Add the old Bullet 2.x obsolete demos, and CMake buildsystem files, and gradually move them to newer Bullet 3.x structure
Use statically linked freeglut, instead of dynamic glut for the obsolete Bullet 2.x demos Add the 'reset' method to b3GpuDynamicsWorld, and use it in the BasicGpuDemo (pretty slow in debug mode, use release mode) Don't crash in btCollisionWorld, if there is no collision dispatcher
This commit is contained in:
erwin coumans
286
src/BulletCollision/CMakeLists.txt
Normal file
286
src/BulletCollision/CMakeLists.txt
Normal file
@@ -0,0 +1,286 @@
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INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/src )
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SET(BulletCollision_SRCS
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BroadphaseCollision/btAxisSweep3.cpp
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BroadphaseCollision/btBroadphaseProxy.cpp
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BroadphaseCollision/btCollisionAlgorithm.cpp
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BroadphaseCollision/btDbvt.cpp
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BroadphaseCollision/btDbvtBroadphase.cpp
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BroadphaseCollision/btDispatcher.cpp
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BroadphaseCollision/btMultiSapBroadphase.cpp
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BroadphaseCollision/btOverlappingPairCache.cpp
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BroadphaseCollision/btQuantizedBvh.cpp
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BroadphaseCollision/btSimpleBroadphase.cpp
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CollisionDispatch/btActivatingCollisionAlgorithm.cpp
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CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
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CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
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CollisionDispatch/btBoxBoxDetector.cpp
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CollisionDispatch/btCollisionDispatcher.cpp
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CollisionDispatch/btCollisionObject.cpp
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CollisionDispatch/btCollisionWorld.cpp
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CollisionDispatch/btCompoundCollisionAlgorithm.cpp
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CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
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CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
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CollisionDispatch/btConvexConvexAlgorithm.cpp
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CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
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CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
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CollisionDispatch/btDefaultCollisionConfiguration.cpp
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CollisionDispatch/btEmptyCollisionAlgorithm.cpp
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CollisionDispatch/btGhostObject.cpp
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CollisionDispatch/btHashedSimplePairCache.cpp
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CollisionDispatch/btInternalEdgeUtility.cpp
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CollisionDispatch/btInternalEdgeUtility.h
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CollisionDispatch/btManifoldResult.cpp
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CollisionDispatch/btSimulationIslandManager.cpp
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CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
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CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
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CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
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CollisionDispatch/btUnionFind.cpp
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CollisionDispatch/SphereTriangleDetector.cpp
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CollisionShapes/btBoxShape.cpp
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CollisionShapes/btBox2dShape.cpp
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CollisionShapes/btBvhTriangleMeshShape.cpp
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CollisionShapes/btCapsuleShape.cpp
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CollisionShapes/btCollisionShape.cpp
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CollisionShapes/btCompoundShape.cpp
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CollisionShapes/btConcaveShape.cpp
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CollisionShapes/btConeShape.cpp
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CollisionShapes/btConvexHullShape.cpp
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CollisionShapes/btConvexInternalShape.cpp
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CollisionShapes/btConvexPointCloudShape.cpp
