Merge pull request #2221 from goretkin/c_api_refactor_build

C api refactor build

4 files changed, 246 insertions, 175 deletions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 68e0a93bc..30934ee8c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -291,8 +291,6 @@ IF (OPENGL_FOUND)
 	MESSAGE(${OPENGL_LIBRARIES})
 ELSE (OPENGL_FOUND)
 	MESSAGE("OPENGL NOT FOUND")
-	SET(OPENGL_gl_LIBRARY opengl32)
-	SET(OPENGL_glu_LIBRARY glu32)
 ENDIF (OPENGL_FOUND)
 
 
@@ -472,6 +470,7 @@ list (APPEND BULLET_LIBRARIES BulletInverseDynamics)
 list (APPEND BULLET_LIBRARIES BulletCollision)
 list (APPEND BULLET_LIBRARIES BulletDynamics)
 list (APPEND BULLET_LIBRARIES BulletSoftBody)
+list (APPEND BULLET_LIBRARIES bullet_c_api)
 set (BULLET_USE_FILE ${BULLET_CONFIG_CMAKE_PATH}/UseBullet.cmake)
 configure_file 	( ${CMAKE_CURRENT_SOURCE_DIR}/BulletConfig.cmake.in
 					${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 1918a9003..09fd3fcef 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -1,6 +1,6 @@
 SUBDIRS( HelloWorld BasicDemo )
 IF(BUILD_BULLET3)
-	SUBDIRS( ExampleBrowser RobotSimulator SharedMemory ThirdPartyLibs/Gwen ThirdPartyLibs/BussIK ThirdPartyLibs/clsocket OpenGLWindow TwoJoint )
+	SUBDIRS( ExampleBrowser RobotSimulator SharedMemory ThirdPartyLibs/Gwen ThirdPartyLibs/BussIK ThirdPartyLibs/clsocket OpenGLWindow TwoJoint c_api)
 ENDIF()
 
