Refactor C API part of pybullet out

3 files changed, 16 insertions, 200 deletions

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
index a48c1828d..a41983dee 100644
--- a/examples/c_api/CMakeLists.txt
+++ b/examples/c_api/CMakeLists.txt
@@ -4,17 +4,11 @@ INCLUDE_DIRECTORIES(
   ${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})
-ENDIF()
 
-ADD_DEFINITIONS(-DSTATIC_LINK_SPD_PLUGIN)
 
 SET(
-  pybullet_SRCS
-  pybullet.c
+  bullet_c_api_SRCS
   ../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp
   ../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h
   ../../examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp
@@ -124,8 +118,8 @@ ENDIF(WIN32)
 
 IF(BUILD_PYBULLET_ENET)
   SET(
-    pybullet_SRCS
-    ${pybullet_SRCS}
+    bullet_c_api_SRCS
+    ${bullet_c_api_SRCS}
     ../../examples/SharedMemory/PhysicsClientUDP.cpp
     ../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp
     ../../examples/SharedMemory/PhysicsClientUDP.h
@@ -144,8 +138,8 @@ ENDIF(BUILD_PYBULLET_ENET)
 
 IF(BUILD_PYBULLET_CLSOCKET)
   SET(
-    pybullet_SRCS
-    ${pybullet_SRCS}
+    bullet_c_api_SRCS
+    ${bullet_c_api_SRCS}
     ../../examples/SharedMemory/PhysicsClientTCP.cpp
     ../../examples/SharedMemory/PhysicsClientTCP.h
     ../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp
@@ -156,29 +150,24 @@ IF(BUILD_PYBULLET_CLSOCKET)
   )
 ENDIF()
 
-ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS})
+ADD_LIBRARY(bullet_c_api SHARED ${bullet_c_api_SRCS})
 
-SET_TARGET_PROPERTIES(pybullet PROPERTIES PREFIX "")
-SET_TARGET_PROPERTIES(pybullet PROPERTIES POSTFIX "")
+SET_TARGET_PROPERTIES(bullet_c_api PROPERTIES PREFIX "")
+SET_TARGET_PROPERTIES(bullet_c_api PROPERTIES POSTFIX "")
 
-SET_TARGET_PROPERTIES(pybullet PROPERTIES VERSION ${BULLET_VERSION})
-SET_TARGET_PROPERTIES(pybullet PROPERTIES SOVERSION ${BULLET_VERSION})
-SET_TARGET_PROPERTIES(pybullet PROPERTIES DEBUG_POSTFIX "_d")
+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(pybullet ws2_32)
+    TARGET_LINK_LIBRARIES(bullet_c_api ws2_32)
   ENDIF(BUILD_PYBULLET_ENET OR BUILD_PYBULLET_CLSOCKET)
-
-  SET_TARGET_PROPERTIES(pybullet PROPERTIES SUFFIX ".pyd")
 ENDIF(WIN32)
 
-IF(APPLE)
-  SET_TARGET_PROPERTIES(pybullet PROPERTIES SUFFIX ".so")
-ENDIF()
 
 TARGET_LINK_LIBRARIES(
-  pybullet
+  bullet_c_api
   BulletExampleBrowserLib
   BulletFileLoader
   BulletWorldImporter
@@ -192,26 +181,4 @@ TARGET_LINK_LIBRARIES(
   gwen
   BussIK
   Bullet3Common
-)
-
-IF(WIN32)
-  TARGET_LINK_LIBRARIES(pybullet ${PYTHON_LIBRARIES})
-ELSEIF(APPLE)
-  SET_TARGET_PROPERTIES(
-    pybullet
-    PROPERTIES LINK_FLAGS "-undefined dynamic_lookup"
-  )
-ENDIF()
-# else Linux: dont link
-
-IF(WIN32)
-  SET(PYTHON_SITE_PACKAGES Lib/site-packages CACHE PATH "Python install path")
-ELSE()
-  SET(
-    PYTHON_SITE_PACKAGES
-    lib/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/site-packages
-    CACHE PATH "Python install path"
-  )
-ENDIF()
-
-INSTALL(TARGETS pybullet DESTINATION ${PYTHON_SITE_PACKAGES})
+)
\ No newline at end of file
diff --git a/examples/pybullet/CMakeLists.txt b/examples/pybullet/CMakeLists.txt
index a48c1828d..7b59d887a 100644
--- a/examples/pybullet/CMakeLists.txt
+++ b/examples/pybullet/CMakeLists.txt
@@ -15,146 +15,7 @@ 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
 )
-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})
 
@@ -179,19 +40,7 @@ ENDIF()
 
 TARGET_LINK_LIBRARIES(
   pybullet
-  BulletExampleBrowserLib
-  BulletFileLoader
-  BulletWorldImporter
-  BulletSoftBody
-  BulletDynamics
-  BulletCollision
-  BulletInverseDynamicsUtils
-  BulletInverseDynamics
-  LinearMath
-  OpenGLWindow
-  gwen
-  BussIK
-  Bullet3Common
+	bullet_c_api
 )
 
 IF(WIN32)