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CollisionShapes/btConvexPolyhedron.cpp
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CollisionShapes/btConvexShape.cpp
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CollisionShapes/btConvex2dShape.cpp
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CollisionShapes/btConvexTriangleMeshShape.cpp
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CollisionShapes/btCylinderShape.cpp
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CollisionShapes/btEmptyShape.cpp
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CollisionShapes/btHeightfieldTerrainShape.cpp
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CollisionShapes/btMinkowskiSumShape.cpp
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CollisionShapes/btMultimaterialTriangleMeshShape.cpp
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CollisionShapes/btMultiSphereShape.cpp
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CollisionShapes/btOptimizedBvh.cpp
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CollisionShapes/btPolyhedralConvexShape.cpp
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CollisionShapes/btScaledBvhTriangleMeshShape.cpp
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CollisionShapes/btShapeHull.cpp
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CollisionShapes/btSphereShape.cpp
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CollisionShapes/btStaticPlaneShape.cpp
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CollisionShapes/btStridingMeshInterface.cpp
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CollisionShapes/btTetrahedronShape.cpp
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CollisionShapes/btTriangleBuffer.cpp
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CollisionShapes/btTriangleCallback.cpp
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CollisionShapes/btTriangleIndexVertexArray.cpp
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CollisionShapes/btTriangleIndexVertexMaterialArray.cpp
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CollisionShapes/btTriangleMesh.cpp
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CollisionShapes/btTriangleMeshShape.cpp
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CollisionShapes/btUniformScalingShape.cpp
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Gimpact/btContactProcessing.cpp
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Gimpact/btGenericPoolAllocator.cpp
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Gimpact/btGImpactBvh.cpp
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Gimpact/btGImpactCollisionAlgorithm.cpp
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Gimpact/btGImpactQuantizedBvh.cpp
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Gimpact/btGImpactShape.cpp
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Gimpact/btTriangleShapeEx.cpp
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Gimpact/gim_box_set.cpp
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Gimpact/gim_contact.cpp
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Gimpact/gim_memory.cpp
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Gimpact/gim_tri_collision.cpp
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NarrowPhaseCollision/btContinuousConvexCollision.cpp
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NarrowPhaseCollision/btConvexCast.cpp
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NarrowPhaseCollision/btGjkConvexCast.cpp
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NarrowPhaseCollision/btGjkEpa2.cpp
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NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
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NarrowPhaseCollision/btGjkPairDetector.cpp
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NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
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NarrowPhaseCollision/btPersistentManifold.cpp
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NarrowPhaseCollision/btRaycastCallback.cpp
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NarrowPhaseCollision/btSubSimplexConvexCast.cpp
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NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
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NarrowPhaseCollision/btPolyhedralContactClipping.cpp
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)
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SET(Root_HDRS
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../btBulletCollisionCommon.h
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)
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SET(BroadphaseCollision_HDRS
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BroadphaseCollision/btAxisSweep3.h
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BroadphaseCollision/btBroadphaseInterface.h
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BroadphaseCollision/btBroadphaseProxy.h
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BroadphaseCollision/btCollisionAlgorithm.h
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BroadphaseCollision/btDbvt.h
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BroadphaseCollision/btDbvtBroadphase.h
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BroadphaseCollision/btDispatcher.h
