Revision: 8358
http://playerstage.svn.sourceforge.net/playerstage/?rev=8358&view=rev
Author: natepak
Date: 2009-11-03 19:06:06 +0000 (Tue, 03 Nov 2009)
Log Message:
-----------
Added configure checks for bullet
Modified Paths:
--------------
code/gazebo/trunk/cmake/FindOde.cmake
code/gazebo/trunk/cmake/SearchForStuff.cmake
code/gazebo/trunk/config.h.in
code/gazebo/trunk/server/CMakeLists.txt
code/gazebo/trunk/server/World.cc
code/gazebo/trunk/server/physics/CMakeLists.txt
code/gazebo/trunk/server/physics/PhysicsFactory.cc
code/gazebo/trunk/worlds/simpleshapes.world
Modified: code/gazebo/trunk/cmake/FindOde.cmake
===================================================================
--- code/gazebo/trunk/cmake/FindOde.cmake 2009-11-03 18:05:44 UTC (rev
8357)
+++ code/gazebo/trunk/cmake/FindOde.cmake 2009-11-03 19:06:06 UTC (rev
8358)
@@ -39,11 +39,9 @@
IF (NOT ODE_FOUND)
BUILD_ERROR ("ODE and development files not found. See the following
website: http://www.ode.org";)
+ SET (INCLUDE_ODE FALSE CACHE BOOL "Include support for ODE")
ELSE (NOT ODE_FOUND)
- #SET (CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} ${ODE_CFLAGS_OTHER}"
CACHE INTERNAL "added dSINGLE" FORCE)
- #SET (CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} ${ODE_CFLAGS_OTHER}"
CACHE INTERNAL "added dSINGLE" FORCE)
- #SET (CMAKE_C_FLAGS_PROFILE "${CMAKE_C_FLAGS_PROFILE} ${ODE_CFLAGS_OTHER}"
CACHE INTERNAL "added dSINGLE" FORCE)
- #MESSAGE (STATUS "\n\ndebug\n" ${CMAKE_C_FLAGS_DEBUG} "\n\n")
+ SET (INCLUDE_ODE TRUE CACHE BOOL "Include support for ODE")
APPEND_TO_CACHED_LIST(gazeboserver_cflags
${gazeboserver_cflags_desc}
Modified: code/gazebo/trunk/cmake/SearchForStuff.cmake
===================================================================
--- code/gazebo/trunk/cmake/SearchForStuff.cmake 2009-11-03 18:05:44 UTC
(rev 8357)
+++ code/gazebo/trunk/cmake/SearchForStuff.cmake 2009-11-03 19:06:06 UTC
(rev 8358)
@@ -363,6 +363,7 @@
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
Modified: code/gazebo/trunk/config.h.in
===================================================================
--- code/gazebo/trunk/config.h.in 2009-11-03 18:05:44 UTC (rev 8357)
+++ code/gazebo/trunk/config.h.in 2009-11-03 19:06:06 UTC (rev 8358)
@@ -7,3 +7,5 @@
#cmakedefine HAVE_FFMPEG 1
#cmakedefine HAVE_LTDL 1
#cmakedefine ENABLE_SHADOWS 0
+#cmakedefine INCLUDE_BULLET 0
+#cmakedefine INCLUDE_ODE 1
Modified: code/gazebo/trunk/server/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/CMakeLists.txt 2009-11-03 18:05:44 UTC (rev
8357)
+++ code/gazebo/trunk/server/CMakeLists.txt 2009-11-03 19:06:06 UTC (rev
8358)
@@ -140,13 +140,20 @@
${freeimage_library}
gazebo_av-shared
gazebo_gui-shared
- gazebo_physics_ode
- gazebo_physics_bullet
gazebo
)
-TARGET_LINK_LIBRARIES( gazebo_server ${ODE_LIBRARIES} ${libtool_library}
${freeimage_library} gazebo)
+if (INCLUDE_BULLET)
+ TARGET_LINK_LIBRARIES(gazebo-exec gazebo_physics_bullet)
+endif (INCLUDE_BULLET)
+if (INCLUDE_ODE)
+ TARGET_LINK_LIBRARIES(gazebo-exec gazebo_physics_ode)
