attempt to let Maya plugin build under Linux using cmake

Thanks redpawfx for the feedback, see http://code.google.com/p/bullet/issues/detail?id=221

improvements in cmake (disable this incremental linking)

BulletLicense.txt

@@ -1,5 +1,5 @@
 /*
-Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+Copyright (c) 2003-2010 Erwin Coumans  http://continuousphysics.com/Bullet/
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -13,5 +13,6 @@ subject to the following restrictions:
 */
 
 
-Free for commercial use, but please mail bullet@erwincoumans.com to report projects, and join the forum at
+Free for commercial use, please report projects in the forum at http://www.bulletphysics.org
-www.continuousphysics.com/Bullet/phpBB2
+
+In case you want to display a Bullet logo in your software: you can download the Bullet logo in various vector formats and high resolution at the download section in http://bullet.googlecode.com

CMakeLists.txt

@@ -1,6 +1,8 @@
 cmake_minimum_required(VERSION 2.4)
 
 
+#this line has to appear before 'PROJECT' in order to be able to disable incremental linking
+SET(MSVC_INCREMENTAL_DEFAULT ON)
 
 PROJECT(BULLET_PHYSICS)
 SET(BULLET_VERSION 2.75)
@@ -20,36 +22,35 @@ IF (USE_MULTITHREADED_BENCHMARK)
 ENDIF()
 
 OPTION(USE_MSVC_RUNTIME_LIBRARY_DLL "Use MSVC Runtime Library DLL (/MD or /MDd)" ON)
-OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" ON)
+OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF)
 
 
 
 #SET(CMAKE_EXE_LINKER_FLAGS_INIT    "/STACK:10000000 /INCREMENTAL:NO")	
 #SET(CMAKE_EXE_LINKER_FLAGS    "/STACK:10000000 /INCREMENTAL:NO")	
 
+#MESSAGE("MSVC_INCREMENTAL_YES_FLAG"+${MSVC_INCREMENTAL_YES_FLAG})
+
 
 IF(MSVC)
 	IF (NOT USE_MSVC_INCREMENTAL_LINKING)
-		IF (CMAKE_EXE_LINKER_FLAGS_DEBUG)
+		#MESSAGE("MSVC_INCREMENTAL_DEFAULT"+${MSVC_INCREMENTAL_DEFAULT})
+		SET( MSVC_INCREMENTAL_YES_FLAG "/INCREMENTAL:NO")
+		 
 		STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags ${CMAKE_EXE_LINKER_FLAGS_DEBUG}) 
-		message (${replacementFlags})
+		SET(CMAKE_EXE_LINKER_FLAGS_DEBUG "/INCREMENTAL:NO ${replacementFlags}" )
-		SET(CMAKE_SHARED_LINKER_FLAGS_DEBUG ${replacementFlags}) 
+		MESSAGE("CMAKE_EXE_LINKER_FLAGS_DEBUG=${CMAKE_EXE_LINKER_FLAGS_DEBUG}")
-		
+	
-		
+#		STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags2 ${CMAKE_EXE_LINKER_FLAGS}) 
-		STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags2 ${CMAKE_EXE_LINKER_FLAGS}) 
+#		SET(CMAKE_EXE_LINKER_FLAGS ${replacementFlag2}) 
-		message (${replacementFlags2})
-		SET(CMAKE_EXE_LINKER_FLAGS ${replacementFlag2}) 
-		
 #		STRING(REPLACE "INCREMENTAL:YES" "" replacementFlags3 ${CMAKE_EXTRA_LINK_FLAGS}) 
 #		SET(CMAKE_EXTRA_LINK_FLAGS ${replacementFlag3}) 
 		
 		
-		
+		STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags3 ${CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO})
-#		STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags1 ${CMAKE_SHARED_LINKER_FLAGS_DEBUG}) 
+		SET(CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO ${replacementFlags3}) 
-#		SET(CMAKE_SHARED_LINKER_FLAGS_DEBUG ${replacementFlags1}) 
+		SET(CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO "/INCREMENTAL:NO ${replacementFlags3}" )
-#		STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags2 ${CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO}) 
+	
-#		SET(CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO ${replacementFlags2}) 
-		ENDIF (CMAKE_EXE_LINKER_FLAGS_DEBUG) 
 	ENDIF (NOT USE_MSVC_INCREMENTAL_LINKING)
 
 	IF (NOT USE_MSVC_RUNTIME_LIBRARY_DLL)
@@ -80,11 +81,14 @@ IF (WIN32)
 OPTION(INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES "Create MSVC projectfiles that can be distributed" OFF)
 