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BroadphaseCollision/btMultiSapBroadphase.h
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BroadphaseCollision/btOverlappingPairCache.h
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BroadphaseCollision/btOverlappingPairCallback.h
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BroadphaseCollision/btQuantizedBvh.h
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BroadphaseCollision/btSimpleBroadphase.h
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)
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SET(CollisionDispatch_HDRS
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CollisionDispatch/btActivatingCollisionAlgorithm.h
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CollisionDispatch/btBoxBoxCollisionAlgorithm.h
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CollisionDispatch/btBox2dBox2dCollisionAlgorithm.h
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CollisionDispatch/btBoxBoxDetector.h
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CollisionDispatch/btCollisionConfiguration.h
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CollisionDispatch/btCollisionCreateFunc.h
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CollisionDispatch/btCollisionDispatcher.h
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CollisionDispatch/btCollisionObject.h
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CollisionDispatch/btCollisionObjectWrapper.h
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CollisionDispatch/btCollisionWorld.h
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CollisionDispatch/btCompoundCollisionAlgorithm.h
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CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h
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CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
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CollisionDispatch/btConvexConvexAlgorithm.h
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CollisionDispatch/btConvex2dConvex2dAlgorithm.h
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CollisionDispatch/btConvexPlaneCollisionAlgorithm.h
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CollisionDispatch/btDefaultCollisionConfiguration.h
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CollisionDispatch/btEmptyCollisionAlgorithm.h
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CollisionDispatch/btGhostObject.h
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CollisionDispatch/btHashedSimplePairCache.h
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CollisionDispatch/btManifoldResult.h
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CollisionDispatch/btSimulationIslandManager.h
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CollisionDispatch/btSphereBoxCollisionAlgorithm.h
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CollisionDispatch/btSphereSphereCollisionAlgorithm.h
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CollisionDispatch/btSphereTriangleCollisionAlgorithm.h
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CollisionDispatch/btUnionFind.h
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CollisionDispatch/SphereTriangleDetector.h
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)
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SET(CollisionShapes_HDRS
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CollisionShapes/btBoxShape.h
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CollisionShapes/btBox2dShape.h
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CollisionShapes/btBvhTriangleMeshShape.h
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CollisionShapes/btCapsuleShape.h
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CollisionShapes/btCollisionMargin.h
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CollisionShapes/btCollisionShape.h
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CollisionShapes/btCompoundShape.h
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CollisionShapes/btConcaveShape.h
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CollisionShapes/btConeShape.h
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CollisionShapes/btConvexHullShape.h
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CollisionShapes/btConvexInternalShape.h
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CollisionShapes/btConvexPointCloudShape.h
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CollisionShapes/btConvexPolyhedron.h
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CollisionShapes/btConvexShape.h
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CollisionShapes/btConvex2dShape.h
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CollisionShapes/btConvexTriangleMeshShape.h
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CollisionShapes/btCylinderShape.h
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CollisionShapes/btEmptyShape.h
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CollisionShapes/btHeightfieldTerrainShape.h
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CollisionShapes/btMaterial.h
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CollisionShapes/btMinkowskiSumShape.h
