Revision: 8552
http://playerstage.svn.sourceforge.net/playerstage/?rev=8552&view=rev
Author: hsujohnhsu
Date: 2010-02-11 21:39:00 +0000 (Thu, 11 Feb 2010)
Log Message:
-----------
* replacing bullet cmake setup, going
* from bullet_dynamics_dirs, bullet_collision_dirs, bullet_soft_body_dirs,
bullet_math_dirs
* to bullet_include_dirs, bullet_library_dirs and bullet_libraries
* added set ( FLTK_LIBRARIES and FLTK_INCLUDE_DIRS )
* added gazebo_lflags so user can set things such as rpath while building
gazebo-executable
Modified Paths:
--------------
code/gazebo/trunk/cmake/SearchForStuff.cmake
code/gazebo/trunk/server/CMakeLists.txt
code/gazebo/trunk/server/physics/bullet/CMakeLists.txt
Modified: code/gazebo/trunk/cmake/SearchForStuff.cmake
===================================================================
--- code/gazebo/trunk/cmake/SearchForStuff.cmake 2010-02-11 19:18:35 UTC
(rev 8551)
+++ code/gazebo/trunk/cmake/SearchForStuff.cmake 2010-02-11 21:39:00 UTC
(rev 8552)
@@ -24,13 +24,20 @@
set (boost_include_dirs "" CACHE STRING "Boost include paths. Use this to
override automatic detection.")
set (boost_library_dirs "" CACHE STRING "Boost library paths. Use this to
override automatic detection.")
set (boost_libraries "" CACHE STRING "Boost libraries. Use this to override
automatic detection.")
-set (bullet_dynamics_dirs "" CACHE STRING "Bullet Dynamics libraries. Use this
to override automatic detection.")
-set (bullet_collision_dirs "" CACHE STRING "Bullet Collision libraries. Use
this to override automatic detection.")
-set (bullet_softbody_dirs "" CACHE STRING "Bullet Softbody libraries. Use this
to override automatic detection.")
-set (bullet_math_dirs "" CACHE STRING "Bullet LinearMath libraries. Use this
to override automatic detection.")
+
+set (bullet_include_dirs "" CACHE STRING "Bullet include paths. Use this to
override automatic detection.")
+set (bullet_library_dirs "" CACHE STRING "Bullet library paths. Use this to
override automatic detection.")
+set (bullet_lflags "" CACHE STRING "Bullet libraries Use this to override
automatic detection.")
set (bullet_cflags "-DBT_USE_DOUBLE_PRECISION -DBT_EULER_DEFAULT_ZYX" CACHE
STRING "Bullet Dynamics C compile flags exported by rospack.")
+
set (threadpool_include_dirs "" CACHE STRING "Threadpool include paths. Use
this to override automatic detection.")
+SET (gazebo_lflags "" CACHE STRING "Linker flags such as rpath for gazebo
executable.")
+
+set (FLTK_LIBRARIES "" CACHE STRING "Threadpool include paths. Use this to
override automatic detection.")
+set (FLTK_INCLUDE_DIR "" CACHE STRING "Threadpool include paths. Use this to
override automatic detection.")
+
+
########################################
# Find packages
if (PKG_CONFIG_FOUND)
@@ -392,68 +399,38 @@
########################################
# Find bullet
-FIND_PATH( bullet_include_dir btBulletDynamicsCommon.h ${bullet_include_dirs}
ENV CPATH)
-IF (NOT bullet_include_dir)
- MESSAGE (STATUS "Looking for btBulletDynamicsCommon.h - not found")
- SET (bullet_include_dir /usr/include)
-ELSE (NOT bullet_include_dir)
- MESSAGE (STATUS "Looking for btBulletDynamicsCommon.h - found")
-ENDIF (NOT bullet_include_dir)
+if (NOT bullet_include_dirs AND NOT bullet_library_dirs AND NOT bullet_lflags )
-FIND_LIBRARY(bullet_dynamics_library NAMES BulletDynamics
- PATHS ${bullet_dynamics_dirs} ENV LD_LIBRARY_PATH)
-FIND_LIBRARY(bullet_collision_library NAMES BulletCollision
- PATHS ${bullet_collision_dirs} ENV LD_LIBRARY_PATH)
-FIND_LIBRARY(bullet_softbody_library NAMES BulletSoftBody
- PATHS ${bullet_softbody_dirs} ENV LD_LIBRARY_PATH)
-FIND_LIBRARY(bullet_math_library NAMES LinearMath
- PATHS ${bullet_math_dirs} ENV LD_LIBRARY_PATH)
+ find_path(bullet_include_dir btBulletDynamicsCommon.h ${bullet_include_dirs}
ENV CPATH)
+
+ if (NOT bullet_include_dir)
+ #BUILD_ERROR("bullet not found. See the following website for installation
instructions: http://bullet.sourceforge.net";)
+ message (STATUS "Looking for btBulletDynamicsCommon.h - not found. Using
built in version.")
