diff --git a/CMakeLists.txt b/CMakeLists.txt
index c3aea116dc6cd11998af70a3e9c02856d0dd2111..0669950223d1f3ae7129bc95cb74ffccf77b614e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -10,7 +10,7 @@ set (Simox_BUILD_DIRECTORY ${CMAKE_BINARY_DIR} CACHE STRING "Simox build directo
#set (Simox_BUILD_VirtualRobot TRUE CACHE BOOL "Build Simox VirtualRobot")
set (Simox_BUILD_Saba TRUE CACHE BOOL "Build Motion Planning library")
set (Simox_BUILD_GraspStudio TRUE CACHE BOOL "Build Grasp Planning library")
-set (Simox_BUILD_SimDynamics FALSE CACHE BOOL "Build Dynamic Simulation")
+set (Simox_BUILD_SimDynamics TRUE CACHE BOOL "Build Dynamic Simulation")
INCLUDE (config.cmake)
@@ -34,23 +34,25 @@ if (Simox_BUILD_GraspStudio)
list (APPEND Simox_LIBRARIES GraspStudio)
endif()
if (Simox_BUILD_SimDynamics)
- add_subdirectory(SimDynamics)
- list(APPEND SIMOX_EXPORT_TARGET_LIST SimDynamics)
- list (APPEND Simox_LIBRARIES SimDynamics)
- if (SimDynamics_BULLET_OpenGL)
- list(APPEND SIMOX_EXPORT_TARGET_LIST BulletOpenGLSupport)
+ find_package(Bullet QUIET)
+ if(BULLET_FOUND)
+ add_subdirectory(SimDynamics)
+ list(APPEND SIMOX_EXPORT_TARGET_LIST SimDynamics)
+ list (APPEND Simox_LIBRARIES SimDynamics)
+ if (SimDynamics_BULLET_OpenGL)
+ list(APPEND SIMOX_EXPORT_TARGET_LIST BulletOpenGLSupport)
+ endif()
+
+ list (APPEND Simox_EXTERNAL_LIBRARIES ${Simox_SimDynamics_EXTERNAL_LIBRARIES})
+ list (APPEND Simox_EXTERNAL_INCLUDE_DIRS ${Simox_SimDynamics_INCLUDE_DIRS})
+ #MESSAGE ("Simox_EXTERNAL_LIBRARY_FLAGS::: ${Simox_EXTERNAL_LIBRARY_FLAGS} !!!!!!!!!!!!!!!!")
+ #MESSAGE ("Simox_SimDynamics_COMPILE_FLAGS::: ${Simox_SimDynamics_COMPILE_FLAGS} !!!!!!!!!!!!!!!!")
+ #list (APPEND Simox_EXTERNAL_LIBRARY_FLAGS ${Simox_SimDynamics_COMPILE_FLAGS})
+ set (Simox_EXTERNAL_LIBRARY_FLAGS "${Simox_EXTERNAL_LIBRARY_FLAGS} ${Simox_SimDynamics_COMPILE_FLAGS}")
+ #MESSAGE ("Simox_EXTERNAL_LIBRARY_FLAGS::: ${Simox_EXTERNAL_LIBRARY_FLAGS} !!!!!!!!!!!!!!!!")
+ else()
+ message("NOT building SimDynamics since bullet was not found")
endif()
-
- list (APPEND Simox_EXTERNAL_LIBRARIES ${Simox_SimDynamics_EXTERNAL_LIBRARIES})
- list (APPEND Simox_EXTERNAL_INCLUDE_DIRS ${Simox_SimDynamics_INCLUDE_DIRS})
- #MESSAGE ("Simox_EXTERNAL_LIBRARY_FLAGS::: ${Simox_EXTERNAL_LIBRARY_FLAGS} !!!!!!!!!!!!!!!!")
- #MESSAGE ("Simox_SimDynamics_COMPILE_FLAGS::: ${Simox_SimDynamics_COMPILE_FLAGS} !!!!!!!!!!!!!!!!")
