cmake_minimum_required(VERSION 2.4.3) set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true) #this line has to appear before 'PROJECT' in order to be able to disable incremental linking SET(MSVC_INCREMENTAL_DEFAULT ON) PROJECT(BULLET_PHYSICS) FILE (STRINGS "VERSION" BULLET_VERSION) IF(COMMAND cmake_policy) cmake_policy(SET CMP0003 NEW) if(POLICY CMP0042) # Enable MACOSX_RPATH by default. cmake_policy(SET CMP0042 NEW) endif(POLICY CMP0042) ENDIF(COMMAND cmake_policy) IF (NOT CMAKE_BUILD_TYPE) # SET(CMAKE_BUILD_TYPE "Debug") SET(CMAKE_BUILD_TYPE "Release") ENDIF (NOT CMAKE_BUILD_TYPE) SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG") #MESSAGE("CMAKE_CXX_FLAGS_DEBUG="+${CMAKE_CXX_FLAGS_DEBUG}) OPTION(USE_DOUBLE_PRECISION "Use double precision" OFF) OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON) OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF) OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" OFF) OPTION(BULLET2_USE_THREAD_LOCKS "Build Bullet 2 libraries with mutex locking around certain operations" OFF) OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF) OPTION(USE_CUSTOM_VECTOR_MATH "Use custom vectormath library" OFF) #statically linking VC++ isn't supported for WindowsPhone/WindowsStore IF (CMAKE_SYSTEM_NAME STREQUAL WindowsPhone OR CMAKE_SYSTEM_NAME STREQUAL WindowsStore) OPTION(USE_MSVC_RUNTIME_LIBRARY_DLL "Use MSVC Runtime Library DLL (/MD or /MDd)" ON) ELSE () OPTION(USE_MSVC_RUNTIME_LIBRARY_DLL "Use MSVC Runtime Library DLL (/MD or /MDd)" OFF) ENDIF (CMAKE_SYSTEM_NAME STREQUAL WindowsPhone OR CMAKE_SYSTEM_NAME STREQUAL WindowsStore) #SET(CMAKE_EXE_LINKER_FLAGS_INIT "/STACK:10000000 /INCREMENTAL:NO") #SET(CMAKE_EXE_LINKER_FLAGS "/STACK:10000000 /INCREMENTAL:NO") #MESSAGE("MSVC_INCREMENTAL_YES_FLAG"+${MSVC_INCREMENTAL_YES_FLAG}) IF(MSVC) IF (NOT USE_MSVC_INCREMENTAL_LINKING) #MESSAGE("MSVC_INCREMENTAL_DEFAULT"+${MSVC_INCREMENTAL_DEFAULT}) SET( MSVC_INCREMENTAL_YES_FLAG "/INCREMENTAL:NO") STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags ${CMAKE_EXE_LINKER_FLAGS_DEBUG}) SET(CMAKE_EXE_LINKER_FLAGS_DEBUG "/INCREMENTAL:NO ${replacementFlags}" ) MESSAGE("CMAKE_EXE_LINKER_FLAGS_DEBUG=${CMAKE_EXE_LINKER_FLAGS_DEBUG}") STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags2 ${CMAKE_EXE_LINKER_FLAGS}) SET(CMAKE_EXE_LINKER_FLAGS ${replacementFlag2}) STRING(REPLACE "INCREMENTAL:YES" "" replacementFlags3 "${CMAKE_EXTRA_LINK_FLAGS}") SET(CMAKE_EXTRA_LINK_FLAGS ${replacementFlag3}) STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags3 "${CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO}") SET(CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO ${replacementFlags3}) SET(CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO "/INCREMENTAL:NO ${replacementFlags3}" ) ENDIF (NOT USE_MSVC_INCREMENTAL_LINKING) IF (NOT USE_MSVC_RUNTIME_LIBRARY_DLL) #We statically link to reduce dependancies FOREACH(flag_var CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO ) IF(${flag_var} MATCHES "/MD") STRING(REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}") ENDIF(${flag_var} MATCHES "/MD") IF(${flag_var} MATCHES "/MDd") STRING(REGEX REPLACE "/MDd" "/MTd" ${flag_var} "${${flag_var}}") ENDIF(${flag_var} MATCHES "/MDd") ENDFOREACH(flag_var) ENDIF (NOT USE_MSVC_RUNTIME_LIBRARY_DLL) IF (CMAKE_CL_64) ADD_DEFINITIONS(-D_WIN64) ELSE() OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option" ON) IF (USE_MSVC_SSE) SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE") ENDIF() ENDIF() OPTION(USE_MSVC_FAST_FLOATINGPOINT "Use MSVC /fp:fast option" ON) IF (USE_MSVC_FAST_FLOATINGPOINT) SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /fp:fast") ENDIF() SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4244 /wd4267") ENDIF(MSVC) IF (WIN32) OPTION(INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES "Create MSVC projectfiles that can be distributed" OFF) IF (INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) SET (LIBRARY_OUTPUT_PATH ${BULLET_PHYSICS_SOURCE_DIR}/lib CACHE PATH "Single output directory for building all