 IF(BUILD_PYBULLET)
diff --git a/examples/c_api/CMakeLists.txt b/examples/c_api/CMakeLists.txt
new file mode 100644
index 000000000..b50c3c40d
--- /dev/null
+++ b/examples/c_api/CMakeLists.txt
@@ -0,0 +1,210 @@
+INCLUDE_DIRECTORIES(
+  ${BULLET_PHYSICS_SOURCE_DIR}/src
+  ${BULLET_PHYSICS_SOURCE_DIR}/examples
+  ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
+  ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
+  ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
+)
+
+
+SET(
+  bullet_c_api_SRCS
+  ../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp
+  ../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h
+  ../../examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp
+  ../../examples/SharedMemory/plugins/stablePDPlugin/Shape.h
+  ../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp
+  ../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.h
+  ../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.cpp
+  ../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.h
+  ../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.cpp
+  ../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.h
+  ../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.cpp
+  ../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.h
+  ../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp
+  ../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.h
+  ../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
+  ../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
+  ../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
+  ../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
+  ../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
+  ../../examples/SharedMemory/IKTrajectoryHelper.cpp
+  ../../examples/SharedMemory/IKTrajectoryHelper.h
+  ../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
+  ../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
+  ../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h
+  ../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
+  ../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h
+  ../../examples/OpenGLWindow/SimpleCamera.cpp
+  ../../examples/OpenGLWindow/SimpleCamera.h
+  ../../examples/TinyRenderer/geometry.cpp
+  ../../examples/TinyRenderer/model.cpp
+  ../../examples/TinyRenderer/tgaimage.cpp
+  ../../examples/TinyRenderer/our_gl.cpp
+  ../../examples/TinyRenderer/TinyRenderer.cpp
+  ../../examples/SharedMemory/InProcessMemory.cpp
+  ../../examples/SharedMemory/PhysicsClient.cpp
+  ../../examples/SharedMemory/PhysicsClient.h
+  ../../examples/SharedMemory/PhysicsServer.cpp
+  ../../examples/SharedMemory/PhysicsServer.h
+  ../../examples/SharedMemory/PhysicsServerExample.cpp
+  ../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp
+  ../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
+  ../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
+  ../../examples/SharedMemory/PhysicsServerSharedMemory.h
+  ../../examples/SharedMemory/PhysicsDirect.cpp
+  ../../examples/SharedMemory/PhysicsDirect.h
+  ../../examples/SharedMemory/PhysicsDirectC_API.cpp
+  ../../examples/SharedMemory/PhysicsDirectC_API.h
+  ../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+  ../../examples/SharedMemory/PhysicsServerCommandProcessor.h
+  ../../examples/SharedMemory/b3PluginManager.cpp
+  ../../examples/SharedMemory/b3PluginManager.h
+  ../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
+  ../../examples/SharedMemory/PhysicsClientSharedMemory.h
+  ../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
+  ../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
+  ../../examples/SharedMemory/PhysicsClientC_API.cpp
+  ../../examples/SharedMemory/PhysicsClientC_API.h
+  ../../examples/SharedMemory/Win32SharedMemory.cpp
+  ../../examples/SharedMemory/Win32SharedMemory.h
+  ../../examples/SharedMemory/PosixSharedMemory.cpp
+  ../../examples/SharedMemory/PosixSharedMemory.h
+  ../../examples/Utils/b3ResourcePath.cpp
+  ../../examples/Utils/b3ResourcePath.h
+  ../../examples/Utils/RobotLoggingUtil.cpp
+  ../../examples/Utils/RobotLoggingUtil.h
+  ../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
+  ../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
+  ../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
+  ../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
+  ../../examples/ThirdPartyLibs/stb_image/stb_image_write.cpp
+  ../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
+  ../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
+  ../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
+  ../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+  ../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+  ../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
+  ../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+  ../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
+  ../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
+  ../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
