make GLUT optional in cmake

fix for btMultiBody to avoid extreme energy gain

CMakeLists.txt

@@ -139,7 +139,6 @@ ENDIF (USE_GRAPHICAL_BENCHMARK)
 
 IF (WIN32)
 OPTION(USE_GLUT "Use Glut"	ON)
-ADD_DEFINITIONS( -D_IRR_STATIC_LIB_ )
 ADD_DEFINITIONS( -D_CRT_SECURE_NO_WARNINGS )
 ADD_DEFINITIONS( -D_CRT_SECURE_NO_DEPRECATE )
 ADD_DEFINITIONS( -D_SCL_SECURE_NO_WARNINGS )
@@ -178,6 +177,11 @@ ENDIF (OPENGL_FOUND)
 
 #FIND_PACKAGE(GLU)
 
+
+
+OPTION(BUILD_OBSOLETE_DEMOS "Set when you want to build the obsolete Bullet 2 demos" OFF)
+IF(BUILD_OBSOLETE_DEMOS)
+
 IF (USE_GLUT)
 	IF (MSVC)
 		SET(GLUT_FOUND TRUE)
@@ -190,7 +194,7 @@ IF (USE_GLUT)
 				message("Win32 using static freeglut in ObsoleteDemos/Glut/glut32.lib")
 				SET(GLUT_glut_LIBRARY ${BULLET_PHYSICS_SOURCE_DIR}/ObsoleteDemos/Glut/glut32.lib glu32.lib gdi32.lib winmm.lib user32.lib)
 		ENDIF (CMAKE_CL_64)
-	 	INCLUDE_DIRECTORIES(${BULLET_PHYSICS_SOURCE_DIR}/ObsoleteDemos/Glut)
+	 	 SET(GLUT_INCLUDE_DIR ${BULLET_PHYSICS_SOURCE_DIR}/ObsoleteDemos/Glut )
 	ELSE()
 		FIND_PACKAGE(GLUT)
 		IF (GLUT_FOUND)
@@ -208,20 +212,25 @@ IF (USE_GLUT)
 		ENDIF (GLUT_FOUND)
 	ENDIF (MSVC)
 
-	IF(NOT WIN32)	
+	IF(NOT WIN32 AND NOT APPLE)	
 		# This is added for linux. This should always work if everything is installed and working fine.
-		INCLUDE_DIRECTORIES(/usr/include /usr/local/include) 
+		SET(GLUT_INCLUDE_DIR /usr/include /usr/local/include)
 	ENDIF()
 ENDIF(USE_GLUT)
 
 
-OPTION(BUILD_DEMOS "Set when you want to build the demos" ON)
-IF(BUILD_DEMOS)
 	IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/ObsoleteDemos AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/ObsoleteDemos)
 		SUBDIRS(ObsoleteDemos)
 	ENDIF()
-ENDIF(BUILD_DEMOS)
+ENDIF(BUILD_OBSOLETE_DEMOS)
 
+OPTION(BUILD_BULLET3_DEMOS "Set when you want to build the Bullet 3 demos" ON)
+IF(BUILD_BULLET3_DEMOS)
+	IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/Demos3 AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/Demos3)
+		SUBDIRS(Demos3)
+		SUBDIRS(btgui)
+	ENDIF()
+ENDIF(BUILD_BULLET3_DEMOS)
 
 
 

Demos3/AllBullet2Demos/BulletDemoEntries.h

@@ -37,6 +37,8 @@ static BulletDemoEntry allDemos[]=
 	
 	{"Ragdoll",RagDollDemo::MyCreateFunc},
 	{"MultiBody1",FeatherstoneDemo1::MyCreateFunc},
+//	{"MultiBody2",FeatherstoneDemo2::MyCreateFunc},
+
 	{"MultiDofDemo",MultiDofDemo::MyCreateFunc},
 	{"LuaDemo",LuaDemo::MyCreateFunc}
 

Demos3/CMakeLists.txt

@@ -0,0 +1 @@
+SUBDIRS(  SimpleOpenGL3 )