 IF (INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+	SET (LIBRARY_OUTPUT_PATH ${BULLET_PHYSICS_SOURCE_DIR}/lib CACHE PATH "Single output directory for building all libraries.")
 	SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR})
 	SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${BULLET_PHYSICS_SOURCE_DIR})
 	SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${BULLET_PHYSICS_SOURCE_DIR})
 	SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_MINSIZEREL ${BULLET_PHYSICS_SOURCE_DIR})
 	SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELWITHDEBINFO ${BULLET_PHYSICS_SOURCE_DIR})
+ELSE()
+	SET (LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib CACHE PATH "Single output directory for building all libraries.")
 ENDIF()
 
 OPTION(INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES "Create MSVC projectfiles with relative paths" OFF)

ChangeLog

@@ -1,7 +1,16 @@
 Bullet Continuous Collision Detection and Physics Library
 Primary author and maintainer: Erwin Coumans
 
-Please see http://code.google.com/p/bullet/source/list for more complete log in Subversion
+This ChangeLog is incomplete, for an up-to-date list of all fixed issues see http://bullet.googlecode.com
+using http://tinyurl.com/yabmjjj
+
+
+2010 February
+	- Bullet 2.76 release, revision 2010
+	- support for the .bullet binary file format
+	- btInternalEdgeUtility to adjust unwanted collisions against internal triangle edges
+	- Improved Maya Dynamica plugin with better constraint authoring and .bullet file export
+
 
 2009 September 17
 	- Minor update to Bullet 2.75 release, revision 1776

Demos/OpenGL/DemoApplication.cpp

@@ -17,8 +17,10 @@ subject to the following restrictions:
 #include "DemoApplication.h"
 #include "LinearMath/btIDebugDraw.h"
 #include "BulletDynamics/Dynamics/btDynamicsWorld.h"
-
+//#define USE_6DOF 1
 #include "BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h"//picking
+#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"//picking
+
 #include "BulletCollision/CollisionShapes/btCollisionShape.h"
 #include "BulletCollision/CollisionShapes/btBoxShape.h"
 #include "BulletCollision/CollisionShapes/btSphereShape.h"
@@ -778,11 +780,31 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
 
 								btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
 
-								btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body,localPivot);
+								
-								p2p->m_setting.m_impulseClamp = mousePickClamping;
 
+
+
+#ifdef USE_6DOF
+								btTransform tr;
+								tr.setIdentity();
+								tr.setOrigin(localPivot);
+								btGeneric6DofConstraint* dof6 = new btGeneric6DofConstraint(*body, tr,false);
+								dof6->setLinearLowerLimit(btVector3(0,0,0));
+								dof6->setLinearUpperLimit(btVector3(0,0,0));
+								dof6->setAngularLowerLimit(btVector3(0,0,0));
+								dof6->setAngularUpperLimit(btVector3(0,0,0));
+
+								m_dynamicsWorld->addConstraint(dof6);
+								m_pickConstraint = dof6;
+								
+#else
+								btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body,localPivot);
 								m_dynamicsWorld->addConstraint(p2p);
 								m_pickConstraint = p2p;
+								p2p->m_setting.m_impulseClamp = mousePickClamping;
+								//very weak constraint for picking
+								p2p->m_setting.m_tau = 0.1f;
+#endif 
 
 								//save mouse position for dragging
 								gOldPickingPos = rayTo;
@@ -790,8 +812,7 @@ void DemoApplication::mouseFunc(int button, int state, int x, int y)
 
 								gOldPickingDist  = (pickPos-rayFrom).length();
 
-								//very weak constraint for picking
+								
-								p2p->m_setting.m_tau = 0.1f;
 							}
 						}
 					}
@@ -830,14 +851,24 @@ void	DemoApplication::mouseMotionFunc(int x,int y)
 	if (m_pickConstraint)
 	{
 		//move the constraint pivot
-		btPoint2PointConstraint* p2p = static_cast<btPoint2PointConstraint*>(m_pickConstraint);
+#ifdef USE_6DOF
-		if (p2p)
+			btGeneric6DofConstraint* pickCon = static_cast<btGeneric6DofConstraint*>(m_pickConstraint);
+#else
+			btPoint2PointConstraint* pickCon = static_cast<btPoint2PointConstraint*>(m_pickConstraint);
+#endif
+	
+		if (pickCon)
 		{
 			//keep it at the same picking distance
 
 			btVector3 newRayTo = getRayTo(x,y);
 			btVector3 rayFrom;
-			btVector3 oldPivotInB = p2p->getPivotInB();
+#ifdef USE_6DOF
+			btVector3 oldPivotInB = pickCon->getFrameOffsetA().getOrigin();
+#else
+			btVector3 oldPivotInB = pickCon->getPivotInB();
+#endif
+
 			btVector3 newPivotB;
 			if (m_ortho)
 			{
@@ -853,10 +884,12 @@ void	DemoApplication::mouseMotionFunc(int x,int y)
 
 				newPivotB = rayFrom + dir;
 			}
+#ifdef USE_6DOF
+			pickCon->getFrameOffsetA().setOrigin(newPivotB);
+#else
+			pickCon->setPivotB(newPivotB);
+#endif
 