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CollisionShapes/btMultimaterialTriangleMeshShape.h
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CollisionShapes/btMultiSphereShape.h
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CollisionShapes/btOptimizedBvh.h
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CollisionShapes/btPolyhedralConvexShape.h
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CollisionShapes/btScaledBvhTriangleMeshShape.h
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CollisionShapes/btShapeHull.h
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CollisionShapes/btSphereShape.h
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CollisionShapes/btStaticPlaneShape.h
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CollisionShapes/btStridingMeshInterface.h
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CollisionShapes/btTetrahedronShape.h
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CollisionShapes/btTriangleBuffer.h
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CollisionShapes/btTriangleCallback.h
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CollisionShapes/btTriangleIndexVertexArray.h
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CollisionShapes/btTriangleIndexVertexMaterialArray.h
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CollisionShapes/btTriangleInfoMap.h
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CollisionShapes/btTriangleMesh.h
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CollisionShapes/btTriangleMeshShape.h
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CollisionShapes/btTriangleShape.h
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CollisionShapes/btUniformScalingShape.h
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)
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SET(Gimpact_HDRS
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Gimpact/btBoxCollision.h
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Gimpact/btClipPolygon.h
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Gimpact/btContactProcessing.h
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Gimpact/btGenericPoolAllocator.h
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Gimpact/btGeometryOperations.h
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Gimpact/btGImpactBvh.h
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Gimpact/btGImpactCollisionAlgorithm.h
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Gimpact/btGImpactMassUtil.h
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Gimpact/btGImpactQuantizedBvh.h
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Gimpact/btGImpactShape.h
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Gimpact/btQuantization.h
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Gimpact/btTriangleShapeEx.h
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Gimpact/gim_array.h
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Gimpact/gim_basic_geometry_operations.h
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Gimpact/gim_bitset.h
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Gimpact/gim_box_collision.h
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Gimpact/gim_box_set.h
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Gimpact/gim_clip_polygon.h
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Gimpact/gim_contact.h
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Gimpact/gim_geom_types.h
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Gimpact/gim_geometry.h
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Gimpact/gim_hash_table.h
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Gimpact/gim_linear_math.h
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Gimpact/gim_math.h
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Gimpact/gim_memory.h
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Gimpact/gim_radixsort.h
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Gimpact/gim_tri_collision.h
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)
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SET(NarrowPhaseCollision_HDRS
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NarrowPhaseCollision/btContinuousConvexCollision.h
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NarrowPhaseCollision/btConvexCast.h
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NarrowPhaseCollision/btConvexPenetrationDepthSolver.h
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NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.h
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NarrowPhaseCollision/btGjkConvexCast.h
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NarrowPhaseCollision/btGjkEpa2.h
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NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.h
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NarrowPhaseCollision/btGjkPairDetector.h
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NarrowPhaseCollision/btManifoldPoint.h
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NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.h
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NarrowPhaseCollision/btPersistentManifold.h
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NarrowPhaseCollision/btPointCollector.h