Demos3/SimpleOpenGL3/CMakeLists.txt

@@ -0,0 +1,41 @@
+
+
+INCLUDE_DIRECTORIES(
+	${BULLET_PHYSICS_SOURCE_DIR}/src 
+	${BULLET_PHYSICS_SOURCE_DIR}/btgui
+)
+ 
+ 
+SET(AppSimpleOpenGL3_SRCS
+	main.cpp
+	${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
+)
+
+IF (WIN32)
+	SET(AppSimpleOpenGL3_SRCS ${AppSimpleOpenGL3_SRCS}  ${AppSimpleOpenGL3_Common_SRCS})
+	INCLUDE_DIRECTORIES(
+				${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows
+	)
+	ADD_DEFINITIONS(-DGLEW_STATIC)
+ELSE(WIN32)
+	IF(NOT APPLE)
+		LINK_LIBRARIES( GLEW)
+	ENDIF(NOT APPLE)
+ENDIF(WIN32)
+ 
+	
+
+LINK_LIBRARIES(
+	Bullet3Common OpenGLWindow gwen ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
+)
+
+ADD_EXECUTABLE(AppSimpleOpenGL3
+		${AppSimpleOpenGL3_SRCS}
+)
+	
+
+IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
+			SET_TARGET_PROPERTIES(AppSimpleOpenGL3 PROPERTIES  DEBUG_POSTFIX "_Debug")
+			SET_TARGET_PROPERTIES(AppSimpleOpenGL3 PROPERTIES  MINSIZEREL_POSTFIX "_MinsizeRel")
+			SET_TARGET_PROPERTIES(AppSimpleOpenGL3 PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
+ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

Demos3/SimpleOpenGL3/premake4.lua

@@ -26,8 +26,9 @@
 		"../../btgui/Timing/b3Clock.h"
 
 		}
+		
 if os.is("Linux") then links {"X11"} end
 
 if os.is("MacOSX") then
-                        links{"Cocoa.framework"}
+	links{"Cocoa.framework"}
 end

ObsoleteDemos/BasicDemo/CMakeLists.txt

@@ -12,7 +12,8 @@ SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
 ########################################################
 
 INCLUDE_DIRECTORIES(
-${BULLET_PHYSICS_SOURCE_DIR}/src ../OpenGL 
+${BULLET_PHYSICS_SOURCE_DIR}/src ../OpenGL
+${GLUT_INCLUDE_DIR}
 )
 
 

ObsoleteDemos/Benchmarks/CMakeLists.txt

@@ -13,6 +13,7 @@ IF (USE_GLUT)
 	INCLUDE_DIRECTORIES(
 		${BULLET_PHYSICS_SOURCE_DIR}/src 
 		../OpenGL 
+		${GLUT_INCLUDE_DIR}
 	)
 
 	IF (USE_MULTITHREADED_BENCHMARK)

ObsoleteDemos/Box2dDemo/CMakeLists.txt

@@ -17,6 +17,7 @@ ${BULLET_PHYSICS_SOURCE_DIR}/src
 )
 
 IF (USE_GLUT)
+	INCLUDE_DIRECTORIES( ${GLUT_INCLUDE_DIR} )
 	LINK_LIBRARIES(
 		OpenGLSupport  BulletDynamics  BulletCollision LinearMath    ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
 	)

ObsoleteDemos/BspDemo/CMakeLists.txt

@@ -12,6 +12,8 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL
+${GLUT_INCLUDE_DIR}
+
 )
 
 LINK_LIBRARIES(

ObsoleteDemos/CcdPhysicsDemo/CMakeLists.txt

@@ -14,6 +14,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL
+${GLUT_INCLUDE_DIR}
 )
 
 LINK_LIBRARIES(

ObsoleteDemos/CharacterDemo/CMakeLists.txt

@@ -12,6 +12,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL
+${GLUT_INCLUDE_DIR}
 )
 
 LINK_LIBRARIES(

ObsoleteDemos/CollisionDemo/CMakeLists.txt

@@ -13,6 +13,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL
+${GLUT_INCLUDE_DIR}
 )
 
 LINK_LIBRARIES(

ObsoleteDemos/CollisionInterfaceDemo/CMakeLists.txt

@@ -14,6 +14,7 @@ IF (USE_GLUT)
 	INCLUDE_DIRECTORIES(
 	${BULLET_PHYSICS_SOURCE_DIR}/src 
 	../OpenGL 
+	${GLUT_INCLUDE_DIR}
 	)
 
 	LINK_LIBRARIES(

ObsoleteDemos/ConcaveConvexcastDemo/CMakeLists.txt

@@ -13,6 +13,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )
 
