7aba1f9e8a
In the btBlockSolver we are experimenting with, we have SI for both multibody and rigid body. I'm currently replacing rigid body SI solver with two smaller SI solvers. The two examples provided by RigidBodyBoxes.h should have the same behavior.
411 lines
15 KiB
CMake
411 lines
15 KiB
CMake
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INCLUDE_DIRECTORIES(
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.
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${BULLET_PHYSICS_SOURCE_DIR}/src
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${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
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)
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FILE(GLOB GwenGUISupport_SRCS "GwenGUISupport/*" )
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FILE(GLOB GwenGUISupport_HDRS "GwenGUISupport/*" )
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IF (WIN32)
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INCLUDE_DIRECTORIES(
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${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/glad
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)
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ADD_DEFINITIONS(-DGLEW_STATIC)
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ELSE(WIN32)
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IF(APPLE)
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find_library(COCOA NAMES Cocoa)
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ELSE(APPLE)
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ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
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ADD_DEFINITIONS("-DGLEW_STATIC")
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ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
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INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/glad )
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ENDIF(APPLE)
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ENDIF(WIN32)
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ADD_LIBRARY(BulletExampleBrowserLib
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OpenGLExampleBrowser.cpp
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OpenGLGuiHelper.cpp
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GL_ShapeDrawer.cpp
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CollisionShape2TriangleMesh.cpp
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CollisionShape2TriangleMesh.h
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../Utils/b3Clock.cpp
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../Utils/b3Clock.h
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../Utils/ChromeTraceUtil.cpp
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../Utils/ChromeTraceUtil.h
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../Utils/b3ResourcePath.cpp
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../Utils/b3ResourcePath.h
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../Utils/b3ERPCFMHelper.hpp
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../Utils/b3ReferenceFrameHelper.hpp
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${GwenGUISupport_SRCS}
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${GwenGUISupport_HDRS}
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)
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SET_TARGET_PROPERTIES(BulletExampleBrowserLib PROPERTIES VERSION ${BULLET_VERSION})
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SET_TARGET_PROPERTIES(BulletExampleBrowserLib PROPERTIES SOVERSION ${BULLET_VERSION})
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IF (BUILD_SHARED_LIBS)
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IF (WIN32)
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TARGET_LINK_LIBRARIES(
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BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
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BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK
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${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
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)
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ELSE(WIN32)
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IF(APPLE)
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TARGET_LINK_LIBRARIES(
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BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
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BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK
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${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
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)
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ELSE(APPLE)
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TARGET_LINK_LIBRARIES(
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BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
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BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK
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pthread ${DL}
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)
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ENDIF(APPLE)
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ENDIF(WIN32)
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ENDIF(BUILD_SHARED_LIBS)
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INSTALL(TARGETS BulletExampleBrowserLib
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RUNTIME DESTINATION bin
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LIBRARY DESTINATION lib${LIB_SUFFIX}
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ARCHIVE DESTINATION lib${LIB_SUFFIX})
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####################
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#
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# Bullet Example Browser main app
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#
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####################
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INCLUDE_DIRECTORIES(
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.
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${BULLET_PHYSICS_SOURCE_DIR}/src
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${BULLET_PHYSICS_SOURCE_DIR}/examples/SharedMemory
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${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
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)
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LINK_LIBRARIES(
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BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK
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)
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IF (WIN32)
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INCLUDE_DIRECTORIES(
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${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/glad
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)
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LINK_LIBRARIES(
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${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
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)
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ADD_DEFINITIONS(-DGLEW_STATIC)
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ELSE(WIN32)
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IF(APPLE)
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find_library(COCOA NAMES Cocoa)
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MESSAGE(${COCOA})
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link_libraries(${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
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INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/glad )
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ELSE(APPLE)
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ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
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ADD_DEFINITIONS("-DGLEW_STATIC")
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ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
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INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/glad )