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NarrowPhaseCollision/btRaycastCallback.h
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NarrowPhaseCollision/btSimplexSolverInterface.h
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NarrowPhaseCollision/btSubSimplexConvexCast.h
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NarrowPhaseCollision/btVoronoiSimplexSolver.h
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NarrowPhaseCollision/btPolyhedralContactClipping.h
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)
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SET(BulletCollision_HDRS
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${Root_HDRS}
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${BroadphaseCollision_HDRS}
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${CollisionDispatch_HDRS}
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${CollisionShapes_HDRS}
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${Gimpact_HDRS}
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${NarrowPhaseCollision_HDRS}
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)
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ADD_LIBRARY(BulletCollision ${BulletCollision_SRCS} ${BulletCollision_HDRS})
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SET_TARGET_PROPERTIES(BulletCollision PROPERTIES VERSION ${BULLET_VERSION})
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SET_TARGET_PROPERTIES(BulletCollision PROPERTIES SOVERSION ${BULLET_VERSION})
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IF (BUILD_SHARED_LIBS)
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TARGET_LINK_LIBRARIES(BulletCollision LinearMath)
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ENDIF (BUILD_SHARED_LIBS)
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IF (INSTALL_LIBS)
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IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
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#INSTALL of other files requires CMake 2.6
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IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
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IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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INSTALL(TARGETS BulletCollision DESTINATION .)
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ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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INSTALL(TARGETS BulletCollision RUNTIME DESTINATION bin
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LIBRARY DESTINATION lib${LIB_SUFFIX}
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ARCHIVE 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 ".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)
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INSTALL(FILES ../btBulletCollisionCommon.h
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DESTINATION ${INCLUDE_INSTALL_DIR}/BulletCollision)
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ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
|
||||
|
||||
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
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SET_TARGET_PROPERTIES(BulletCollision PROPERTIES FRAMEWORK true)
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||||
|
||||
SET_TARGET_PROPERTIES(BulletCollision PROPERTIES PUBLIC_HEADER "${Root_HDRS}")
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||||
# Have to list out sub-directories manually:
|
||||
SET_PROPERTY(SOURCE ${BroadphaseCollision_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/BroadphaseCollision)
|
||||
SET_PROPERTY(SOURCE ${CollisionDispatch_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/CollisionDispatch)
|
||||
SET_PROPERTY(SOURCE ${CollisionShapes_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/CollisionShapes)
|
||||
SET_PROPERTY(SOURCE ${Gimpact_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Gimpact)
|
||||
SET_PROPERTY(SOURCE ${NarrowPhaseCollision_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/NarrowPhaseCollision)
|
||||
|
||||
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF (INSTALL_LIBS)
|
||||
@@ -1424,19 +1424,22 @@ void btCollisionWorld::debugDrawWorld()
|
||||
{
|
||||
if (getDebugDrawer() && getDebugDrawer()->getDebugMode() & btIDebugDraw::DBG_DrawContactPoints)
|
||||
{
|
||||
int numManifolds = getDispatcher()->getNumManifolds();
|
||||
btVector3 color(1,1,0);
|
||||
for (int i=0;i<numManifolds;i++)
|
||||
if (getDispatcher())
|
||||
{
|
||||
btPersistentManifold* contactManifold = getDispatcher()->getManifoldByIndexInternal(i);
|
||||
//btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
|
||||
//btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
|
||||
|
||||
int numContacts = contactManifold->getNumContacts();
|
||||
for (int j=0;j<numContacts;j++)
|
||||
int numManifolds = getDispatcher()->getNumManifolds();
|
||||
btVector3 color(1,1,0);
|
||||
for (int i=0;i<numManifolds;i++)
|
||||
{
|
||||
btManifoldPoint& cp = contactManifold->getContactPoint(j);
|
||||
getDebugDrawer()->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color);
|
||||
btPersistentManifold* contactManifold = getDispatcher()->getManifoldByIndexInternal(i);
|
||||
//btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