 LINK_LIBRARIES(

ObsoleteDemos/ConcaveRaycastDemo/CMakeLists.txt

@@ -13,6 +13,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )
 
 LINK_LIBRARIES(

ObsoleteDemos/ContinuousConvexCollision/CMakeLists.txt

@@ -13,6 +13,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )
 
 LINK_LIBRARIES(

ObsoleteDemos/ConvexHullDistance/CMakeLists.txt

@@ -14,6 +14,7 @@ SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )
 
 

ObsoleteDemos/DoublePrecisionDemo/CMakeLists.txt

@@ -13,6 +13,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )
 
 LINK_LIBRARIES(

ObsoleteDemos/DynamicControlDemo/CMakeLists.txt

@@ -13,6 +13,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )
 
 LINK_LIBRARIES(

ObsoleteDemos/FeatherstoneMultiBodyDemo/CMakeLists.txt

@@ -14,6 +14,7 @@ SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )
 
 

ObsoleteDemos/FeatherstoneMultiBodyDemo/FeatherstoneMultiBodyDemo.cpp

@@ -285,7 +285,8 @@ btMultiBody* FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMult
 	btVector3 inertia = btVector3 (91,344,253)*scaling*scaling;
 	
 	
-	btMultiBody * bod = new btMultiBody(n_links, mass, inertia, settings.m_isFixedBase, settings.m_canSleep);
+	bool multiDof = false;
+	btMultiBody * bod = new btMultiBody(n_links, mass, inertia, settings.m_isFixedBase, settings.m_canSleep,multiDof);
 //		bod->setHasSelfCollision(false);
 
 	//btQuaternion orn(btVector3(0,0,1),-0.25*SIMD_HALF_PI);//0,0,0,1);
@@ -360,7 +361,7 @@ btMultiBody* FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMult
 				{	
 					if (1)
 					{
-						btMultiBodyJointMotor* con = new btMultiBodyJointMotor(bod,i,0,500000); 
+						btMultiBodyJointMotor* con = new btMultiBodyJointMotor(bod,i,0,0,500000); 
 						world->addMultiBodyConstraint(con);
 					}
 
@@ -447,6 +448,8 @@ btMultiBody* FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMult
 		}
 
 	}
+
+
 	world->addMultiBody(bod);
 
 	return bod;

ObsoleteDemos/ForkLiftDemo/CMakeLists.txt

@@ -14,6 +14,7 @@ SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
 INCLUDE_DIRECTORIES(
 	${BULLET_PHYSICS_SOURCE_DIR}/src 
 	../OpenGL 
+	${GLUT_INCLUDE_DIR}
 )
 
 LINK_LIBRARIES(

ObsoleteDemos/FractureDemo/CMakeLists.txt

@@ -14,6 +14,7 @@ SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )
 
 

ObsoleteDemos/GenericJointDemo/CMakeLists.txt

@@ -14,6 +14,7 @@ IF (USE_GLUT)
 	INCLUDE_DIRECTORIES(
 	${BULLET_PHYSICS_SOURCE_DIR}/src 
 	../OpenGL 
+	${GLUT_INCLUDE_DIR}
 	)
 
 	LINK_LIBRARIES(

ObsoleteDemos/GjkConvexCastDemo/CMakeLists.txt

@@ -13,6 +13,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )
 
 LINK_LIBRARIES(

ObsoleteDemos/GyroscopicDemo/CMakeLists.txt

@@ -13,7 +13,8 @@
 
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
-../OpenGL 
+../OpenGL
+${GLUT_INCLUDE_DIR} 
 )
 
 

ObsoleteDemos/InternalEdgeDemo/CMakeLists.txt

@@ -13,6 +13,7 @@ IF (USE_GLUT)
 	INCLUDE_DIRECTORIES(
 	${BULLET_PHYSICS_SOURCE_DIR}/src 
 	../OpenGL 
+	${GLUT_INCLUDE_DIR}
 	)
 
 	LINK_LIBRARIES(

ObsoleteDemos/MovingConcaveDemo/CMakeLists.txt

@@ -15,6 +15,7 @@ SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
 INCLUDE_DIRECTORIES(
  ${BULLET_PHYSICS_SOURCE_DIR}/src 
  ../OpenGL 
+ ${GLUT_INCLUDE_DIR}
 )
 
 LINK_LIBRARIES(

ObsoleteDemos/MultiMaterialDemo/CMakeLists.txt

@@ -13,6 +13,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )
 