libraries.") SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}) SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${BULLET_PHYSICS_SOURCE_DIR}) SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${BULLET_PHYSICS_SOURCE_DIR}) SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_MINSIZEREL ${BULLET_PHYSICS_SOURCE_DIR}) SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELWITHDEBINFO ${BULLET_PHYSICS_SOURCE_DIR}) ELSE() SET (LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib CACHE PATH "Single output directory for building all libraries.") ENDIF() OPTION(INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES "Create MSVC projectfiles with relative paths" OFF) OPTION(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES "Add MSVC postfix for executable names (_Debug)" OFF) SET(CMAKE_DEBUG_POSTFIX "_Debug" CACHE STRING "Adds a postfix for debug-built libraries.") SET(CMAKE_MINSIZEREL_POSTFIX "_MinsizeRel" CACHE STRING "Adds a postfix for MinsizeRelease-built libraries.") SET(CMAKE_RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo" CACHE STRING "Adds a postfix for ReleaseWithDebug-built libraries.") IF (INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES) SET(CMAKE_SUPPRESS_REGENERATION 1) SET(CMAKE_USE_RELATIVE_PATHS 1) ENDIF(INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES) ENDIF (WIN32) OPTION(BUILD_CPU_DEMOS "Build original Bullet CPU examples" ON) OPTION(INTERNAL_UPDATE_SERIALIZATION_STRUCTURES "Internal update serialization structures" OFF) IF (INTERNAL_UPDATE_SERIALIZATION_STRUCTURES) ADD_DEFINITIONS( -DBT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES) ENDIF (INTERNAL_UPDATE_SERIALIZATION_STRUCTURES) IF (USE_DOUBLE_PRECISION) ADD_DEFINITIONS( -DBT_USE_DOUBLE_PRECISION) SET( BULLET_DOUBLE_DEF "-DBT_USE_DOUBLE_PRECISION") ENDIF (USE_DOUBLE_PRECISION) IF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD) ADD_DEFINITIONS(-DUSE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD) ENDIF (USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD) IF(USE_GRAPHICAL_BENCHMARK) ADD_DEFINITIONS( -DUSE_GRAPHICAL_BENCHMARK) ENDIF (USE_GRAPHICAL_BENCHMARK) IF(BULLET2_USE_THREAD_LOCKS) ADD_DEFINITIONS( -DBT_THREADSAFE=1 ) IF (NOT MSVC) SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") ENDIF (NOT MSVC) ENDIF (BULLET2_USE_THREAD_LOCKS) IF (WIN32) OPTION(USE_GLUT "Use Glut" ON) ADD_DEFINITIONS( -D_CRT_SECURE_NO_WARNINGS ) ADD_DEFINITIONS( -D_CRT_SECURE_NO_DEPRECATE ) ADD_DEFINITIONS( -D_SCL_SECURE_NO_WARNINGS ) IF (USE_GLUT AND MSVC) string (REPLACE "/D_WINDOWS" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS}) remove_definitions(-D_WINDOWS ) ENDIF() ELSE(WIN32) OPTION(USE_GLUT "Use Glut" ON) ENDIF(WIN32) IF(COMMAND cmake_policy) cmake_policy(SET CMP0003 NEW) ENDIF(COMMAND cmake_policy) # This is the shortcut to finding GLU, GLUT and OpenGL if they are properly installed on your system # This should be the case. FIND_PACKAGE(OpenGL) IF (OPENGL_FOUND) MESSAGE("OPENGL FOUND") MESSAGE(${OPENGL_LIBRARIES}) ELSE (OPENGL_FOUND) MESSAGE("OPENGL NOT FOUND") SET(OPENGL_gl_LIBRARY opengl32) SET(OPENGL_glu_LIBRARY glu32) ENDIF (OPENGL_FOUND) #FIND_PACKAGE(GLU) IF (APPLE) FIND_LIBRARY(COCOA_LIBRARY Cocoa) ENDIF() OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON) OPTION(BUILD_PYBULLET "Set when you want to build pybullet (experimental Python bindings for Bullet)" OFF) IF(BUILD_PYBULLET) FIND_PACKAGE(PythonLibs) OPTION(BUILD_PYBULLET_NUMPY "Set when you want to build pybullet with NumPy support" OFF) OPTION(BUILD_PYBULLET_ENET "Set when you want to build pybullet with enet UDP networking support" ON) OPTION(BUILD_PYBULLET_CLSOCKET "Set when you want to build pybullet with enet TCP networking support" ON) IF(BUILD_PYBULLET_NUMPY) set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_LIST_DIR}/build3/cmake) #include(FindNumPy) FIND_PACKAGE(NumPy) if (PYTHON_NUMPY_FOUND) message("NumPy found") add_definitions(-DPYBULLET_USE_NUMPY) else() message("NumPy not found") endif() ENDIF() OPTION(BUILD_PYBULLET "Set when you want to build pybullet (experimental Python bindings for Bullet)" OFF) IF(WIN32) SET(BUILD_SHARED_LIBS