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LINK_LIBRARIES( pthread ${DL})
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ENDIF(APPLE)
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ENDIF(WIN32)
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SET(ExtendedTutorialsSources
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../ExtendedTutorials/Chain.cpp
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../ExtendedTutorials/Chain.h
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../ExtendedTutorials/Bridge.cpp
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../ExtendedTutorials/Bridge.h
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../ExtendedTutorials/RigidBodyFromObj.cpp
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../ExtendedTutorials/RigidBodyFromObj.h
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../ExtendedTutorials/SimpleBox.cpp
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../ExtendedTutorials/SimpleBox.h
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../ExtendedTutorials/MultipleBoxes.cpp
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../ExtendedTutorials/MultipleBoxes.h
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../ExtendedTutorials/CompoundBoxes.cpp
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../ExtendedTutorials/CompoundBoxes.h
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../ExtendedTutorials/SimpleCloth.cpp
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../ExtendedTutorials/SimpleCloth.h
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../ExtendedTutorials/SimpleJoint.cpp
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../ExtendedTutorials/SimpleJoint.h
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../ExtendedTutorials/NewtonsCradle.cpp
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../ExtendedTutorials/NewtonsCradle.h
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../ExtendedTutorials/InclinedPlane.cpp
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../ExtendedTutorials/InclinedPlane.h
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../ExtendedTutorials/MultiPendulum.cpp
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../ExtendedTutorials/MultiPendulum.h
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)
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SET(BulletExampleBrowser_SRCS
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../BulletRobotics/FixJointBoxes.cpp
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../BulletRobotics/BoxStack.cpp
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../BulletRobotics/JointLimit.cpp
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# ../BulletRobotics/GraspBox.cpp
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../TinyRenderer/geometry.cpp
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../TinyRenderer/model.cpp
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../TinyRenderer/tgaimage.cpp
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../TinyRenderer/our_gl.cpp
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../TinyRenderer/TinyRenderer.cpp
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../SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
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../SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.h
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../SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
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../SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
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../SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
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../SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
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../SharedMemory/IKTrajectoryHelper.cpp
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../SharedMemory/IKTrajectoryHelper.h
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../SharedMemory/PhysicsServer.cpp
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../SharedMemory/PhysicsClientSharedMemory.cpp
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../SharedMemory/PhysicsClientSharedMemory_C_API.cpp
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../SharedMemory/PhysicsClient.cpp
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../SharedMemory/PhysicsClientC_API.cpp
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../SharedMemory/PhysicsServerExample.cpp
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../SharedMemory/PhysicsServerExampleBullet2.cpp
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../SharedMemory/PhysicsClientExample.cpp
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../SharedMemory/PosixSharedMemory.cpp
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../SharedMemory/Win32SharedMemory.cpp
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../SharedMemory/InProcessMemory.cpp
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../SharedMemory/PhysicsServerSharedMemory.cpp
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../SharedMemory/PhysicsDirect.cpp
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../SharedMemory/PhysicsDirect.h
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../SharedMemory/PhysicsDirectC_API.cpp
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../SharedMemory/PhysicsDirectC_API.h
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../SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
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../SharedMemory/PhysicsLoopBack.cpp
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../SharedMemory/PhysicsLoopBack.h
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../SharedMemory/PhysicsLoopBackC_API.cpp
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../SharedMemory/PhysicsLoopBackC_API.h
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../SharedMemory/PhysicsServerCommandProcessor.cpp
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../SharedMemory/PhysicsServerCommandProcessor.h
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../SharedMemory/SharedMemoryCommands.h
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../SharedMemory/SharedMemoryPublic.h
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../SharedMemory/b3PluginManager.cpp
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../SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp
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../SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h
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../SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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../SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
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../RobotSimulator/b3RobotSimulatorClientAPI.cpp
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../RobotSimulator/b3RobotSimulatorClientAPI.h
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../BasicDemo/BasicExample.cpp
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../BasicDemo/BasicExample.h
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../InverseDynamics/InverseDynamicsExample.cpp
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../InverseDynamics/InverseDynamicsExample.h
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../InverseKinematics/InverseKinematicsExample.cpp
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../InverseKinematics/InverseKinematicsExample.h
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../ForkLift/ForkLiftDemo.cpp
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../ForkLift/ForkLiftDemo.h
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../MultiThreadedDemo/MultiThreadedDemo.cpp
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../MultiThreadedDemo/MultiThreadedDemo.h
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../MultiThreadedDemo/CommonRigidBodyMTBase.cpp
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../MultiThreadedDemo/CommonRigidBodyMTBase.h
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../BlockSolver/btBlockSolver.cpp
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../BlockSolver/btBlockSolver.h
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../BlockSolver/BlockSolverExample.cpp
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../BlockSolver/BlockSolverExample.h
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../BlockSolver/RigidBodyBoxes.cpp
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../BlockSolver/RigidBodyBoxes.h