|
||||
//btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
|
||||
|
||||
int numContacts = contactManifold->getNumContacts();
|
||||
for (int j=0;j<numContacts;j++)
|
||||
{
|
||||
btManifoldPoint& cp = contactManifold->getContactPoint(j);
|
||||
getDebugDrawer()->drawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.getDistance(),cp.getLifeTime(),color);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
155
src/BulletDynamics/CMakeLists.txt
Normal file
155
src/BulletDynamics/CMakeLists.txt
Normal file
@@ -0,0 +1,155 @@
|
||||
INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/src )
|
||||
|
||||
|
||||
|
||||
SET(BulletDynamics_SRCS
|
||||
Character/btKinematicCharacterController.cpp
|
||||
ConstraintSolver/btConeTwistConstraint.cpp
|
||||
ConstraintSolver/btContactConstraint.cpp
|
||||
ConstraintSolver/btFixedConstraint.cpp
|
||||
ConstraintSolver/btGearConstraint.cpp
|
||||
ConstraintSolver/btGeneric6DofConstraint.cpp
|
||||
ConstraintSolver/btGeneric6DofSpringConstraint.cpp
|
||||
ConstraintSolver/btHinge2Constraint.cpp
|
||||
ConstraintSolver/btHingeConstraint.cpp
|
||||
ConstraintSolver/btPoint2PointConstraint.cpp
|
||||
ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
|
||||
ConstraintSolver/btNNCGConstraintSolver.cpp
|
||||
ConstraintSolver/btSliderConstraint.cpp
|
||||
ConstraintSolver/btSolve2LinearConstraint.cpp
|
||||
ConstraintSolver/btTypedConstraint.cpp
|
||||
ConstraintSolver/btUniversalConstraint.cpp
|
||||
Dynamics/btDiscreteDynamicsWorld.cpp
|
||||
Dynamics/btRigidBody.cpp
|
||||
Dynamics/btSimpleDynamicsWorld.cpp
|
||||
# Dynamics/Bullet-C-API.cpp
|
||||
Vehicle/btRaycastVehicle.cpp
|
||||
Vehicle/btWheelInfo.cpp
|
||||
Featherstone/btMultiBody.cpp
|
||||
Featherstone/btMultiBodyConstraintSolver.cpp
|
||||
Featherstone/btMultiBodyDynamicsWorld.cpp
|
||||
Featherstone/btMultiBodyJointLimitConstraint.cpp
|
||||
Featherstone/btMultiBodyConstraint.cpp
|
||||
Featherstone/btMultiBodyPoint2Point.cpp
|
||||
Featherstone/btMultiBodyJointMotor.cpp
|
||||
MLCPSolvers/btDantzigLCP.cpp
|
||||
MLCPSolvers/btMLCPSolver.cpp
|
||||
)
|
||||
|
||||
SET(Root_HDRS
|
||||
../btBulletDynamicsCommon.h
|
||||
../btBulletCollisionCommon.h
|
||||
)
|
||||
SET(ConstraintSolver_HDRS
|
||||
ConstraintSolver/btConeTwistConstraint.h
|
||||
ConstraintSolver/btConstraintSolver.h
|
||||
ConstraintSolver/btContactConstraint.h
|
||||
ConstraintSolver/btContactSolverInfo.h
|
||||
ConstraintSolver/btFixedConstraint.h
|
||||
ConstraintSolver/btGearConstraint.h
|
||||
ConstraintSolver/btGeneric6DofConstraint.h
|
||||
ConstraintSolver/btGeneric6DofSpringConstraint.h
|
||||
ConstraintSolver/btHinge2Constraint.h
|
||||
ConstraintSolver/btHingeConstraint.h
|
||||
ConstraintSolver/btJacobianEntry.h
|
||||
ConstraintSolver/btPoint2PointConstraint.h
|
||||
ConstraintSolver/btSequentialImpulseConstraintSolver.h
|
||||
ConstraintSolver/btNNCGConstraintSolver.h
|
||||
ConstraintSolver/btSliderConstraint.h
|
||||
ConstraintSolver/btSolve2LinearConstraint.h
|
||||
ConstraintSolver/btSolverBody.h
|
||||
ConstraintSolver/btSolverConstraint.h
|
||||
ConstraintSolver/btTypedConstraint.h
|
||||
ConstraintSolver/btUniversalConstraint.h
|
||||
)
|
||||
SET(Dynamics_HDRS
|
||||
Dynamics/btActionInterface.h
|
||||
Dynamics/btDiscreteDynamicsWorld.h
|
||||
Dynamics/btDynamicsWorld.h
|
||||
Dynamics/btSimpleDynamicsWorld.h
|
||||
Dynamics/btRigidBody.h
|
||||
)
|
||||
SET(Vehicle_HDRS
|
||||
Vehicle/btRaycastVehicle.h
|
||||
Vehicle/btVehicleRaycaster.h
|
||||
Vehicle/btWheelInfo.h
|
||||
)
|
||||
|
||||
SET(Featherstone_HDRS
|
||||
Featherstone/btMultiBody.h
|
||||
Featherstone/btMultiBodyConstraintSolver.h
|
||||
Featherstone/btMultiBodyDynamicsWorld.h
|
||||
Featherstone/btMultiBodyLink.h
|
||||
Featherstone/btMultiBodyLinkCollider.h
|
||||
Featherstone/btMultiBodySolverConstraint.h
|
||||
Featherstone/btMultiBodyConstraint.h
|
||||
Featherstone/btMultiBodyJointLimitConstraint.h
|
||||
Featherstone/btMultiBodyConstraint.h
|
||||
Featherstone/btMultiBodyPoint2Point.h
|
||||
Featherstone/btMultiBodyJointMotor.h
|
||||
)
|
||||
|
||||
SET(MLCPSolvers_HDRS
|
||||
MLCPSolvers/btDantzigLCP.h
|
||||
MLCPSolvers/btDantzigSolver.h
|
||||
MLCPSolvers/btMLCPSolver.h
|
||||
MLCPSolvers/btMLCPSolverInterface.h
|
||||
MLCPSolvers/btPATHSolver.h
|
||||
MLCPSolvers/btSolveProjectedGaussSeidel.h
|
||||
)
|
||||
|
||||
SET(Character_HDRS
|
||||
Character/btCharacterControllerInterface.h
|
||||
Character/btKinematicCharacterController.h
|
||||
)
|
||||
|
||||
|
||||
|
||||
SET(BulletDynamics_HDRS
|
||||
${Root_HDRS}
|
||||
${ConstraintSolver_HDRS}
|
||||
${Dynamics_HDRS}
|
||||
${Vehicle_HDRS}
|
||||
${Character_HDRS}
|
||||
${Featherstone_HDRS}
|
||||
${MLCPSolvers_HDRS}
|
||||
)
|
||||
|
||||
|
||||
ADD_LIBRARY(BulletDynamics ${BulletDynamics_SRCS} ${BulletDynamics_HDRS})
|
||||
SET_TARGET_PROPERTIES(BulletDynamics PROPERTIES VERSION ${BULLET_VERSION})
|
||||
SET_TARGET_PROPERTIES(BulletDynamics PROPERTIES SOVERSION ${BULLET_VERSION})
|
||||
IF (BUILD_SHARED_LIBS)
|
||||
TARGET_LINK_LIBRARIES(BulletDynamics BulletCollision LinearMath)
|
||||
ENDIF (BUILD_SHARED_LIBS)
|
||||
|
||||
IF (INSTALL_LIBS)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
|
||||
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
INSTALL(TARGETS BulletDynamics DESTINATION .)