+ TARGET_LINK_LIBRARIES( gazebo_server ${ODE_LIBRARIES})
+endif (INCLUDE_ODE)
+
+TARGET_LINK_LIBRARIES( gazebo_server ${libtool_library} ${freeimage_library}
gazebo)
+
INSTALL (TARGETS gazebo-exec DESTINATION ${CMAKE_INSTALL_PREFIX}/bin)
INSTALL (TARGETS gazebo_server DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
INSTALL (FILES ${gazeboserver_headers} DESTINATION
${CMAKE_INSTALL_PREFIX}/include/gazebo COMPONENT headers)
Modified: code/gazebo/trunk/server/World.cc
===================================================================
--- code/gazebo/trunk/server/World.cc 2009-11-03 18:05:44 UTC (rev 8357)
+++ code/gazebo/trunk/server/World.cc 2009-11-03 19:06:06 UTC (rev 8358)
@@ -183,7 +183,11 @@
XMLConfigNode *physicsNode = rootNode->GetChildByNSPrefix("physics");
if (Simulator::Instance()->GetPhysicsEnabled() && physicsNode)
+ {
this->physicsEngine = PhysicsFactory::NewPhysicsEngine(
physicsNode->GetName());
+ if (this->physicsEngine == NULL)
+ gzthrow("Unable to create physics engine\n");
+ }
this->LoadEntities(rootNode, NULL, false);
Modified: code/gazebo/trunk/server/physics/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/physics/CMakeLists.txt 2009-11-03 18:05:44 UTC
(rev 8357)
+++ code/gazebo/trunk/server/physics/CMakeLists.txt 2009-11-03 19:06:06 UTC
(rev 8358)
@@ -1,8 +1,13 @@
include (${gazebo_cmake_dir}/GazeboUtils.cmake)
-add_subdirectory(ode)
-add_subdirectory(bullet)
+if (INCLUDE_ODE)
+ add_subdirectory(ode)
+endif (INCLUDE_ODE)
+if (INCLUDE_BULLET)
+ add_subdirectory(bullet)
+endif (INCLUDE_BULLET)
+
set (sources Body.cc
PhysicsFactory.cc
PhysicsEngine.cc
Modified: code/gazebo/trunk/server/physics/PhysicsFactory.cc
===================================================================
--- code/gazebo/trunk/server/physics/PhysicsFactory.cc 2009-11-03 18:05:44 UTC
(rev 8357)
+++ code/gazebo/trunk/server/physics/PhysicsFactory.cc 2009-11-03 19:06:06 UTC
(rev 8358)
@@ -27,9 +27,15 @@
#include "PhysicsEngine.hh"
#include "PhysicsFactory.hh"
+#include "config.h"
+#ifdef INCLUDE_ODE
void RegisterODEPhysics();
+#endif
+
+#ifdef INCLUDE_BULLET
void RegisterBulletPhysics();
+#endif
using namespace gazebo;
@@ -39,8 +45,13 @@
/// Register everything
void PhysicsFactory::RegisterAll()
{
+#ifdef INCLUDE_ODE
RegisterODEPhysics();
+#endif
+
+#ifdef INCLUDE_BULLET
RegisterBulletPhysics();
+#endif
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/worlds/simpleshapes.world
===================================================================
--- code/gazebo/trunk/worlds/simpleshapes.world 2009-11-03 18:05:44 UTC (rev
8357)
+++ code/gazebo/trunk/worlds/simpleshapes.world 2009-11-03 19:06:06 UTC (rev
8358)
@@ -14,7 +14,7 @@
<verbosity>5</verbosity>
- <physics:ode>
+ <physics:bullet>
<stepTime>0.001</stepTime>
<gravity>0 0 -9.8</gravity>
<cfm>10e-2</cfm>
@@ -24,7 +24,7 @@
0 == No throttling
>0 == Frequency at which to throttle the sim -->
<updateRate>0</updateRate>
- </physics:ode>
+ </physics:bullet>
<rendering:gui>
<type>fltk</type>
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