- #list (APPEND Simox_EXTERNAL_LIBRARY_FLAGS ${Simox_SimDynamics_COMPILE_FLAGS})
- set (Simox_EXTERNAL_LIBRARY_FLAGS "${Simox_EXTERNAL_LIBRARY_FLAGS} ${Simox_SimDynamics_COMPILE_FLAGS}")
- #MESSAGE ("Simox_EXTERNAL_LIBRARY_FLAGS::: ${Simox_EXTERNAL_LIBRARY_FLAGS} !!!!!!!!!!!!!!!!")
-
-
-
endif()
MESSAGE(STATUS "** Simox_EXTERNAL_INCLUDE_DIRS:${Simox_EXTERNAL_INCLUDE_DIRS}")
diff --git a/CMakeModules/BulletCheckPrecision.cmake b/CMakeModules/BulletCheckPrecision.cmake
new file mode 100644
index 0000000000000000000000000000000000000000..93c99b7ada79a1e708b2743f70f688672e070158
--- /dev/null
+++ b/CMakeModules/BulletCheckPrecision.cmake
@@ -0,0 +1,55 @@
+macro(BulletCheckPrecision)
+ message(STATUS "Testing Bullet for use of double precision...")
+ try_compile(
+ _resultDouble
+ ${PROJECT_BINARY_DIR}
+ ${CMAKE_SOURCE_DIR}/CMakeModules/BulletCheckPrecision.cpp
+ CMAKE_FLAGS
+ "-DINCLUDE_DIRECTORIES:string=${BULLET_INCLUDE_DIRS}"
+ "-DLINK_LIBRARIES:string=${BULLET_LIBRARIES}"
+ "-DCMAKE_CXX_FLAGS:string=-std=c++11"
+ COMPILE_DEFINITIONS
+ "-DBT_USE_DOUBLE_PRECISION"
+ OUTPUT_VARIABLE _buildOutDouble
+ )
+ if( _resultDouble )
+ message(STATUS "Bullet double precision detected. Automatically defining BT_USE_DOUBLE_PRECISION")
+ set(BULLET_USE_SINGLE_PRECISION OFF CACHE BOOL "" FORCE)
+ add_definitions(-DBT_USE_DOUBLE_PRECISION)
+ else()
+ # Try it *without* -DBT_USE_DOUBLE_PRECISION to make sure it's single...
+ try_compile(
+ _resultSingle
+ ${PROJECT_BINARY_DIR}
+ ${CMAKE_SOURCE_DIR}/CMakeModules/BulletCheckPrecision.cpp
+ CMAKE_FLAGS
+ "-DINCLUDE_DIRECTORIES:string=${BULLET_INCLUDE_DIRS}"
+ "-DLINK_LIBRARIES:string=${BULLET_LIBRARIES}"
+ OUTPUT_VARIABLE _buildOutSingle
+ )
+ if( _resultSingle )
+ message(STATUS "Bullet single precision detected. Not defining BT_USE_DOUBLE_PRECISION")
+ set(BULLET_USE_SINGLE_PRECISION ON CACHE BOOL "" FORCE)
+ else()
+ message(ERROR "Unable to determine single or double precision.")
+ message(STATUS "----------------------------------")
+ message(STATUS "Build config for double precision:")
+ message(STATUS " CMAKE_FLAGS")
+ message(STATUS " -DINCLUDE_DIRECTORIES:string=${BULLET_INCLUDE_DIRS}")
+ message(STATUS " -DLINK_LIBRARIES:string=${BULLET_LIBRARIES}")
+ message(STATUS " -DCMAKE_CXX_FLAGS:string=-std=c++11")
+ message(STATUS " COMPILE_DEFINITIONS")
+ message(STATUS " -DBT_USE_DOUBLE_PRECISION")
+ message(STATUS "Build output for double precision:")
+ message(STATUS "${_buildOutDouble}")
+ message(STATUS "----------------------------------")
+ message(STATUS "Build config for single precision:")
+ message(STATUS " CMAKE_FLAGS")
+ message(STATUS " -DINCLUDE_DIRECTORIES:string=${BULLET_INCLUDE_DIRS}")
+ message(STATUS " -DLINK_LIBRARIES:string=${BULLET_LIBRARIES}")
+ message(STATUS "Build output for single precision:")
+ message(STATUS "${_buildOutSingle}")
+ message(FATAL_ERROR "Unable to determine single or double precision.")