 LINK_LIBRARIES(

ObsoleteDemos/OpenGL/CMakeLists.txt

@@ -15,6 +15,7 @@
 
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Extras/ConvexHull  
+${GLUT_INCLUDE_DIR}
 )
 
 		

ObsoleteDemos/RagdollDemo/CMakeLists.txt

@@ -13,6 +13,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )
 
 LINK_LIBRARIES(

ObsoleteDemos/RaytestDemo/CMakeLists.txt

@@ -14,6 +14,7 @@ SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )
 
 

ObsoleteDemos/Raytracer/CMakeLists.txt

@@ -13,6 +13,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )
 
 LINK_LIBRARIES(

ObsoleteDemos/RollingFrictionDemo/CMakeLists.txt

@@ -14,6 +14,7 @@ SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )
 
 

ObsoleteDemos/SimplexDemo/CMakeLists.txt

@@ -13,6 +13,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )
 
 LINK_LIBRARIES(

ObsoleteDemos/SliderConstraintDemo/CMakeLists.txt

@@ -14,6 +14,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )
 
 LINK_LIBRARIES(

ObsoleteDemos/SoftDemo/CMakeLists.txt

@@ -15,6 +15,7 @@ IF (USE_GLUT)
 	INCLUDE_DIRECTORIES(
 	${BULLET_PHYSICS_SOURCE_DIR}/src 
 	../OpenGL 
+	${GLUT_INCLUDE_DIR}
 	)
 
 	LINK_LIBRARIES(

ObsoleteDemos/UserCollisionAlgorithm/CMakeLists.txt

@@ -14,6 +14,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL  
+${GLUT_INCLUDE_DIR}
 )
 
 LINK_LIBRARIES(

ObsoleteDemos/VehicleDemo/CMakeLists.txt

@@ -14,6 +14,7 @@
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )
 
 LINK_LIBRARIES(

ObsoleteDemos/VoronoiFractureDemo/CMakeLists.txt

@@ -14,6 +14,7 @@ SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
 INCLUDE_DIRECTORIES(
 ${BULLET_PHYSICS_SOURCE_DIR}/src 
 ../OpenGL 
+${GLUT_INCLUDE_DIR}
 )
 
 

btgui/CMakeLists.txt

@@ -0,0 +1 @@
+SUBDIRS(  gwen OpenGLWindow )

btgui/Gwen/CMakeLists.txt

@@ -0,0 +1,13 @@
+
+INCLUDE_DIRECTORIES(
+	${BULLET_PHYSICS_SOURCE_DIR}/src
+	${BULLET_PHYSICS_SOURCE_DIR}/btgui
+)
+
+ADD_DEFINITIONS( -DGWEN_COMPILE_STATIC -D_HAS_EXCEPTIONS=0 -D_STATIC_CPPLIB )
+
+FILE(GLOB gwen_SRCS "*.cpp")
+FILE(GLOB gwen_HDRS "*.h")
+
+ADD_LIBRARY(gwen ${gwen_SRCS} ${gwen_HDRS})
+

