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make GLUT optional in cmake

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fix for btMultiBody to avoid extreme energy gain
This commit is contained in:
Erwin Coumans
2014-03-17 23:58:03 -07:00
parent 9f92232640
commit cfb06f9cd3
51 changed files with 464 additions and 27 deletions
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23
CMakeLists.txt
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@@ -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)

2
Demos3/AllBullet2Demos/BulletDemoEntries.h
View File

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

1
Demos3/CMakeLists.txt Normal file
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@@ -0,0 +1 @@
SUBDIRS( SimpleOpenGL3 )

41
Demos3/SimpleOpenGL3/CMakeLists.txt Normal file
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@@ -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)

3
Demos3/SimpleOpenGL3/premake4.lua
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@@ -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

1
ObsoleteDemos/BasicDemo/CMakeLists.txt
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@@ -13,6 +13,7 @@ SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src ../OpenGL
${GLUT_INCLUDE_DIR}
)

1
ObsoleteDemos/Benchmarks/CMakeLists.txt
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@@ -13,6 +13,7 @@ IF (USE_GLUT)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
${GLUT_INCLUDE_DIR}
)
IF (USE_MULTITHREADED_BENCHMARK)

1
ObsoleteDemos/Box2dDemo/CMakeLists.txt
View File

@@ -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}
)

2
ObsoleteDemos/BspDemo/CMakeLists.txt
View File

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

1
ObsoleteDemos/CcdPhysicsDemo/CMakeLists.txt
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@@ -14,6 +14,7 @@
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
${GLUT_INCLUDE_DIR}
)
LINK_LIBRARIES(

1
ObsoleteDemos/CharacterDemo/CMakeLists.txt
View File

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

1
ObsoleteDemos/CollisionDemo/CMakeLists.txt
View File

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

1
ObsoleteDemos/CollisionInterfaceDemo/CMakeLists.txt
View File

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

1
ObsoleteDemos/ConcaveConvexcastDemo/CMakeLists.txt
View File

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

1
ObsoleteDemos/ConcaveRaycastDemo/CMakeLists.txt
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@@ -13,6 +13,7 @@
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
${GLUT_INCLUDE_DIR}
)
LINK_LIBRARIES(

1
ObsoleteDemos/ContinuousConvexCollision/CMakeLists.txt
View File

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

1
ObsoleteDemos/ConvexHullDistance/CMakeLists.txt
View File

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

1
ObsoleteDemos/DoublePrecisionDemo/CMakeLists.txt
View File

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

1
ObsoleteDemos/DynamicControlDemo/CMakeLists.txt
View File

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

1
ObsoleteDemos/FeatherstoneMultiBodyDemo/CMakeLists.txt
View File

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

7
ObsoleteDemos/FeatherstoneMultiBodyDemo/FeatherstoneMultiBodyDemo.cpp
View File

@@ -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;

1
ObsoleteDemos/ForkLiftDemo/CMakeLists.txt
View File

@@ -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(

1
ObsoleteDemos/FractureDemo/CMakeLists.txt
View File

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

1
ObsoleteDemos/GenericJointDemo/CMakeLists.txt
View File

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

1
ObsoleteDemos/GjkConvexCastDemo/CMakeLists.txt
View File

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

1
ObsoleteDemos/GyroscopicDemo/CMakeLists.txt
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@@ -14,6 +14,7 @@
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
${GLUT_INCLUDE_DIR}
)

1
ObsoleteDemos/InternalEdgeDemo/CMakeLists.txt
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@@ -13,6 +13,7 @@ IF (USE_GLUT)
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
${GLUT_INCLUDE_DIR}
)
LINK_LIBRARIES(

1
ObsoleteDemos/MovingConcaveDemo/CMakeLists.txt
View File

@@ -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(

1
ObsoleteDemos/MultiMaterialDemo/CMakeLists.txt
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@@ -13,6 +13,7 @@
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
../OpenGL
${GLUT_INCLUDE_DIR}
)
LINK_LIBRARIES(

1
ObsoleteDemos/OpenGL/CMakeLists.txt
View File

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

1
ObsoleteDemos/RagdollDemo/CMakeLists.txt
View File

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

1
ObsoleteDemos/RaytestDemo/CMakeLists.txt
View File

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

1
ObsoleteDemos/Raytracer/CMakeLists.txt
View File

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

1
ObsoleteDemos/RollingFrictionDemo/CMakeLists.txt
View File

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

1
ObsoleteDemos/SimplexDemo/CMakeLists.txt
View File

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

1
ObsoleteDemos/SliderConstraintDemo/CMakeLists.txt
View File

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

1
ObsoleteDemos/SoftDemo/CMakeLists.txt
View File

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

1
ObsoleteDemos/UserCollisionAlgorithm/CMakeLists.txt
View File

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

1
ObsoleteDemos/VehicleDemo/CMakeLists.txt
View File

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

1
ObsoleteDemos/VoronoiFractureDemo/CMakeLists.txt
View File

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

1
btgui/CMakeLists.txt Normal file
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@@ -0,0 +1 @@
SUBDIRS( gwen OpenGLWindow )

13
btgui/Gwen/CMakeLists.txt Normal file
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@@ -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})

41
btgui/OpenGLWindow/CMakeLists.txt Normal file
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@@ -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})

2
btgui/OpenGLWindow/GlewWindows/GL/glew.h
View File

@@ -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

90
src/Bullet3Collision/CMakeLists.txt Normal file
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@@ -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)

63
src/Bullet3Common/CMakeLists.txt Normal file
View File

@@ -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)

58
src/Bullet3Dynamics/CMakeLists.txt Normal file
View File

@@ -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)

44
src/Bullet3Geometry/CMakeLists.txt Normal file
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@@ -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)

48
src/BulletDynamics/Featherstone/btMultiBody.cpp
View File

@@ -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)
// printf("%.2f ", output[dof]);
//printf("]\n");
/*
int ndof = getNumLinks() + 6;
printf("test force(impulse) (%d) = [\n",ndof);
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;
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];
if (this->m_fixedBase)
{
for (int i=0;i<6;i++)
{
jac[i]=0;
}
} else
{
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;

13
src/BulletDynamics/Featherstone/btMultiBody.h
View File

@@ -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;
};

2
src/CMakeLists.txt
View File

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