+ endif()
+ endif()
+endmacro()
diff --git a/CMakeModules/BulletCheckPrecision.cpp b/CMakeModules/BulletCheckPrecision.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4e6fb014facd20a7cb4a91a9b4363b8daf9bcbf7
--- /dev/null
+++ b/CMakeModules/BulletCheckPrecision.cpp
@@ -0,0 +1,10 @@
+#pragma GCC diagnostic ignored "-Wunused-variable"
+#include <btBulletCollisionCommon.h>
+
+int main()
+{
+ btVector3 vec(0.0, 1.0, 0.0);
+ btStaticPlaneShape(vec, 0.0);
+
+ return 0;
+}
diff --git a/SimDynamics/CMakeModules/FindBullet.cmake b/CMakeModules/FindBullet.cmake
similarity index 85%
rename from SimDynamics/CMakeModules/FindBullet.cmake
rename to CMakeModules/FindBullet.cmake
index 1f0e645acfe0296e7da4db3118ad4ce8340e26ff..808658d399127c0863609a7e9d2b1d0ab28ac928 100644
--- a/SimDynamics/CMakeModules/FindBullet.cmake
+++ b/CMakeModules/FindBullet.cmake
@@ -3,7 +3,7 @@
# This script defines:
# BULLET_FOUND, set to 1 if found
# BULLET_LIBRARIES
-# BULLET_INCLUDE_DIR
+# BULLET_INCLUDE_DIRS
# BULLET_*_LIBRARY, one for each library (for example, "BULLET_BulletCollision_LIBRARY").
# BULLET_*_LIBRARY_debug, one for each library.
# BULLET_DEMOS_INCLUDE_DIR - Directory containing the Demos headers
@@ -16,15 +16,15 @@
# You can also use Bullet out of a source tree by specifying BULLET_SOURCE_DIR
# and BULLET_BUILD_DIR (in environment or CMake).
-
SET( BULLET_ROOT "" CACHE PATH "Bullet install dir, parent of both header files and binaries." )
SET( BULLET_BUILD_DIR "" CACHE PATH "Parent directory of Bullet binary file directories such as src/BulletCollision." )
SET( BULLET_SOURCE_DIR "" CACHE PATH "Parent directory of Bullet header file directories such as src or include." )
-#UNSET( BULLET_INCLUDE_DIR CACHE )
-MARK_AS_ADVANCED( BULLET_INCLUDE_DIR )
-FIND_PATH( BULLET_INCLUDE_DIR btBulletCollisionCommon.h
+#UNSET( BULLET_INCLUDE_DIRS CACHE )
+MARK_AS_ADVANCED( BULLET_INCLUDE_DIRS )
+FIND_PATH( BULLET_INCLUDE_DIRS btBulletCollisionCommon.h
PATHS
+ $ENV{Bullet_DIR}
${BULLET_ROOT}
$ENV{BULLET_ROOT}
${BULLET_SOURCE_DIR}
@@ -33,33 +33,34 @@ FIND_PATH( BULLET_INCLUDE_DIR btBulletCollisionCommon.h
PATH_SUFFIXES
/BulletCollision
/src
+ ../src
/include
/include/bullet
/src/BulletCollision
/include/BulletCollision
/include/bullet/BulletCollision
)
-IF( BULLET_INCLUDE_DIR )
- #SET( BULLET_DEMOS_INCLUDE_DIR ${BULLET_INCLUDE_DIR}/../Demos/OpenGL )
+IF( BULLET_INCLUDE_DIRS )
+ #SET( BULLET_DEMOS_INCLUDE_DIR ${BULLET_INCLUDE_DIRS}/../Demos/OpenGL )
FIND_PATH( BULLET_OPENGL_INCLUDE_DIR DemoApplication.h
PATHS
- ${BULLET_INCLUDE_DIR}
- ${BULLET_INCLUDE_DIR}/..