btgui/OpenGLWindow/CMakeLists.txt

@@ -0,0 +1,41 @@
+
+INCLUDE_DIRECTORIES(
+	${BULLET_PHYSICS_SOURCE_DIR}/src
+	${BULLET_PHYSICS_SOURCE_DIR}/btgui
+)
+
+FILE(GLOB OpenGLWindow_HDRS "*.h" "../OpenGLTrueTypeFont/*.h")
+
+FILE(GLOB OpenGLWindowMac_CPP "Mac*.mm")
+FILE(GLOB OpenGLWindowWin32_CPP "Win32*.cpp")
+FILE(GLOB OpenGLWindowLinux_CPP "X11*.cpp")
+
+FILE(GLOB OpenGLWindowCommon_CPP "*.cpp" "../OpenGLTrueTypeFont/*.cpp" "../FontFiles/OpenSans.cpp" )
+
+LIST(REMOVE_ITEM OpenGLWindowCommon_CPP ${OpenGLWindowMac_CPP} )
+LIST(REMOVE_ITEM OpenGLWindowCommon_CPP ${OpenGLWindowWin32_CPP} )
+LIST(REMOVE_ITEM OpenGLWindowCommon_CPP ${OpenGLWindowLinux_CPP} )
+LIST(REMOVE_ITEM OpenGLWindowCommon_CPP X11OpenGLWindow.cpp )
+#MESSAGE (${OpenGLWindowCommon_CPP})
+
+IF (WIN32)
+	SET(OpenGLWindow_SRCS ${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows/glew.c ${OpenGLWindowWin32_CPP} ${OpenGLWindowCommon_CPP})	
+	INCLUDE_DIRECTORIES(
+				${BULLET_PHYSICS_SOURCE_DIR}/btgui/OpenGLWindow/GlewWindows
+	)
+	ADD_DEFINITIONS(-DGLEW_STATIC)
+ENDIF(WIN32)
+
+IF (APPLE)
+	SET(OpenGLWindow_SRCS ${OpenGLWindowMac_CPP} ${OpenGLWindowCommon_CPP} )
+ENDIF(APPLE)
+
+#no Linux detection?
+IF(NOT WIN32 AND NOT APPLE)
+	SET(OpenGLWindow_SRCS ${OpenGLWindowLinux_CPP} ${OpenGLWindowCommon_CPP} )
+ENDIF()
+
+
+
+ADD_LIBRARY(OpenGLWindow ${OpenGLWindow_SRCS} ${OpenGLWindow_HDRS})
+

btgui/OpenGLWindow/GlewWindows/GL/glew.h

@@ -80,6 +80,8 @@
 #define __glew_h__
 #define __GLEW_H__
 
+#define GLEW_STATIC 1
+
 #if defined(__gl_h_) || defined(__GL_H__) || defined(__X_GL_H)
 #error gl.h included before glew.h
 #endif

src/Bullet3Collision/CMakeLists.txt

@@ -0,0 +1,90 @@
+
+INCLUDE_DIRECTORIES(
+	${BULLET_PHYSICS_SOURCE_DIR}/src
+)
+
+SET(Bullet3Collision_SRCS
+    BroadPhaseCollision/b3DynamicBvh.cpp
+    BroadPhaseCollision/b3DynamicBvhBroadphase.cpp
+    BroadPhaseCollision/b3OverlappingPairCache.cpp
+    NarrowPhaseCollision/b3ConvexUtility.cpp
+    NarrowPhaseCollision/b3CpuNarrowPhase.cpp
+)
+
+SET(Bullet3CollisionBroadPhase_HDRS
+	BroadPhaseCollision/b3BroadphaseCallback.h
+	BroadPhaseCollision/b3DynamicBvh.h
+	BroadPhaseCollision/b3DynamicBvhBroadphase.h
+	BroadPhaseCollision/b3OverlappingPair.h
+	BroadPhaseCollision/b3OverlappingPairCache.h
+)
+SET(Bullet3CollisionBroadPhaseShared_HDRS
+	BroadPhaseCollision/shared/b3Aabb.h
+)
+
+SET(Bullet3CollisionNarrowPhase_HDRS
+	NarrowPhaseCollision/b3Config.h
+	NarrowPhaseCollision/b3Contact4.h
+	NarrowPhaseCollision/b3ConvexUtility.h
+	NarrowPhaseCollision/b3CpuNarrowPhase.h
+	NarrowPhaseCollision/b3RaycastInfo.h
+	NarrowPhaseCollision/b3RigidBodyCL.h
+)
+SET(Bullet3CollisionNarrowPhaseShared_HDRS
+
+	NarrowPhaseCollision/shared/b3BvhSubtreeInfoData.h
+	NarrowPhaseCollision/shared/b3BvhTraversal.h
+	NarrowPhaseCollision/shared/b3ClipFaces.h
+	NarrowPhaseCollision/shared/b3Collidable.h
+	NarrowPhaseCollision/shared/b3Contact4Data.h
+	NarrowPhaseCollision/shared/b3ContactConvexConvexSAT.h
+	NarrowPhaseCollision/shared/b3ContactSphereSphere.h
+	NarrowPhaseCollision/shared/b3ConvexPolyhedronData.h
+	NarrowPhaseCollision/shared/b3FindConcaveSatAxis.h
+	NarrowPhaseCollision/shared/b3FindSeparatingAxis.h
+	NarrowPhaseCollision/shared/b3MprPenetration.h
+	NarrowPhaseCollision/shared/b3NewContactReduction.h
+	NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h
+	NarrowPhaseCollision/shared/b3ReduceContacts.h
+	NarrowPhaseCollision/shared/b3RigidBodyData.h
+	NarrowPhaseCollision/shared/b3UpdateAabbs.h
+)
+
+SET(Bullet3Collision_HDRS
+	${Bullet3CollisionBroadPhase_HDRS}
+	${Bullet3CollisionBroadPhaseShared_HDRS}
+	${Bullet3CollisionNarrowPhaseShared_HDRS}
+	${Bullet3CollisionNarrowPhase_HDRS}
+)
+
+ADD_LIBRARY(Bullet3Collision ${Bullet3Collision_SRCS} ${Bullet3Collision_HDRS})
+SET_TARGET_PROPERTIES(Bullet3Collision PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(Bullet3Collision PROPERTIES SOVERSION ${BULLET_VERSION})
+
+IF (INSTALL_LIBS)
+	IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+		#FILES_MATCHING requires CMake 2.6
+		IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+			IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+				INSTALL(TARGETS Bullet3Collision DESTINATION .)
+			ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+				INSTALL(TARGETS Bullet3Collision 
+					RUNTIME DESTINATION bin
+					LIBRARY DESTINATION lib${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}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+
+		IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+			SET_TARGET_PROPERTIES(Bullet3Collision PROPERTIES FRAMEWORK true)
+			SET_TARGET_PROPERTIES(Bullet3Collision PROPERTIES PUBLIC_HEADER "${Bullet3Collision_HDRS}")
+			# Have to list out sub-directories manually:
+			#todo
+			#SET_PROPERTY(SOURCE ${Bullet3CollisionBroadPhase_HDRS} PROPERTY MACOSX_PACKAGE_LOCATION Headers/BroadPhaseCollision)
+
+		ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+	ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+ENDIF (INSTALL_LIBS)