+  ../../examples/MultiThreading/b3PosixThreadSupport.cpp
+  ../../examples/MultiThreading/b3Win32ThreadSupport.cpp
+  ../../examples/MultiThreading/b3ThreadSupportInterface.cpp
+)
+IF(BUILD_PYBULLET_CLSOCKET)
+  ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
+ENDIF(BUILD_PYBULLET_CLSOCKET)
+
+IF(WIN32)
+  IF(BUILD_PYBULLET_ENET)
+    ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
+  ENDIF(BUILD_PYBULLET_ENET)
+  IF(BUILD_PYBULLET_CLSOCKET)
+    ADD_DEFINITIONS(-DWIN32)
+  ENDIF(BUILD_PYBULLET_CLSOCKET)
+
+ELSE(WIN32)
+  IF(BUILD_PYBULLET_ENET)
+    ADD_DEFINITIONS(-DHAS_SOCKLEN_T -DBT_ENABLE_ENET)
+  ENDIF(BUILD_PYBULLET_ENET)
+
+  IF(BUILD_PYBULLET_CLSOCKET)
+    ADD_DEFINITIONS(${OSDEF})
+  ENDIF(BUILD_PYBULLET_CLSOCKET)
+ENDIF(WIN32)
+
+IF(BUILD_PYBULLET_ENET)
+  SET(
+    bullet_c_api_SRCS
+    ${bullet_c_api_SRCS}
+    ../../examples/SharedMemory/PhysicsClientUDP.cpp
+    ../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp
+    ../../examples/SharedMemory/PhysicsClientUDP.h
+    ../../examples/SharedMemory/PhysicsClientUDP_C_API.h
+    ../../examples/ThirdPartyLibs/enet/win32.c
+    ../../examples/ThirdPartyLibs/enet/unix.c
+    ../../examples/ThirdPartyLibs/enet/callbacks.c
+    ../../examples/ThirdPartyLibs/enet/compress.c
+    ../../examples/ThirdPartyLibs/enet/host.c
+    ../../examples/ThirdPartyLibs/enet/list.c
+    ../../examples/ThirdPartyLibs/enet/packet.c
+    ../../examples/ThirdPartyLibs/enet/peer.c
+    ../../examples/ThirdPartyLibs/enet/protocol.c
+  )
+ENDIF(BUILD_PYBULLET_ENET)
+
+IF(BUILD_PYBULLET_CLSOCKET)
+  SET(
+    bullet_c_api_SRCS
+    ${bullet_c_api_SRCS}
+    ../../examples/SharedMemory/PhysicsClientTCP.cpp
+    ../../examples/SharedMemory/PhysicsClientTCP.h
+    ../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp
+    ../../examples/SharedMemory/PhysicsClientTCP_C_API.h
+    ../../examples/ThirdPartyLibs/clsocket/src/SimpleSocket.cpp
+    ../../examples/ThirdPartyLibs/clsocket/src/ActiveSocket.cpp
+    ../../examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp
+  )
+ENDIF()
+
+ADD_LIBRARY(bullet_c_api SHARED ${bullet_c_api_SRCS})
+
+SET_TARGET_PROPERTIES(bullet_c_api PROPERTIES PREFIX "")
+SET_TARGET_PROPERTIES(bullet_c_api PROPERTIES POSTFIX "")
+
+SET_TARGET_PROPERTIES(bullet_c_api PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(bullet_c_api PROPERTIES SOVERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(bullet_c_api PROPERTIES DEBUG_POSTFIX "_d")
+
+IF(WIN32)
+  IF(BUILD_PYBULLET_ENET OR BUILD_PYBULLET_CLSOCKET)
+    TARGET_LINK_LIBRARIES(bullet_c_api ws2_32)
+  ENDIF(BUILD_PYBULLET_ENET OR BUILD_PYBULLET_CLSOCKET)
+ENDIF(WIN32)
+
+
+TARGET_LINK_LIBRARIES(
+  bullet_c_api
+  BulletExampleBrowserLib
+  BulletFileLoader
+  BulletWorldImporter
+  BulletSoftBody
+  BulletDynamics
+  BulletCollision
+  BulletInverseDynamicsUtils
+  BulletInverseDynamics
+  LinearMath
+  OpenGLWindow
+  gwen
+  BussIK
+  Bullet3Common
+)
+
+TARGET_LINK_LIBRARIES(bullet_c_api ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
+
+IF (INSTALL_LIBS)
+	IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+		#INSTALL of other files requires CMake 2.6
+		IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+			IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+				INSTALL(TARGETS bullet_c_api DESTINATION lib)
+			ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+				INSTALL(TARGETS bullet_c_api RUNTIME DESTINATION bin
+								LIBRARY DESTINATION lib${LIB_SUFFIX}
+								ARCHIVE DESTINATION lib${LIB_SUFFIX})
+
+			ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+		ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
+
+		IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+			SET_TARGET_PROPERTIES(bullet_c_api PROPERTIES FRAMEWORK true)
+
+			SET_TARGET_PROPERTIES(bullet_c_api PROPERTIES PUBLIC_HEADER "${Root_HDRS}")
+			# Have to list out sub-directories manually:
+
+
+		ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+	ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
+ENDIF (INSTALL_LIBS)
diff --git a/examples/pybullet/CMakeLists.txt b/examples/pybullet/CMakeLists.txt
index 1b791ec7e..7b59d887a 100644
--- a/examples/pybullet/CMakeLists.txt
+++ b/examples/pybullet/CMakeLists.txt
@@ -1,165 +1,21 @@
-
-INCLUDE_DIRECTORIES( 
-		${BULLET_PHYSICS_SOURCE_DIR}/src
-		${BULLET_PHYSICS_SOURCE_DIR}/examples
-		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
-		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
-                ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
-		${PYTHON_INCLUDE_DIRS}
-  )
+INCLUDE_DIRECTORIES(
+  ${BULLET_PHYSICS_SOURCE_DIR}/src
+  ${BULLET_PHYSICS_SOURCE_DIR}/examples
+  ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
+  ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
+  ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
+  ${PYTHON_INCLUDE_DIRS}
+)
 IF(BUILD_PYBULLET_NUMPY)
-	INCLUDE_DIRECTORIES(
-		${PYTHON_NUMPY_INCLUDE_DIR}
-	)
+  INCLUDE_DIRECTORIES(${PYTHON_NUMPY_INCLUDE_DIR})
 ENDIF()
 