-			
-		
-			p2p->setPivotB(newPivotB);
 		}
 
 	}

Extras/MayaPlugin/CMakeLists.txt

@@ -6,11 +6,15 @@ if(COMMAND cmake_policy)
 endif(COMMAND cmake_policy)
 
 
+IF ( UNIX AND NOT APPLE )
+	ADD_DEFINITIONS(-DLINUX)
+ENDIF()
 
 SET(CMAKE_CXX_WARNING_LEVEL 4)
 
 #SET (CMAKE_VERBOSE_MAKEFILE TRUE)
 FIND_PATH(MAYA_BASE_DIR include/maya/MFn.h PATH 
+			/usr/autodesk/maya2009-x64
 			/usr/autodesk/maya2008-x64 
 			/usr/autodesk/maya 
 			"C:/Program Files/Autodesk/Maya2008" 

src/BulletCollision/CollisionDispatch/btCollisionWorld.h

@@ -22,6 +22,7 @@ subject to the following restrictions:
  *
  * Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license ( http://opensource.org/licenses/zlib-license.php ).
  *
+ * The main documentation is Bullet_User_Manual.pdf, included in the source code distribution.
  * There is the Physics Forum for feedback and general Collision Detection and Physics discussions.
  * Please visit http://www.bulletphysics.com
  *
@@ -29,14 +30,16 @@ subject to the following restrictions:
  *
  * @subsection step1 Step 1: Download
  * You can download the Bullet Physics Library from the Google Code repository: http://code.google.com/p/bullet/downloads/list
+ *
  * @subsection step2 Step 2: Building
- * Bullet comes with autogenerated Project Files for Microsoft Visual Studio 6, 7, 7.1 and 8.
+ * Bullet main build system for all platforms is cmake, you can download http://www.cmake.org
- * The main Workspace/Solution is located in Bullet/msvc/8/wksbullet.sln (replace 8 with your version).
+ * cmake can autogenerate projectfiles for Microsoft Visual Studio, Apple Xcode, KDevelop and Unix Makefiles.
- * 
+ * The easiest is to run the CMake cmake-gui graphical user interface and choose the options and generate projectfiles.
- * Under other platforms, like Linux or Mac OS-X, Bullet can be build using either using make, cmake, http://www.cmake.org , or jam, http://www.perforce.com/jam/jam.html . cmake can autogenerate Xcode, KDevelop, MSVC and other build systems. just run cmake . in the root of Bullet.
+ * You can also use cmake in the command-line. Here are some examples for various platforms:
- * So if you are not using MSVC or cmake, you can run ./autogen.sh ./configure to create both Makefile and Jamfile and then run make or jam.
+ * cmake . -G "Visual Studio 9 2008"
- * Jam is a build system that can build the library, demos and also autogenerate the MSVC Project Files.
+ * cmake . -G Xcode
- * If you don't have jam installed, you can make jam from the included jam-2.5 sources, or download jam from ftp://ftp.perforce.com/jam
+ * cmake . -G "Unix Makefiles"
+ * Although cmake is recommended, you can also use autotools for UNIX: ./autogen.sh ./configure to create a Makefile and then run make.
  * 
  * @subsection step3 Step 3: Testing demos
  * Try to run and experiment with BasicDemo executable as a starting point.
@@ -53,9 +56,7 @@ subject to the following restrictions:
  * Bullet has been designed in a modular way keeping dependencies to a minimum. The ConvexHullDistance demo demonstrates direct use of btGjkPairDetector.
  *
  * @section copyright Copyright
- * Copyright (C) 2005-2008 Erwin Coumans, some contributions Copyright Gino van den Bergen, Christer Ericson, Simon Hobbs, Ricardo Padrela, F Richter(res), Stephane Redon
+ * For up-to-data information and copyright and contributors list check out the Bullet_User_Manual.pdf
- * Special thanks to all visitors of the Bullet Physics forum, and in particular above contributors, John McCutchan, Nathanael Presson, Dave Eberle, Dirk Gregorius, Erin Catto, Dave Eberle, Adam Moravanszky,
- * Pierre Terdiman, Kenny Erleben, Russell Smith, Oliver Strunk, Jan Paul van Waveren, Marten Svanfeldt.
  * 
  */