src/Bullet3Common/CMakeLists.txt

@@ -0,0 +1,63 @@
+
+INCLUDE_DIRECTORIES(
+	${BULLET_PHYSICS_SOURCE_DIR}/src
+)
+
+SET(Bullet3Common_SRCS
+	b3AlignedAllocator.cpp
+	b3Vector3.cpp
+	b3Logging.cpp
+)
+
+SET(Bullet3Common_HDRS
+	b3AlignedAllocator.h
+	b3AlignedObjectArray.h
+	b3CommandLineArgs.h
+	b3HashMap.h
+	b3Logging.h
+	b3Matrix3x3.h
+	b3MinMax.h
+	b3PoolAllocator.h
+	b3QuadWord.h
+	b3Quaternion.h
+	b3Random.h
+	b3Scalar.h
+	b3StackAlloc.h
+	b3Transform.h
+	b3TransformUtil.h
+	b3Vector3.h
+	shared/b3Float4
+	shared/b3Int2.h
+	shared/b3Int4.h
+	shared/b3Mat3x3.h
+	shared/b3PlatformDefinitions
+	shared/b3Quat.h
+)
+
+ADD_LIBRARY(Bullet3Common ${Bullet3Common_SRCS} ${Bullet3Common_HDRS})
+SET_TARGET_PROPERTIES(Bullet3Common PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(Bullet3Common PROPERTIES SOVERSION ${BULLET_VERSION})
+
+IF (INSTALL_LIBS)
+	IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+		#FILES_MATCHING requires CMake 2.6
+		IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+			IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+				INSTALL(TARGETS Bullet3Common DESTINATION .)
+			ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+				INSTALL(TARGETS Bullet3Common 
+					RUNTIME DESTINATION bin
+					LIBRARY DESTINATION lib${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}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+
+		IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+			SET_TARGET_PROPERTIES(Bullet3Common PROPERTIES FRAMEWORK true)
+			SET_TARGET_PROPERTIES(Bullet3Common PROPERTIES PUBLIC_HEADER "${Bullet3Common_HDRS}")
+		ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+	ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+ENDIF (INSTALL_LIBS)