OFF CACHE BOOL "Shared Libs" FORCE) ELSE(WIN32) SET(BUILD_SHARED_LIBS ON CACHE BOOL "Shared Libs" FORCE) ENDIF(WIN32) ENDIF(BUILD_PYBULLET) IF(BUILD_BULLET3) IF(APPLE) MESSAGE("Mac OSX Version is ${_CURRENT_OSX_VERSION}") IF(_CURRENT_OSX_VERSION VERSION_LESS 10.9) MESSAGE("Mac OSX below 10.9 has no OpenGL 3 support so please disable the BUILD_OPENGL3_DEMOS option") #unset(BUILD_OPENGL3_DEMOS CACHE) OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build the OpenGL3+ demos" OFF) ELSE() OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build the OpenGL3+ demos" ON) ENDIF() ELSE() OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build Bullet 3 OpenGL3+ demos" ON) ENDIF() ELSE(BUILD_BULLET3) unset(BUILD_OPENGL3_DEMOS CACHE) OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build Bullet 3 OpenGL3+ demos" OFF) ENDIF(BUILD_BULLET3) IF(BUILD_OPENGL3_DEMOS) IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/Demos3 AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/Demos3) SUBDIRS(Demos3) ENDIF() ELSE() ADD_DEFINITIONS(-DNO_OPENGL3) ENDIF(BUILD_OPENGL3_DEMOS) OPTION(BUILD_BULLET2_DEMOS "Set when you want to build the Bullet 2 demos" ON) IF(BUILD_BULLET2_DEMOS) IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/examples AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/examples) SUBDIRS(examples) ENDIF() IF (BULLET2_USE_THREAD_LOCKS) OPTION(BULLET2_MULTITHREADED_OPEN_MP_DEMO "Build Bullet 2 MultithreadedDemo using OpenMP (requires a compiler with OpenMP support)" OFF) OPTION(BULLET2_MULTITHREADED_TBB_DEMO "Build Bullet 2 MultithreadedDemo using Intel Threading Building Blocks (requires the TBB library to be already installed)" OFF) IF (MSVC) OPTION(BULLET2_MULTITHREADED_PPL_DEMO "Build Bullet 2 MultithreadedDemo using Microsoft Parallel Patterns Library (requires MSVC compiler)" OFF) ENDIF (MSVC) ENDIF (BULLET2_USE_THREAD_LOCKS) ENDIF(BUILD_BULLET2_DEMOS) OPTION(BUILD_EXTRAS "Set when you want to build the extras" ON) IF(BUILD_EXTRAS) SUBDIRS(Extras) ENDIF(BUILD_EXTRAS) #Maya Dynamica plugin is moved to http://dynamica.googlecode.com SUBDIRS(src) IF("${CMAKE_GENERATOR}" MATCHES "Unix Makefiles") OPTION(INSTALL_LIBS "Set when you want to install libraries" ON) ELSE() IF(APPLE AND FRAMEWORK) OPTION(INSTALL_LIBS "Set when you want to install libraries" ON) ELSE() #by default, don't enable the 'INSTALL' option for Xcode and MSVC projectfiles OPTION(INSTALL_LIBS "Set when you want to install libraries" OFF) ENDIF() ENDIF() IF(INSTALL_LIBS) SET (LIB_SUFFIX "" CACHE STRING "Define suffix of directory name (32/64)" ) SET (LIB_DESTINATION "lib${LIB_SUFFIX}" CACHE STRING "Library directory name") ## the following are directories where stuff will be installed to SET(INCLUDE_INSTALL_DIR "include/bullet/" CACHE PATH "The subdirectory to the header prefix") SET(PKGCONFIG_INSTALL_PREFIX "lib${LIB_SUFFIX}/pkgconfig/" CACHE STRING "Base directory for pkgconfig files") IF(NOT MSVC) CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/bullet.pc.cmake ${CMAKE_CURRENT_BINARY_DIR}/bullet.pc @ONLY) INSTALL( FILES ${CMAKE_CURRENT_BINARY_DIR}/bullet.pc DESTINATION ${PKGCONFIG_INSTALL_PREFIX}) ENDIF(NOT MSVC) ENDIF(INSTALL_LIBS) #INSTALL of other files requires CMake 2.6 IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) OPTION(INSTALL_EXTRA_LIBS "Set when you want extra libraries installed" OFF) ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) OPTION(BUILD_UNIT_TESTS "Build Unit Tests" ON) IF (BUILD_UNIT_TESTS) ENABLE_TESTING() SUBDIRS(test) ENDIF() set (BULLET_CONFIG_CMAKE_PATH lib${LIB_SUFFIX}/cmake/bullet ) list (APPEND BULLET_LIBRARIES LinearMath) IF(BUILD_BULLET3) list (APPEND BULLET_LIBRARIES BulletInverseDynamics) ENDIF(BUILD_BULLET3) list (APPEND BULLET_LIBRARIES BulletCollision) list (APPEND BULLET_LIBRARIES BulletDynamics) list (APPEND BULLET_LIBRARIES BulletSoftBody) 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 @ONLY ESCAPE_QUOTES ) install ( FILES ${CMAKE_CURRENT_SOURCE_DIR}/UseBullet.cmake ${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake DESTINATION ${BULLET_CONFIG_CMAKE_PATH} )