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../Tutorial/Tutorial.cpp
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../Tutorial/Tutorial.h
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../Tutorial/Dof6ConstraintTutorial.cpp
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../Tutorial/Dof6ConstraintTutorial.h
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../Evolution/NN3DWalkers.cpp
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../Evolution/NN3DWalkers.h
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../Evolution/NN3DWalkersTimeWarpBase.h
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../ExtendedTutorials/NewtonsRopeCradle.cpp
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../ExtendedTutorials/NewtonsRopeCradle.h
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../Collision/CollisionSdkC_Api.cpp
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../Collision/CollisionSdkC_Api.h
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../Collision/CollisionTutorialBullet2.cpp
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../Collision/CollisionTutorialBullet2.h
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../Collision/Internal/Bullet2CollisionSdk.cpp
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../Collision/Internal/Bullet2CollisionSdk.h
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../Collision/Internal/CollisionSdkInterface.h
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../Collision/Internal/RealTimeBullet3CollisionSdk.cpp
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../Collision/Internal/RealTimeBullet3CollisionSdk.h
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../GyroscopicDemo/GyroscopicSetup.cpp
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../GyroscopicDemo/GyroscopicSetup.h
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../Planar2D/Planar2D.cpp
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../Planar2D/Planar2D.h
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../RollingFrictionDemo/RollingFrictionDemo.cpp
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../RollingFrictionDemo/RollingFrictionDemo.h
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../FractureDemo/FractureDemo.cpp
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../FractureDemo/btFractureBody.cpp
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../FractureDemo/btFractureDynamicsWorld.cpp
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../FractureDemo/FractureDemo.h
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../FractureDemo/btFractureBody.h
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../FractureDemo/btFractureDynamicsWorld.h
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../DynamicControlDemo/MotorDemo.cpp
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../DynamicControlDemo/MotorDemo.h
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../MultiThreading/MultiThreadingExample.cpp
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../MultiThreading/b3PosixThreadSupport.cpp
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../MultiThreading/b3Win32ThreadSupport.cpp
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../MultiThreading/b3ThreadSupportInterface.cpp
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../RenderingExamples/TinyRendererSetup.cpp
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../RenderingExamples/TimeSeriesCanvas.cpp
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../RenderingExamples/TimeSeriesCanvas.h
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../RenderingExamples/TimeSeriesFontData.cpp
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../RenderingExamples/TimeSeriesFontData.h
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../RenderingExamples/DynamicTexturedCubeDemo.cpp
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../RenderingExamples/DynamicTexturedCubeDemo.h
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../RenderingExamples/TinyVRGui.cpp
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../RenderingExamples/TinyVRGui.h
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../RoboticsLearning/GripperGraspExample.cpp
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../RoboticsLearning/GripperGraspExample.h
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../RoboticsLearning/R2D2GraspExample.cpp
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../RoboticsLearning/R2D2GraspExample.h
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../RoboticsLearning/KukaGraspExample.cpp
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../RoboticsLearning/KukaGraspExample.h
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../RenderingExamples/CoordinateSystemDemo.cpp
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../RenderingExamples/CoordinateSystemDemo.h
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../RenderingExamples/RaytracerSetup.cpp
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../RenderingExamples/RaytracerSetup.h
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../RenderingExamples/RenderInstancingDemo.cpp
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../RenderingExamples/RenderInstancingDemo.h
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../RenderingExamples/TimeSeriesExample.cpp
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../Benchmarks/BenchmarkDemo.cpp
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../Benchmarks/BenchmarkDemo.h
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../Benchmarks/landscapeData.h
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../Benchmarks/TaruData
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../Raycast/RaytestDemo.cpp
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../Importers/ImportBsp/BspConverter.h
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../Importers/ImportBullet/SerializeSetup.cpp
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../Importers/ImportBullet/SerializeSetup.h
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../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
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../Importers/ImportMeshUtility/b3ImportMeshUtility.h
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../../Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
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../../Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.cpp
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../../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
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../../Extras/Serialize/BulletFileLoader/bChunk.cpp
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../../Extras/Serialize/BulletFileLoader/bFile.cpp
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../../Extras/Serialize/BulletFileLoader/bDNA.cpp
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../../Extras/Serialize/BulletFileLoader/btBulletFile.cpp
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../Importers/ImportBsp/BspLoader.h
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../Importers/ImportBsp/ImportBspExample.h
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../Importers/ImportColladaDemo/btMatrix4x4.h
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../Importers/ImportColladaDemo/ColladaGraphicsInstance.h
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../Importers/ImportColladaDemo/ImportColladaSetup.h
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../Importers/ImportColladaDemo/LoadMeshFromCollada.h
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../Importers/ImportObjDemo/ImportObjExample.h
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../Importers/ImportObjDemo/LoadMeshFromObj.h
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../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h
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../Importers/ImportSTLDemo/ImportSTLSetup.h
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../Importers/ImportSTLDemo/LoadMeshFromSTL.h
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../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h
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../Importers/ImportURDFDemo/ImportURDFSetup.h
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../Importers/ImportURDFDemo/URDF2Bullet.h
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../Importers/ImportURDFDemo/urdf_samples.h
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../Importers/ImportURDFDemo/urdf_samples.h
