From 13f314f4010d6623377e236a2595e10bacc125f9 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Mon, 7 Dec 2015 16:38:43 -0800
Subject: [PATCH 1/2] allow CMake to build on Linux without X11/OpenGL system
 headers (use local one)

---
 examples/CMakeLists.txt                     |  6 +++++-
 examples/ExampleBrowser/CMakeLists.txt      |  7 +++++--
 examples/OpenGLWindow/CMakeLists.txt        |  9 +++++----
 examples/ThirdPartyLibs/Gwen/CMakeLists.txt | 16 ++++++++++++++--
 4 files changed, 29 insertions(+), 9 deletions(-)

diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 48806f681..4d26967f1 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -1 +1,5 @@
-SUBDIRS( ExampleBrowser HelloWorld BasicDemo ThirdPartyLibs/Gwen OpenGLWindow)
+SUBDIRS( HelloWorld BasicDemo )
+IF(BUILD_BULLET3)
+	SUBDIRS( ExampleBrowser ThirdPartyLibs/Gwen OpenGLWindow)
+ENDIF()
+
diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt
index d775d9d51..f32cac6ab 100644
--- a/examples/ExampleBrowser/CMakeLists.txt
+++ b/examples/ExampleBrowser/CMakeLists.txt
@@ -193,7 +193,7 @@ SET(App_ExampleBrowser_SRCS
 )
 
 LINK_LIBRARIES(
-        Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+        Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen
 )
 
 IF (WIN32)
@@ -201,12 +201,15 @@ IF (WIN32)
 	INCLUDE_DIRECTORIES(
 				${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
 	)
+	LINK_LIBRARIES(
+		${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+	)
 	ADD_DEFINITIONS(-DGLEW_STATIC)
 ELSE(WIN32)
 	IF(APPLE)
                 find_library(COCOA NAMES Cocoa)
                 MESSAGE(${COCOA})
-                link_libraries(${COCOA})
+                link_libraries(${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
   ELSE(APPLE)
 		ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
 		ADD_DEFINITIONS("-DGLEW_STATIC")
diff --git a/examples/OpenGLWindow/CMakeLists.txt b/examples/OpenGLWindow/CMakeLists.txt
index 451ea3dcd..0c2345d6d 100644
--- a/examples/OpenGLWindow/CMakeLists.txt
+++ b/examples/OpenGLWindow/CMakeLists.txt
@@ -34,11 +34,12 @@ ENDIF(APPLE)
 IF(NOT WIN32 AND NOT APPLE)
 	INCLUDE_DIRECTORIES(
 					${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
+					${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/optionalX11
         )
-        ADD_DEFINITIONS(-DGLEW_STATIC)
+	ADD_DEFINITIONS(-DGLEW_STATIC)
 	ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
-        ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
-
+       	ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
+	ADD_DEFINITIONS("-DDYNAMIC_LOAD_X11_FUNCTIONS=1")
 	SET(OpenGLWindow_SRCS ${OpenGLWindowLinux_CPP} ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew/glew.c ${OpenGLWindowCommon_CPP} )
 ENDIF()
 
@@ -46,7 +47,7 @@ ENDIF()
 
 ADD_LIBRARY(OpenGLWindow ${OpenGLWindow_SRCS} ${OpenGLWindow_HDRS})
 if (UNIX AND NOT APPLE)
-  target_link_libraries(OpenGLWindow X11)
+  target_link_libraries(OpenGLWindow )
 elseif (APPLE)
   target_link_libraries(OpenGLWindow ${COCOA_LIBRARY})
 endif ()
diff --git a/examples/ThirdPartyLibs/Gwen/CMakeLists.txt b/examples/ThirdPartyLibs/Gwen/CMakeLists.txt
index 2fad3951c..82fa0ffba 100644
--- a/examples/ThirdPartyLibs/Gwen/CMakeLists.txt
+++ b/examples/ThirdPartyLibs/Gwen/CMakeLists.txt
@@ -5,12 +5,24 @@ INCLUDE_DIRECTORIES(
 	${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/Glew
 )
 
+IF(NOT WIN32 AND NOT APPLE)
+        INCLUDE_DIRECTORIES(
+                                        ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/optionalX11
+        )
+        ADD_DEFINITIONS(-DGLEW_STATIC)
+        ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
+        ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
+        ADD_DEFINITIONS("-DDYNAMIC_LOAD_X11_FUNCTIONS=1")
+ENDIF()
+
 ADD_DEFINITIONS( -DGLEW_STATIC -DGWEN_COMPILE_STATIC -D_HAS_EXCEPTIONS=0 -D_STATIC_CPPLIB )
 
 FILE(GLOB gwen_SRCS "*.cpp" "Controls/*.cpp" "Controls/Dialog/*.cpp" "Controls/Dialogs/*.cpp" "Controls/Layout/*.cpp" "Controls/Property/*.cpp" "Input/*.cpp" "Platforms/*.cpp" "Renderers/*.cpp" "Skins/*.cpp")
 FILE(GLOB gwen_HDRS "*.h" "Controls/*.h" "Controls/Dialog/*.h" "Controls/Dialogs/*.h" "Controls/Layout/*.h" "Controls/Property/*.h" "Input/*.h" "Platforms/*.h" "Renderers/*.h" "Skins/*.h")
 
 ADD_LIBRARY(gwen ${gwen_SRCS} ${gwen_HDRS})
-if (BUILD_SHARED_LIBS)
+IF (BUILD_SHARED_LIBS)
+IF(WIN32 OR APPLE)
   target_link_libraries(gwen ${OPENGL_gl_LIBRARY})
-endif()
+ENDIF()
+ENDIF()

From 46ddfa39d7a08eaa7f5df92877f0a1b5a1a59f99 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Tue, 8 Dec 2015 07:54:19 -0800
Subject: [PATCH 2/2] remove unused function in btRigidBody
 (btSetCrossMatrixMinus) thanks to Stefan for reporting.

---
 src/BulletDynamics/Dynamics/btRigidBody.cpp | 7 -------
 1 file changed, 7 deletions(-)

diff --git a/src/BulletDynamics/Dynamics/btRigidBody.cpp b/src/BulletDynamics/Dynamics/btRigidBody.cpp
index 8bc3c1ca5..e0e8bc70f 100644
--- a/src/BulletDynamics/Dynamics/btRigidBody.cpp
+++ b/src/BulletDynamics/Dynamics/btRigidBody.cpp
@@ -303,13 +303,6 @@ btVector3 btRigidBody::computeGyroscopicForceExplicit(btScalar maxGyroscopicForc
 	return gf;
 }
 
-void btSetCrossMatrixMinus(btMatrix3x3& res, const btVector3& a)
-{
-	const btScalar a_0 = a[0], a_1 = a[1], a_2 = a[2];
-	res.setValue(0, +a_2, -a_1,
-		-a_2, 0, +a_0,
-		+a_1, -a_0, 0);
-}
 
 btVector3 btRigidBody::computeGyroscopicImpulseImplicit_Body(btScalar step) const
 {