|
||||
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
INSTALL(TARGETS BulletDynamics RUNTIME DESTINATION bin
|
||||
LIBRARY DESTINATION lib${LIB_SUFFIX}
|
||||
ARCHIVE DESTINATION lib${LIB_SUFFIX})
|
||||
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
|
||||
DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN
|
||||
".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)
|
||||
INSTALL(FILES ../btBulletDynamicsCommon.h
|
||||
DESTINATION ${INCLUDE_INSTALL_DIR}/BulletDynamics)
|
||||
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
|
||||
|
||||
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
SET_TARGET_PROPERTIES(BulletDynamics PROPERTIES FRAMEWORK true)
|
||||
SET_TARGET_PROPERTIES(BulletDynamics PROPERTIES PUBLIC_HEADER "${Root_HDRS}")
|
||||
# Have to list out sub-directories manually:
|
||||
SET_PROPERTY(SOURCE ${ConstraintSolver_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/ConstraintSolver)
|
||||
SET_PROPERTY(SOURCE ${Dynamics_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Dynamics)
|
||||
SET_PROPERTY(SOURCE ${Vehicle_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Vehicle)
|
||||
SET_PROPERTY(SOURCE ${Character_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Character)
|
||||
SET_PROPERTY(SOURCE ${Featherstone_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/Featherstone)
|
||||
SET_PROPERTY(SOURCE ${MLCPSolvers_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/MLCPSolvers)
|
||||
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF (INSTALL_LIBS)
|
||||
@@ -29,9 +29,10 @@ subject to the following restrictions:
|
||||
static btVector3
|
||||
getNormalizedVector(const btVector3& v)
|
||||
{
|
||||
btVector3 n = v.normalized();
|
||||
if (n.length() < SIMD_EPSILON) {
|
||||
n.setValue(0, 0, 0);
|
||||
btVector3 n(0, 0, 0);
|
||||
|
||||
if (v.length() > SIMD_EPSILON) {
|
||||
n = v.normalized();
|
||||
}
|
||||
return n;
|
||||
}
|
||||
|
||||
32
src/CMakeLists.txt
Normal file
32
src/CMakeLists.txt
Normal file
@@ -0,0 +1,32 @@
|
||||
SUBDIRS( BulletSoftBody BulletCollision BulletDynamics LinearMath )
|
||||
|
||||
IF(BUILD_MULTITHREADING)
|
||||
SUBDIRS(MiniCL BulletMultiThreaded)
|
||||
ENDIF()
|
||||
|
||||
IF(INSTALL_LIBS)
|
||||
#INSTALL of other files requires CMake 2.6
|
||||
IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
|
||||
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
# Don't actually need to install any common files, the frameworks include everything
|
||||
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
INSTALL(FILES btBulletCollisionCommon.h btBulletDynamicsCommon.h Bullet-C-Api.h DESTINATION ${INCLUDE_INSTALL_DIR})
|
||||
INSTALL(FILES vectormath/vmInclude.h DESTINATION ${INCLUDE_INSTALL_DIR}/vectormath)
|
||||
INSTALL(FILES vectormath/scalar/boolInVec.h
|
||||
vectormath/scalar/floatInVec.h
|
||||
vectormath/scalar/mat_aos.h
|
||||
vectormath/scalar/quat_aos.h
|
||||
vectormath/scalar/vec_aos.h
|
||||