src/Bullet3Dynamics/CMakeLists.txt

@@ -0,0 +1,58 @@
+
+INCLUDE_DIRECTORIES(
+	${BULLET_PHYSICS_SOURCE_DIR}/src
+)
+
+SET(Bullet3Dynamics_SRCS
+	b3CpuRigidBodyPipeline.cpp
+	ConstraintSolver/b3FixedConstraint.cpp
+	ConstraintSolver/b3Generic6DofConstraint.cpp
+	ConstraintSolver/b3PgsJacobiSolver.cpp
+	ConstraintSolver/b3Point2PointConstraint.cpp
+	ConstraintSolver/b3TypedConstraint.cpp
+)
+
+SET(Bullet3Dynamics_HDRS
+	  b3CpuRigidBodyPipeline.h
+    ConstraintSolver/b3ContactSolverInfo.h
+    ConstraintSolver/b3FixedConstraint.h
+    ConstraintSolver/b3Generic6DofConstraint.h
+    ConstraintSolver/b3JacobianEntry.h
+    ConstraintSolver/b3PgsJacobiSolver.h
+    ConstraintSolver/b3Point2PointConstraint.h
+    ConstraintSolver/b3SolverBody.h
+    ConstraintSolver/b3SolverConstraint.h
+    ConstraintSolver/b3TypedConstraint.h
+    shared/b3ContactConstraint4.h
+    shared/b3ConvertConstraint4.h
+    shared/b3Inertia.h
+    shared/b3IntegrateTransforms.h
+)
+
+ADD_LIBRARY(Bullet3Dynamics ${Bullet3Dynamics_SRCS} ${Bullet3Dynamics_HDRS})
+SET_TARGET_PROPERTIES(Bullet3Dynamics PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(Bullet3Dynamics PROPERTIES SOVERSION ${BULLET_VERSION})
+
+IF (INSTALL_LIBS)
+	IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+		#FILES_MATCHING requires CMake 2.6
+		IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+			IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+				INSTALL(TARGETS Bullet3Dynamics DESTINATION .)
+			ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+				INSTALL(TARGETS Bullet3Dynamics 
+					RUNTIME DESTINATION bin
+					LIBRARY DESTINATION lib${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}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+
+		IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+			SET_TARGET_PROPERTIES(Bullet3Dynamics PROPERTIES FRAMEWORK true)
+			SET_TARGET_PROPERTIES(Bullet3Dynamics PROPERTIES PUBLIC_HEADER "${Bullet3Dynamics_HDRS}")
+		ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+	ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+ENDIF (INSTALL_LIBS)

src/Bullet3Geometry/CMakeLists.txt

@@ -0,0 +1,44 @@
+
+INCLUDE_DIRECTORIES(
+	${BULLET_PHYSICS_SOURCE_DIR}/src
+)
+
+SET(Bullet3Geometry_SRCS
+	b3ConvexHullComputer.cpp
+	b3GeometryUtil.cpp
+)
+
+SET(Bullet3Geometry_HDRS
+	b3AabbUtil.h
+	b3ConvexHullComputer.h
+	b3GeometryUtil.h
+	b3GrahamScan2dConvexHull.h
+)
+
+ADD_LIBRARY(Bullet3Geometry ${Bullet3Geometry_SRCS} ${Bullet3Geometry_HDRS})
+SET_TARGET_PROPERTIES(Bullet3Geometry PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(Bullet3Geometry PROPERTIES SOVERSION ${BULLET_VERSION})
+
+IF (INSTALL_LIBS)
+	IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+		#FILES_MATCHING requires CMake 2.6
+		IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+			IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+				INSTALL(TARGETS Bullet3Geometry DESTINATION .)
+			ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+				INSTALL(TARGETS Bullet3Geometry 
+					RUNTIME DESTINATION bin
+					LIBRARY DESTINATION lib${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}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+
+		IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+			SET_TARGET_PROPERTIES(Bullet3Geometry PROPERTIES FRAMEWORK true)
+			SET_TARGET_PROPERTIES(Bullet3Geometry PROPERTIES PUBLIC_HEADER "${Bullet3Geometry_HDRS}")
+		ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+	ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+ENDIF (INSTALL_LIBS)

src/BulletDynamics/Featherstone/btMultiBody.cpp

@@ -100,6 +100,7 @@ btMultiBody::btMultiBody(int n_links,
 		m_angularDamping(0.04f),
 		m_useGyroTerm(true),
 		m_maxAppliedImpulse(1000.f),
+		m_maxCoordinateVelocity(100.f),
 		m_hasSelfCollision(true),		
 		m_dofCount(0),
 		__posUpdated(false),		
@@ -2410,12 +2411,24 @@ void btMultiBody::calcAccelerationDeltas(const btScalar *force, btScalar *output
 	output[4] = vdot_out[1];
 	output[5] = vdot_out[2];
 