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../Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
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../Importers/ImportMJCFDemo/BulletMJCFImporter.h
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../Importers/ImportMJCFDemo/ImportMJCFSetup.cpp
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../Importers/ImportMJCFDemo/ImportMJCFSetup.h
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../Importers/ImportBsp/BspConverter.cpp
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../Importers/ImportBsp/BspLoader.cpp
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../Importers/ImportBsp/ImportBspExample.cpp
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../Importers/ImportColladaDemo/ImportColladaSetup.cpp
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../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
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../Importers/ImportObjDemo/ImportObjExample.cpp
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../Importers/ImportObjDemo/LoadMeshFromObj.cpp
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../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
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../Importers/ImportSTLDemo/ImportSTLSetup.cpp
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../Importers/ImportSDFDemo/ImportSDFSetup.cpp
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../Importers/ImportURDFDemo/ImportURDFSetup.cpp
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../Importers/ImportURDFDemo/URDF2Bullet.cpp
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../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
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../Importers/ImportURDFDemo/MyMultiBodyCreator.h
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../Importers/ImportURDFDemo/UrdfParser.cpp
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../Utils/RobotLoggingUtil.cpp
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../Utils/RobotLoggingUtil.h
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../Importers/ImportURDFDemo/urdfStringSplit.cpp
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../Importers/ImportURDFDemo/urdfStringSplit.h
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../Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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../Importers/ImportURDFDemo/BulletUrdfImporter.h
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../VoronoiFracture/VoronoiFractureDemo.cpp
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../VoronoiFracture/VoronoiFractureDemo.h
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../VoronoiFracture/btConvexConvexMprAlgorithm.cpp
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../VoronoiFracture/btConvexConvexMprAlgorithm.h
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../Vehicles/Hinge2Vehicle.cpp
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../Vehicles/Hinge2Vehicle.h
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../MultiBody/Pendulum.cpp
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../MultiBody/MultiBodySoftContact.cpp
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../MultiBody/TestJointTorqueSetup.cpp
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../MultiBody/TestJointTorqueSetup.h
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../MultiBody/InvertedPendulumPDControl.cpp
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../MultiBody/InvertedPendulumPDControl.h
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../MultiBody/MultiBodyConstraintFeedback.cpp
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../MultiBody/MultiDofDemo.cpp
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../MultiBody/MultiDofDemo.h
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../RigidBody/RigidBodySoftContact.cpp
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../Constraints/TestHingeTorque.cpp
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../Constraints/TestHingeTorque.h
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../Constraints/ConstraintDemo.cpp
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../Constraints/ConstraintDemo.h
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../Constraints/Dof6Spring2Setup.cpp
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../Constraints/Dof6Spring2Setup.h
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../Constraints/ConstraintPhysicsSetup.cpp
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../Constraints/ConstraintPhysicsSetup.h
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../ThirdPartyLibs/stb_image/stb_image.cpp
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../ThirdPartyLibs/stb_image/stb_image.h
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../ThirdPartyLibs/stb_image/stb_image_write.cpp
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../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
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../ThirdPartyLibs/tinyxml2/tinyxml2.cpp
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InProcessExampleBrowser.cpp
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${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
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)
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ADD_EXECUTABLE(App_ExampleBrowser
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main.cpp
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ExampleEntries.cpp
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ExampleEntries.h
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${ExtendedTutorialsSources}
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${BulletExampleBrowser_SRCS}
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)
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FILE( MAKE_DIRECTORY "${PROJECT_BINARY_DIR}/data" )
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ADD_CUSTOM_COMMAND(
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TARGET App_ExampleBrowser
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POST_BUILD
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_directory ${BULLET_PHYSICS_SOURCE_DIR}/data ${PROJECT_BINARY_DIR}/data
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)
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IF (BULLET2_USE_TBB_MULTITHREADING AND WIN32)
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# add a post build command to copy some dlls to the executable directory
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set(TBB_VC_VER "vc12")
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set(TBB_VC_ARCH "ia32")
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# assume 32-bit build in VC12 for now
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# checks can be added here at a later time
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ADD_CUSTOM_COMMAND(TARGET App_ExampleBrowser POST_BUILD
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COMMAND ${CMAKE_COMMAND} -E copy_if_different
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"${BULLET2_TBB_INCLUDE_DIR}/../bin/${TBB_VC_ARCH}/${TBB_VC_VER}/tbb.dll"
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$<TARGET_FILE_DIR:App_ExampleBrowser>)
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ADD_CUSTOM_COMMAND(TARGET App_ExampleBrowser POST_BUILD
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COMMAND ${CMAKE_COMMAND} -E copy_if_different
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"${BULLET2_TBB_INCLUDE_DIR}/../bin/${TBB_VC_ARCH}/${TBB_VC_VER}/tbbmalloc.dll"
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$<TARGET_FILE_DIR:App_ExampleBrowser>)
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ENDIF (BULLET2_USE_TBB_MULTITHREADING AND WIN32)
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IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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SET_TARGET_PROPERTIES(App_ExampleBrowser PROPERTIES DEBUG_POSTFIX "_Debug")
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SET_TARGET_PROPERTIES(App_ExampleBrowser PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
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SET_TARGET_PROPERTIES(App_ExampleBrowser PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
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ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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