Merge pull request #549 from erwincoumans/master

minor cmake fixes for Linux related to X11/OpenGL headers

Extras/CMakeLists.txt

@@ -1,4 +1,8 @@
-SUBDIRS( Serialize InverseDynamics ConvexDecomposition HACD GIMPACTUtils )
+SUBDIRS( Serialize ConvexDecomposition HACD GIMPACTUtils )
+
+IF(BUILD_BULLET3)
+	SUBDIRS( InverseDynamics)
+ENDIF()
 
 #Maya Dynamica plugin is moved to http://dynamica.googlecode.com
 

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()
+

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")

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_INIT_OPENGL11_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 ()

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()

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
 {