- ${BULLET_INCLUDE_DIR}/../OpenGL
- ${BULLET_INCLUDE_DIR}/OpenGL
- ${BULLET_INCLUDE_DIR}/../Demos/OpenGL
+ ${BULLET_INCLUDE_DIRS}
+ ${BULLET_INCLUDE_DIRS}/..
+ ${BULLET_INCLUDE_DIRS}/../OpenGL
+ ${BULLET_INCLUDE_DIRS}/OpenGL
+ ${BULLET_INCLUDE_DIRS}/../Demos/OpenGL
)
FIND_PATH( BULLET_DEMOS_INCLUDE_DIR GlutDemoApplication.h
PATHS
- ${BULLET_INCLUDE_DIR}
- ${BULLET_INCLUDE_DIR}/..
- ${BULLET_INCLUDE_DIR}/../OpenGL
- ${BULLET_INCLUDE_DIR}/OpenGL
- ${BULLET_INCLUDE_DIR}/../Demos/OpenGL
+ ${BULLET_INCLUDE_DIRS}
+ ${BULLET_INCLUDE_DIRS}/..
+ ${BULLET_INCLUDE_DIRS}/../OpenGL
+ ${BULLET_INCLUDE_DIRS}/OpenGL
+ ${BULLET_INCLUDE_DIRS}/../Demos/OpenGL
)
MESSAGE (STATUS " **** BULLET_OPENGL_INCLUDE_DIR: ${BULLET_OPENGL_INCLUDE_DIR}")
MESSAGE (STATUS " **** BULLET_DEMOS_INCLUDE_DIR: ${BULLET_DEMOS_INCLUDE_DIR}")
-ENDIF( BULLET_INCLUDE_DIR )
+ENDIF( BULLET_INCLUDE_DIRS )
MACRO( FIND_BULLET_LIBRARY_DIRNAME LIBNAME DIRNAME )
#UNSET( BULLET_${LIBNAME}_LIBRARY CACHE )
@@ -70,6 +71,7 @@ MACRO( FIND_BULLET_LIBRARY_DIRNAME LIBNAME DIRNAME )
NAMES
${LIBNAME}
PATHS
+ $ENV{Bullet_DIR}
${BULLET_ROOT}
$ENV{BULLET_ROOT}
${BULLET_BUILD_DIR}
@@ -97,6 +99,7 @@ MACRO( FIND_BULLET_LIBRARY_DIRNAME LIBNAME DIRNAME )
${LIBNAME}_Debug
${LIBNAME}
PATHS
+ $ENV{Bullet_DIR}
${BULLET_ROOT}
$ENV{BULLET_ROOT}
${BULLET_BUILD_DIR}
@@ -149,9 +152,9 @@ MARK_AS_ADVANCED( BULLET_LIBRARIES )
MARK_AS_ADVANCED( BULLET_LIBRARIES_debug )
SET( BULLET_FOUND 0 )
-IF( BULLET_INCLUDE_DIR AND BULLET_LIBRARIES )
+IF( BULLET_INCLUDE_DIRS AND BULLET_LIBRARIES )
SET( BULLET_FOUND 1 )
-ENDIF( BULLET_INCLUDE_DIR AND BULLET_LIBRARIES )
+ENDIF( BULLET_INCLUDE_DIRS AND BULLET_LIBRARIES )
# Possible future support for collision-only (no dynamics)
diff --git a/SimDynamics/CMakeLists.txt b/SimDynamics/CMakeLists.txt
index 38231e549d7cda724d998029990d1286662edd88..d93890fc29a3ac0186976ca1f580bbfe39c7019a 100644
--- a/SimDynamics/CMakeLists.txt
+++ b/SimDynamics/CMakeLists.txt
@@ -11,7 +11,8 @@ MESSAGE (STATUS "***** CONFIGURING Simox project SimDynamics *****")
GET_FILENAME_COMPONENT (CurrentSimDynamicsPath ${CMAKE_CURRENT_LIST_FILE} PATH)