+ set (bullet_include_dirs /usr/include CACHE STRING
+ "bullet include paths. Use this to override automatic detection.")
+ else (NOT bullet_include_dir)
+ message (STATUS "Looking for btBulletDynamicsCommon.h - found")
+ set (assim_include_dirs ${bullet_include_dir} CACHE STRING
+ "bullet include paths. Use this to override automatic detection.")
+ endif (NOT bullet_include_dir)
+
+ find_library(bullet_library BulletDynamics ENV LD_LIBRARY_PATH)
+
+ if (NOT bullet_library)
+ message (STATUS "Looking for libBulletDynamics - not found. Using builtin
version.")
+ #BUILD_ERROR("libbullet not found. See the following website for
installation instructions: http://bullet.sourceforge.net";)
+ else (NOT bullet_library)
+ message (STATUS "Looking for libBulletDynamics - found")
+ APPEND_TO_CACHED_LIST(bullet_lflags
+ "bullet libraries Use this to override automatic
detection."
+ ${bullet_library})
+ endif (NOT bullet_library)
+
+ if (NOT bullet_include_dir OR NOT bullet_library)
+ message (STATUS "bullet not found")
+ endif (NOT bullet_include_dir OR NOT bullet_library)
-IF (NOT bullet_dynamics_library OR
- NOT bullet_collision_library OR
- NOT bullet_softbody_library OR
- NOT bullet_math_library)
- MESSAGE (STATUS "Looking for bullet libraries - not found")
-ELSE (NOT bullet_dynamics_library OR
- NOT bullet_collision_library OR
- NOT bullet_softbody_library OR
- NOT bullet_math_library)
- MESSAGE (STATUS "Looking for bullet libraries - found")
-ENDIF (NOT bullet_dynamics_library OR
- NOT bullet_collision_library OR
- NOT bullet_softbody_library OR
- NOT bullet_math_library)
+endif (NOT bullet_include_dirs AND NOT bullet_library_dirs AND NOT
bullet_lflags )
-IF (bullet_dynamics_library AND
- bullet_collision_library AND
- bullet_softbody_library AND
- bullet_math_library AND
- bullet_include_dir)
- SET (INCLUDE_BULLET TRUE CACHE BOOL "Include support for Bullet")
+set (INCLUDE_BULLET ON BOOL)
- APPEND_TO_CACHED_LIST(bullet_link_libs
- ${bullet_link_libs_desc}
- ${bullet_dynamics_library})
- APPEND_TO_CACHED_LIST(bullet_link_libs
- ${bullet_link_libs_desc}
- ${bullet_collision_library})
- APPEND_TO_CACHED_LIST(bullet_link_libs
- ${bullet_link_libs_desc}
- ${bullet_softbody_library})
- APPEND_TO_CACHED_LIST(bullet_link_libs
- ${bullet_link_libs_desc}
- ${bullet_math_library})
-
-
-ELSE (bullet_dynamics_library AND
- bullet_collision_library AND
- bullet_softbody_library AND
- bullet_math_library AND
- bullet_include_dir)
- SET (INCLUDE_BULLET FALSE CACHE BOOL "Include support for Bullet")
- MESSAGE (STATUS "Warning: Unable to find bullet. The bullet physics engine
will not be supported.")
-ENDIF (bullet_dynamics_library AND
- bullet_collision_library AND
- bullet_softbody_library AND
- bullet_math_library AND
- bullet_include_dir)
Modified: code/gazebo/trunk/server/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/CMakeLists.txt 2010-02-11 19:18:35 UTC (rev
8551)
+++ code/gazebo/trunk/server/CMakeLists.txt 2010-02-11 21:39:00 UTC (rev
8552)
@@ -2,8 +2,16 @@
########################################
# Include all the search paths for headers
+STRING (REPLACE " " ";" boost_include_dirs_split "${boost_include_dirs}")
+STRING (REPLACE " " ";" assimp_include_dirs_split "${assimp_include_dirs}")
+STRING (REPLACE " " ";" bullet_include_dirs_split "${bullet_include_dirs}")
STRING (REPLACE " " ";" threadpool_include_dirs_split
"${threadpool_include_dirs}")
+STRING (REPLACE " " ";" boost_library_dirs_split "${boost_library_dirs}")
+STRING (REPLACE " " ";" assimp_library_dirs_split "${assimp_library_dirs}")
+STRING (REPLACE " " ";" bullet_library_dirs_split "${bullet_library_dirs}")
+
+
INCLUDE_DIRECTORIES(
.
