		"**.h"

src/LinearMath/premake4.lua

@@ -1,6 +1,9 @@
 	project "LinearMath"
 
 	kind "StaticLib"
+	if os.is("Linux") then
+	    buildoptions{"-fPIC"}
+	end
 	includedirs {
 		"..",
 	}

test/SharedMemory/CMakeLists.txt

@@ -11,13 +11,13 @@ INCLUDE_DIRECTORIES(
 #ADD_DEFINITIONS(-DGTEST_HAS_PTHREAD=1)
 ADD_DEFINITIONS(-DPHYSICS_LOOP_BACK -DPHYSICS_SERVER_DIRECT -DENABLE_GTEST -D_VARIADIC_MAX=10)
 
+IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
+	LINK_LIBRARIES(BulletSoftBody)
+ENDIF()
 
 LINK_LIBRARIES(
  BulletInverseDynamicsUtils BulletInverseDynamics BulletFileLoader BulletWorldImporter Bullet3Common BulletDynamics BulletCollision LinearMath gtest BussIK
 )
-IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD)
-	LINK_LIBRARIES(BulletSoftBody)
-ENDIF()
 
 IF (NOT WIN32)
 	LINK_LIBRARIES(		pthread	)

test/SharedMemory/premake4.lua

@@ -164,6 +164,9 @@ project ("Test_PhysicsServerLoopBack")
 			"BussIK",
 			"LinearMath"
 		}
+        if os.is("Linux") then
+            links{"dl"}
+        end
 			
 		files {
 			"test.c",
@@ -250,6 +253,9 @@ end
 			"BussIK",
 			"LinearMath"
 		}
+        if os.is("Linux") then
+            links{"dl"}
+        end
 			
 		files {
 			"test.c",

test/gtest-1.7.0/premake4.lua

@@ -16,3 +16,7 @@
 	includedirs {
 		".","include"
 	}
+    if os.is("Linux") then
+        buildoptions{"-fPIC"}
+    end
+