 ADD_DEFINITIONS(-DSTATIC_LINK_SPD_PLUGIN)
 
-SET(pybullet_SRCS
-	pybullet.c
-	../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp
-        ../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h
-        ../../examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp
-        ../../examples/SharedMemory/plugins/stablePDPlugin/Shape.h
-        ../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp
-        ../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.h
-        ../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.cpp
-        ../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.h
-        ../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.cpp
-        ../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.h
-        ../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.cpp
-        ../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.h
-        ../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp
-        ../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.h
-		../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
-		../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
-		../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
-		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
-		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
-		../../examples/SharedMemory/IKTrajectoryHelper.cpp
-		../../examples/SharedMemory/IKTrajectoryHelper.h
-		../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
-		../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
-		../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h
-		../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
-		../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h
-		../../examples/OpenGLWindow/SimpleCamera.cpp
-		../../examples/OpenGLWindow/SimpleCamera.h
-		../../examples/TinyRenderer/geometry.cpp
-		../../examples/TinyRenderer/model.cpp
-		../../examples/TinyRenderer/tgaimage.cpp
-		../../examples/TinyRenderer/our_gl.cpp
-		../../examples/TinyRenderer/TinyRenderer.cpp
-		../../examples/SharedMemory/InProcessMemory.cpp
-		../../examples/SharedMemory/PhysicsClient.cpp
-		../../examples/SharedMemory/PhysicsClient.h
-		../../examples/SharedMemory/PhysicsServer.cpp
-		../../examples/SharedMemory/PhysicsServer.h
-		../../examples/SharedMemory/PhysicsServerExample.cpp
-		../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp
-		../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
-		../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
-		../../examples/SharedMemory/PhysicsServerSharedMemory.h
-		../../examples/SharedMemory/PhysicsDirect.cpp
-		../../examples/SharedMemory/PhysicsDirect.h
-		../../examples/SharedMemory/PhysicsDirectC_API.cpp
-		../../examples/SharedMemory/PhysicsDirectC_API.h
-		../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
-		../../examples/SharedMemory/PhysicsServerCommandProcessor.h
-		../../examples/SharedMemory/b3PluginManager.cpp
-		../../examples/SharedMemory/b3PluginManager.h
-		
-		../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
-		../../examples/SharedMemory/PhysicsClientSharedMemory.h
-		../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
-		../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
-
-		../../examples/SharedMemory/PhysicsClientC_API.cpp
-		../../examples/SharedMemory/PhysicsClientC_API.h
-		../../examples/SharedMemory/Win32SharedMemory.cpp
-		../../examples/SharedMemory/Win32SharedMemory.h
-		../../examples/SharedMemory/PosixSharedMemory.cpp
-		../../examples/SharedMemory/PosixSharedMemory.h
-		../../examples/Utils/b3ResourcePath.cpp
-		../../examples/Utils/b3ResourcePath.h
-		../../examples/Utils/RobotLoggingUtil.cpp
-		../../examples/Utils/RobotLoggingUtil.h
-		
-		../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
-		../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
-		../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
-		../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
-		../../examples/ThirdPartyLibs/stb_image/stb_image_write.cpp
-		../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
-		../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
-		../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
-		../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
-		../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
-		../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
-		../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
-		../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
-		../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
-		../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp 
-		../../examples/MultiThreading/b3PosixThreadSupport.cpp
-		../../examples/MultiThreading/b3Win32ThreadSupport.cpp
-		../../examples/MultiThreading/b3ThreadSupportInterface.cpp
-		
+SET(
+  pybullet_SRCS
+  pybullet.c
 )
-IF(BUILD_PYBULLET_CLSOCKET)
- ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
-ENDIF(BUILD_PYBULLET_CLSOCKET)
-
-IF(WIN32)
-	LINK_LIBRARIES(
-		${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
-	)
-	IF(BUILD_PYBULLET_ENET)
-		ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
-	ENDIF(BUILD_PYBULLET_ENET)
-	IF(BUILD_PYBULLET_CLSOCKET)
-		ADD_DEFINITIONS(-DWIN32)
-	ENDIF(BUILD_PYBULLET_CLSOCKET)
-
-ELSE(WIN32)
-	IF(BUILD_PYBULLET_ENET)
-		ADD_DEFINITIONS(-DHAS_SOCKLEN_T -DBT_ENABLE_ENET)
-	ENDIF(BUILD_PYBULLET_ENET)
-
-	IF(BUILD_PYBULLET_CLSOCKET)	
-		ADD_DEFINITIONS(${OSDEF})
-	ENDIF(BUILD_PYBULLET_CLSOCKET)
-ENDIF(WIN32)
-
-
-IF(BUILD_PYBULLET_ENET)
-	set(pybullet_SRCS ${pybullet_SRCS} 
-		../../examples/SharedMemory/PhysicsClientUDP.cpp
-		../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp
-		../../examples/SharedMemory/PhysicsClientUDP.h		
-		../../examples/SharedMemory/PhysicsClientUDP_C_API.h
-		../../examples/ThirdPartyLibs/enet/win32.c
-		../../examples/ThirdPartyLibs/enet/unix.c
-		../../examples/ThirdPartyLibs/enet/callbacks.c
-		../../examples/ThirdPartyLibs/enet/compress.c
-		../../examples/ThirdPartyLibs/enet/host.c
-		../../examples/ThirdPartyLibs/enet/list.c
-		../../examples/ThirdPartyLibs/enet/packet.c
-		../../examples/ThirdPartyLibs/enet/peer.c
-		../../examples/ThirdPartyLibs/enet/protocol.c
-	)
-ENDIF(BUILD_PYBULLET_ENET)
-
-IF(BUILD_PYBULLET_CLSOCKET)
-	set(pybullet_SRCS ${pybullet_SRCS}
-		 ../../examples/SharedMemory/PhysicsClientTCP.cpp
-                 ../../examples/SharedMemory/PhysicsClientTCP.h
-                 ../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp
-                 ../../examples/SharedMemory/PhysicsClientTCP_C_API.h
-		 ../../examples/ThirdPartyLibs/clsocket/src/SimpleSocket.cpp
-		 ../../examples/ThirdPartyLibs/clsocket/src/ActiveSocket.cpp
-		 ../../examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp
-	)
-ENDIF()
 
 ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS})
 
@@ -170,35 +26,41 @@ SET_TARGET_PROPERTIES(pybullet PROPERTIES VERSION ${BULLET_VERSION})
 SET_TARGET_PROPERTIES(pybullet PROPERTIES SOVERSION ${BULLET_VERSION})
 SET_TARGET_PROPERTIES(pybullet PROPERTIES DEBUG_POSTFIX "_d")
 
-
 IF(WIN32)
-	IF(BUILD_PYBULLET_ENET OR BUILD_PYBULLET_CLSOCKET)
-		TARGET_LINK_LIBRARIES(pybullet ws2_32 )
-	ENDIF(BUILD_PYBULLET_ENET OR BUILD_PYBULLET_CLSOCKET)
+  IF(BUILD_PYBULLET_ENET OR BUILD_PYBULLET_CLSOCKET)
+    TARGET_LINK_LIBRARIES(pybullet ws2_32)
+  ENDIF(BUILD_PYBULLET_ENET OR BUILD_PYBULLET_CLSOCKET)
 
-	SET_TARGET_PROPERTIES(pybullet PROPERTIES SUFFIX ".pyd" )
+  SET_TARGET_PROPERTIES(pybullet PROPERTIES SUFFIX ".pyd")
 ENDIF(WIN32)
 
-IF (APPLE)
-  SET_TARGET_PROPERTIES(pybullet PROPERTIES SUFFIX ".so" )
+IF(APPLE)
+  SET_TARGET_PROPERTIES(pybullet PROPERTIES SUFFIX ".so")
 ENDIF()
 
+TARGET_LINK_LIBRARIES(
+  pybullet
+	bullet_c_api
+)
 
-
-TARGET_LINK_LIBRARIES(pybullet BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK Bullet3Common)
-
-IF (WIN32)
+IF(WIN32)
   TARGET_LINK_LIBRARIES(pybullet ${PYTHON_LIBRARIES})
-ELSEIF (APPLE)
-  SET_TARGET_PROPERTIES(pybullet PROPERTIES LINK_FLAGS "-undefined dynamic_lookup")
-ENDIF ()
+ELSEIF(APPLE)
+  SET_TARGET_PROPERTIES(
+    pybullet
+    PROPERTIES LINK_FLAGS "-undefined dynamic_lookup"
+  )
+ENDIF()
 # else Linux: dont link
 
 IF(WIN32)
   SET(PYTHON_SITE_PACKAGES Lib/site-packages CACHE PATH "Python install path")
 ELSE()
-  SET(PYTHON_SITE_PACKAGES lib/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/site-packages CACHE PATH "Python install path")
+  SET(
+    PYTHON_SITE_PACKAGES
+    lib/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/site-packages
+    CACHE PATH "Python install path"
+  )
 ENDIF()
 
 INSTALL(TARGETS pybullet DESTINATION ${PYTHON_SITE_PACKAGES})
-