${CMAKE_SOURCE_DIR}/libgazebo
@@ -24,10 +32,10 @@
${LIBAVFORMAT_PATH}
${libtool_include_path}
${gazeboserver_include_dirs}
- ${boost_include_dirs}
- ${assimp_include_dirs}
+ ${boost_include_dirs_split}
+ ${assimp_include_dirs_split}
${freeimage_include_dir}
- ${bullet_include_dir}
+ ${bullet_include_dirs_split}
${threadpool_include_dirs_split}
${FLTK_INCLUDE_DIR}
)
@@ -36,12 +44,9 @@
${CMAKE_BINARY_DIR}/libgazebo
${CMAKE_BINARY_DIR}/server/gui
${CMAKE_BINARY_DIR}/server/physics/bullet
- ${boost_library_dirs}
- ${assimp_library_dirs}
- ${bullet_dynamics_dirs}
- ${bullet_collision_dirs}
- ${bullet_softbody_dirs}
- ${bullet_math_dirs}
+ ${boost_library_dirs_split}
+ ${assimp_library_dirs_split}
+ ${bullet_library_dirs_split}
${freeimage_library_dir}
${gazeboserver_link_dirs}
)
@@ -145,6 +150,8 @@
${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE}})
ENDIF (CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE})
+SET_TARGET_PROPERTIES( gazebo-exec PROPERTIES LINK_FLAGS "${LINK_FLAGS}
${gazebo_lflags}")
+
target_link_libraries( gazebo-exec ${libtool_library}
${gazeboserver_link_libs}
${boost_libraries}
@@ -162,9 +169,8 @@
target_link_libraries( gazebo_server ${libtool_library} ${freeimage_library}
gazebo gazebo_rendering gazebo_physics )
if (INCLUDE_BULLET)
- target_link_libraries(gazebo-exec gazebo_physics_bullet ${bullet_link_libs})
- target_link_libraries(gazebo-exec BulletDynamics)
- target_link_libraries(gazebo_server gazebo_physics_bullet
${bullet_link_libs})
+ target_link_libraries(gazebo-exec gazebo_physics_bullet ${bullet_lflags})
+ target_link_libraries(gazebo_server gazebo_physics_bullet ${bullet_lflags})
endif (INCLUDE_BULLET)
if (INCLUDE_ODE)
Modified: code/gazebo/trunk/server/physics/bullet/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/physics/bullet/CMakeLists.txt 2010-02-11
19:18:35 UTC (rev 8551)
+++ code/gazebo/trunk/server/physics/bullet/CMakeLists.txt 2010-02-11
21:39:00 UTC (rev 8552)
@@ -1,5 +1,13 @@
include (${gazebo_cmake_dir}/GazeboUtils.cmake)
+########################################
+# Include all the search paths for headers
+STRING (REPLACE " " ";" boost_include_dirs_split "${boost_include_dirs}")
+STRING (REPLACE " " ";" bullet_include_dirs_split "${bullet_include_dirs}")
+STRING (REPLACE " " ";" threadpool_include_dirs_split
"${threadpool_include_dirs}")
+STRING (REPLACE " " ";" boost_library_dirs_split "${boost_library_dirs}")
+STRING (REPLACE " " ";" bullet_library_dirs_split "${bullet_library_dirs}")
+
INCLUDE_DIRECTORIES(
.
${CMAKE_SOURCE_DIR}/libgazebo
@@ -20,9 +28,9 @@
${LIBAVFORMAT_PATH}
${libtool_include_path}
${gazeboserver_include_dirs}
- ${boost_include_dirs}
+ ${boost_include_dirs_split}
${freeimage_include_dir}
- ${bullet_include_dir}
+ ${bullet_include_dirs_split}
${threadpool_include_dirs_split}
${FLTK_INCLUDE_DIR}
)
@@ -31,11 +39,8 @@
${CMAKE_BINARY_DIR}/libgazebo
${CMAKE_BINARY_DIR}/server/gui
${CMAKE_BINARY_DIR}/server/physics/bullet
- ${boost_library_dirs}
- ${bullet_dynamics_dirs}
- ${bullet_collision_dirs}
- ${bullet_softbody_dirs}
- ${bullet_math_dirs}
+ ${boost_library_dirs_split}
+ ${bullet_library_dirs_split}
${freeimage_library_dir}
${gazeboserver_link_dirs}
)
@@ -54,8 +59,10 @@
#BulletRayGeom.cc
)
+
+
add_definitions(${bullet_cflags})
#add_definitions(mDBT_USE_DOUBLE_PRECISION -DBT_EULER_DEFAULT_ZYX)
ADD_LIBRARY(gazebo_physics_bullet SHARED ${sources})
-TARGET_LINK_LIBRARIES( gazebo_physics_bullet BulletDynamics BulletCollision
LinearMath )
+TARGET_LINK_LIBRARIES( gazebo_physics_bullet ${bullet_lflags} )
INSTALL( TARGETS gazebo_physics_bullet DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
)
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