f02dd51597
The original version was written by Stephen Thompson. I replaced Eigen math by Bullet LinearMath, and added a dedicated 6x6 matrix solver. Also I integrated support for collisions/contact constraints between btMultiBody and btRigidBody, and de-activation support. See Demos/FeatherstoneMultiBodyDemo/Win32FeatherstoneMultiBodyDemo.cpp for example usage. There is currently only support for contact constraints for btMultiBody. Next on the list will be adding support for joint limit constraint for btMultiBody. The implementation is still experimental/untested, the quality will improve in upcoming Bullet releases.
87 lines
2.6 KiB
CMake
87 lines
2.6 KiB
CMake
# This is basically the overall name of the project in Visual Studio this is the name of the Solution File
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# For every executable you have with a main method you should have an add_executable line below.
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# For every add executable line you should list every .cpp and .h file you have associated with that executable.
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# This is the variable for Windows. I use this to define the root of my directory structure.
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SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
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# You shouldn't have to modify anything below this line
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########################################################
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INCLUDE_DIRECTORIES(
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${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
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)
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IF (USE_GLUT)
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LINK_LIBRARIES(
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OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
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)
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IF (WIN32)
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ADD_EXECUTABLE(AppFeatherstoneMultiBodyDemo
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main.cpp
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FeatherstoneMultiBodyDemo.cpp
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FeatherstoneMultiBodyDemo.h
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${BULLET_PHYSICS_SOURCE_DIR}/build/bullet.rc
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)
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ELSE()
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ADD_EXECUTABLE(AppFeatherstoneMultiBodyDemo
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main.cpp
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FeatherstoneMultiBodyDemo.cpp
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FeatherstoneMultiBodyDemo.h
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)
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ENDIF()
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IF (WIN32)
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IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
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IF (CMAKE_CL_64)
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ADD_CUSTOM_COMMAND(
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TARGET AppFeatherstoneMultiBodyDemo
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POST_BUILD
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
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)
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ELSE(CMAKE_CL_64)
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ADD_CUSTOM_COMMAND(
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TARGET AppFeatherstoneMultiBodyDemo
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POST_BUILD
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# COMMAND copy /Y ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
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COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
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)
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ENDIF(CMAKE_CL_64)
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ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
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ENDIF(WIN32)
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ELSE (USE_GLUT)
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LINK_LIBRARIES(
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OpenGLSupport BulletDynamics BulletCollision LinearMath ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
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)
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ADD_EXECUTABLE(AppFeatherstoneMultiBodyDemo
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WIN32
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../OpenGL/Win32AppMain.cpp
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Win32FeatherstoneMultiBodyDemo.cpp
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FeatherstoneMultiBodyDemo.cpp
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FeatherstoneMultiBodyDemo.h
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${BULLET_PHYSICS_SOURCE_DIR}/build/bullet.rc
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)
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ENDIF (USE_GLUT)
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IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
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SET_TARGET_PROPERTIES(AppBasicDemo PROPERTIES DEBUG_POSTFIX "_Debug")
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SET_TARGET_PROPERTIES(AppBasicDemo PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
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SET_TARGET_PROPERTIES(AppBasicDemo PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
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ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES) |