diff options
Diffstat (limited to 'examples/pybullet/CMakeLists.txt')
-rw-r--r-- | examples/pybullet/CMakeLists.txt | 206 |
1 files changed, 172 insertions, 34 deletions
diff --git a/examples/pybullet/CMakeLists.txt b/examples/pybullet/CMakeLists.txt index 7b59d887a..1b791ec7e 100644 --- a/examples/pybullet/CMakeLists.txt +++ b/examples/pybullet/CMakeLists.txt @@ -1,21 +1,165 @@ -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 +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}) @@ -26,41 +170,35 @@ 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 -) -IF(WIN32) + +TARGET_LINK_LIBRARIES(pybullet BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK Bullet3Common) + +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}) + |