SET(SimDynamics_DIR ${CurrentSimDynamicsPath})
-SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${SimDynamics_DIR}/CMakeModules)
+
+
INCLUDE (Cxx11Test)
SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CXX11_FLAG}")
@@ -31,27 +32,33 @@ if (SimDynamics_USE_BULLET)
SET (BULLET_ROOT ${BULLET_ROOT} CACHE PATH "Bullet Path")
Find_Package(Bullet)
if (BULLET_FOUND)
- MESSAGE (STATUS " ** Found Bullet at ${BULLET_INCLUDE_DIR}")
+ MESSAGE (STATUS " ** Found Bullet at ${BULLET_INCLUDE_DIRS}")
+
+
+
#MESSAGE (STATUS "BULLET_LIBRARIES: ${BULLET_LIBRARIES}")
#MESSAGE (STATUS "BULLET_OPENGL_INCLUDE_DIR: ${BULLET_OPENGL_INCLUDE_DIR}")
#MESSAGE (STATUS "BULLET_OpenGLSupport_LIBRARY_debug: ${BULLET_OpenGLSupport_LIBRARY_debug}")
- SET(SIMDYNAMICS_INCLUDE_DIRS "${BULLET_INCLUDE_DIR}" "${BULLET_INCLUDE_DIR}/bullet") # "${BULLET_DEMOS_INCLUDE_DIR}" "${BULLET_OPENGL_INCLUDE_DIR}")# PARENT_SCOPE)
+ SET(SIMDYNAMICS_INCLUDE_DIRS "${BULLET_INCLUDE_DIRS}" "${BULLET_INCLUDE_DIRS}/bullet") # "${BULLET_DEMOS_INCLUDE_DIR}" "${BULLET_OPENGL_INCLUDE_DIR}")# PARENT_SCOPE)
INCLUDE_DIRECTORIES(
- ${BULLET_INCLUDE_DIR}
- ${BULLET_INCLUDE_DIR}/bullet
+ ${BULLET_INCLUDE_DIRS}
+ ${BULLET_INCLUDE_DIRS}/bullet
)
- OPTION( SimDynamics_USE_BULLET_DOUBLE_PRECISION "Use Bullet Engine built with double precision" OFF )
- IF (WIN32)
- OPTION(SimDynamics_USE_BULLET_USE_GLUT "Use Glut" OFF)
- else()
- OPTION(SimDynamics_USE_BULLET_USE_GLUT "Use Glut" ON)
- endif()
- IF( SimDynamics_USE_BULLET_DOUBLE_PRECISION )
+ IF (WIN32)
+ OPTION(SimDynamics_USE_BULLET_USE_GLUT "Use Glut" OFF)
+ else()
+ OPTION(SimDynamics_USE_BULLET_USE_GLUT "Use Glut" ON)
+ endif()
+
+ include(BulletCheckPrecision)
+ message(STATUS "BULLET_INCLUDE_DIRS ${BULLET_INCLUDE_DIRS}")
+ BulletCheckPrecision()
+ IF( NOT BULLET_USE_SINGLE_PRECISION )
ADD_DEFINITIONS( -DBT_USE_DOUBLE_PRECISION)
LIST(APPEND SIMDYNAMICS_COMPILE_FLAGS "-DBT_USE_DOUBLE_PRECISION")
- ENDIF( SimDynamics_USE_BULLET_DOUBLE_PRECISION )
+ ENDIF()
#MESSAGE(STATUS "BULLET_LIBRARIES:${BULLET_LIBRARIES}")
SET (SimDynamics_PHYSICS_LIBRARIES "${BULLET_LIBRARIES}")
SET (SimDynamics_DYNAMICSENGINE TRUE)