+
 	/////////////////
-	//printf("delta = [");
+	/*
-	//for(int dof = 0; dof < getNumLinks() + 6; ++dof)
+	int ndof = getNumLinks() + 6;
-	//	printf("%.2f ", output[dof]);
+	printf("test force(impulse) (%d) = [\n",ndof);
-	//printf("]\n");
+
+	for (int i=0;i<ndof;i++)
+	{
+			printf("%.2f ", force[i]);
+		printf("]\n");
+	}
+	
+	printf("delta(%d) = [",ndof);
+	for(int dof = 0; dof < getNumLinks() + 6; ++dof)
+		printf("%.2f ", output[dof]);
+	printf("]\n");
 	/////////////////
+*/
 
 	int dummy = 0;
 }
@@ -2747,16 +2760,25 @@ void btMultiBody::fillContactJacobian(int link,
     n_local[0] = rot_from_world[0] * normal;
     
     // omega coeffients first.
-    btVector3 omega_coeffs;
+	if (this->m_fixedBase)
-    omega_coeffs = p_minus_com_world.cross(normal);
+	{
-	jac[0] = omega_coeffs[0];
+		for (int i=0;i<6;i++)
-	jac[1] = omega_coeffs[1];
+		{
-	jac[2] = omega_coeffs[2];
+			jac[i]=0;
-    // then v coefficients
+		}
-    jac[3] = normal[0];
+	} else
-    jac[4] = normal[1];
+	{
-    jac[5] = normal[2];
+		    btVector3 omega_coeffs;
 
+		omega_coeffs = p_minus_com_world.cross(normal);
+		jac[0] = omega_coeffs[0];
+		jac[1] = omega_coeffs[1];
+		jac[2] = omega_coeffs[2];
+		// then v coefficients
+		jac[3] = normal[0];
+		jac[4] = normal[1];
+		jac[5] = normal[2];
+	}
     // Set remaining jac values to zero for now.
     for (int i = 6; i < 6 + num_links; ++i) {
         jac[i] = 0;

src/BulletDynamics/Featherstone/btMultiBody.h

@@ -342,6 +342,7 @@ public:
 		{
 			sum += delta_vee[i]*multiplier*delta_vee[i]*multiplier;
 			m_realBuf[i] += delta_vee[i] * multiplier;
+			btClamp(m_realBuf[i],-m_maxCoordinateVelocity,m_maxCoordinateVelocity);
 		}
     }
 
@@ -366,6 +367,7 @@ public:
 		for (int dof = 0; dof < 6 + getNumDofs(); ++dof)
 		{
 			m_realBuf[dof] += delta_vee[dof] * multiplier;
+			btClamp(m_realBuf[dof],-m_maxCoordinateVelocity,m_maxCoordinateVelocity);
 		}
     }
 
@@ -473,6 +475,15 @@ public:
 	{
 		m_useGyroTerm = useGyro;
 	}
+	btScalar	getMaxCoordinateVelocity() const
+	{
+		return m_maxCoordinateVelocity ;
+	}
+	void	setMaxCoordinateVelocity(btScalar maxVel)
+	{
+		m_maxCoordinateVelocity = maxVel;
+	}
+
 	btScalar	getMaxAppliedImpulse() const
 	{
 		return m_maxAppliedImpulse;
@@ -481,7 +492,6 @@ public:
 	{
 		m_maxAppliedImpulse = maxImp;
 	}
-
 	void	setHasSelfCollision(bool hasSelfCollision)
 	{
 		m_hasSelfCollision = hasSelfCollision;
@@ -582,6 +592,7 @@ private:
 	btScalar	m_angularDamping;
 	bool	m_useGyroTerm;
 	btScalar	m_maxAppliedImpulse;
+	btScalar	m_maxCoordinateVelocity;
 	bool		m_hasSelfCollision;
 	bool		m_isMultiDof;
 };

src/CMakeLists.txt

@@ -1,4 +1,4 @@
-SUBDIRS(  BulletSoftBody BulletCollision BulletDynamics LinearMath )
+SUBDIRS(  Bullet3Dynamics Bullet3Collision Bullet3Geometry Bullet3Common BulletSoftBody BulletCollision BulletDynamics LinearMath )
 
 IF(BUILD_MULTITHREADING)
 	SUBDIRS(MiniCL BulletMultiThreaded)