vectormath/scalar/vectormath_aos.h
|
||||
DESTINATION ${INCLUDE_INSTALL_DIR}/vectormath/scalar)
|
||||
INSTALL(FILES vectormath/sse/boolInVec.h
|
||||
vectormath/sse/floatInVec.h
|
||||
vectormath/sse/mat_aos.h
|
||||
vectormath/sse/quat_aos.h
|
||||
vectormath/sse/vec_aos.h
|
||||
vectormath/sse/vecidx_aos.h
|
||||
vectormath/sse/vectormath_aos.h
|
||||
DESTINATION ${INCLUDE_INSTALL_DIR}/vectormath/sse)
|
||||
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
|
||||
ENDIF(INSTALL_LIBS)
|
||||
72
src/LinearMath/CMakeLists.txt
Normal file
72
src/LinearMath/CMakeLists.txt
Normal file
@@ -0,0 +1,72 @@
|
||||
|
||||
INCLUDE_DIRECTORIES(
|
||||
${BULLET_PHYSICS_SOURCE_DIR}/src
|
||||
)
|
||||
|
||||
SET(LinearMath_SRCS
|
||||
btAlignedAllocator.cpp
|
||||
btConvexHull.cpp
|
||||
btConvexHullComputer.cpp
|
||||
btGeometryUtil.cpp
|
||||
btPolarDecomposition.cpp
|
||||
btQuickprof.cpp
|
||||
btSerializer.cpp
|
||||
btVector3.cpp
|
||||
)
|
||||
|
||||
SET(LinearMath_HDRS
|
||||
btAabbUtil2.h
|
||||
btAlignedAllocator.h
|
||||
btAlignedObjectArray.h
|
||||
btConvexHull.h
|
||||
btConvexHullComputer.h
|
||||
btDefaultMotionState.h
|
||||
btGeometryUtil.h
|
||||
btGrahamScan2dConvexHull.h
|
||||
btHashMap.h
|
||||
btIDebugDraw.h
|
||||
btList.h
|
||||
btMatrix3x3.h
|
||||
btMinMax.h
|
||||
btMotionState.h
|
||||
btPolarDecomposition.h
|
||||
btPoolAllocator.h
|
||||
btQuadWord.h
|
||||
btQuaternion.h
|
||||
btQuickprof.h
|
||||
btRandom.h
|
||||
btScalar.h
|
||||
btSerializer.h
|
||||
btStackAlloc.h
|
||||
btTransform.h
|
||||
btTransformUtil.h
|
||||
btVector3.h
|
||||
)
|
||||
|
||||
ADD_LIBRARY(LinearMath ${LinearMath_SRCS} ${LinearMath_HDRS})
|
||||
SET_TARGET_PROPERTIES(LinearMath PROPERTIES VERSION ${BULLET_VERSION})
|
||||
SET_TARGET_PROPERTIES(LinearMath PROPERTIES SOVERSION ${BULLET_VERSION})
|
||||
|
||||
IF (INSTALL_LIBS)
|
||||
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
#FILES_MATCHING requires CMake 2.6
|
||||
IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
|
||||
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
INSTALL(TARGETS LinearMath DESTINATION .)
|
||||
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
INSTALL(TARGETS LinearMath
|
||||
RUNTIME DESTINATION bin
|
||||
LIBRARY DESTINATION lib${LIB_SUFFIX}
|
||||
ARCHIVE DESTINATION lib${LIB_SUFFIX})
|
||||
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
|
||||
DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN
|
||||
".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)
|
||||
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
|
||||
|
||||
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
SET_TARGET_PROPERTIES(LinearMath PROPERTIES FRAMEWORK true)
|
||||
SET_TARGET_PROPERTIES(LinearMath PROPERTIES PUBLIC_HEADER "${LinearMath_HDRS}")
|
||||
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
|
||||
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
|
||||
ENDIF (INSTALL_LIBS)
|
||||
Reference in New Issue
Block a user