Revision: 8364
http://playerstage.svn.sourceforge.net/playerstage/?rev=8364&view=rev
Author: natepak
Date: 2009-11-04 16:37:44 +0000 (Wed, 04 Nov 2009)
Log Message:
-----------
Cleaned up the build for bullet
Modified Paths:
--------------
code/gazebo/trunk/CMakeLists.txt
code/gazebo/trunk/cmake/GazeboUtils.cmake
code/gazebo/trunk/cmake/SearchForStuff.cmake
code/gazebo/trunk/server/CMakeLists.txt
code/gazebo/trunk/server/physics/bullet/BulletBody.hh
code/gazebo/trunk/server/physics/bullet/BulletPhysics.cc
code/gazebo/trunk/server/physics/bullet/BulletPhysics.hh
code/gazebo/trunk/server/physics/bullet/CMakeLists.txt
Modified: code/gazebo/trunk/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/CMakeLists.txt 2009-11-03 22:43:17 UTC (rev 8363)
+++ code/gazebo/trunk/CMakeLists.txt 2009-11-04 16:37:44 UTC (rev 8364)
@@ -30,6 +30,9 @@
SET (gazebocontroller_sources_desc "List of controller sources"
CACHE INTERNAL "Gazebo controller sources list description" FORCE)
+SET (bullet_link_libs_desc "List of bullet link libraries"
+ CACHE INTERNAL "Bullet link libs description" FORCE)
+
SET (OGRE_VERSION 1.6.4 CACHE INTERNAL "Ogre version requirement" FORCE)
SET (FREEIMAGE_MAJOR_VERSION 3 CACHE INTERNAL "FreeImage major version
requirement" FORCE)
Modified: code/gazebo/trunk/cmake/GazeboUtils.cmake
===================================================================
--- code/gazebo/trunk/cmake/GazeboUtils.cmake 2009-11-03 22:43:17 UTC (rev
8363)
+++ code/gazebo/trunk/cmake/GazeboUtils.cmake 2009-11-04 16:37:44 UTC (rev
8364)
@@ -98,4 +98,6 @@
${gazebosensor_sources_desc} FORCE)
SET (gazebocontroller_sources "" CACHE INTERNAL
${gazebocontroller_sources_desc} FORCE)
+ set (bullet_link_libs "" CACHE INTERNAL
+ ${bullet_link_libs_desc} FORCE)
ENDMACRO (GAZEBOSERVER_RESET_LISTS)
Modified: code/gazebo/trunk/cmake/SearchForStuff.cmake
===================================================================
--- code/gazebo/trunk/cmake/SearchForStuff.cmake 2009-11-03 22:43:17 UTC
(rev 8363)
+++ code/gazebo/trunk/cmake/SearchForStuff.cmake 2009-11-04 16:37:44 UTC
(rev 8364)
@@ -344,18 +344,18 @@
bullet_math_library AND
bullet_include_dir)
SET (INCLUDE_BULLET TRUE CACHE BOOL "Include support for Bullet")
- APPEND_TO_CACHED_LIST(gazeboserver_link_libs
- ${gazeboserver_link_libs_desc}
+ APPEND_TO_CACHED_LIST(bullet_link_libs
+ ${bullet_link_libs_desc}
BulletDynamics)
- APPEND_TO_CACHED_LIST(gazeboserver_link_libs
- ${gazeboserver_link_libs_desc}
+ APPEND_TO_CACHED_LIST(bullet_link_libs
+ ${bullet_link_libs_desc}
BulletCollision)
- APPEND_TO_CACHED_LIST(gazeboserver_link_libs
- ${gazeboserver_link_libs_desc}
+ APPEND_TO_CACHED_LIST(bullet_link_libs
+ ${bullet_link_libs_desc}
BulletSoftBody)
- APPEND_TO_CACHED_LIST(gazeboserver_link_libs
- ${gazeboserver_link_libs_desc}
- LinearMath)
+ APPEND_TO_CACHED_LIST(bullet_link_libs
+ ${bullet_link_libs_desc}
+ LinearMath)
ELSE (bullet_dynamics_library AND
Modified: code/gazebo/trunk/server/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/CMakeLists.txt 2009-11-03 22:43:17 UTC (rev
8363)
+++ code/gazebo/trunk/server/CMakeLists.txt 2009-11-04 16:37:44 UTC (rev
8364)
@@ -144,12 +144,13 @@
)
if (INCLUDE_BULLET)
- TARGET_LINK_LIBRARIES(gazebo-exec gazebo_physics_bullet)
+ TARGET_LINK_LIBRARIES(gazebo-exec gazebo_physics_bullet ${bullet_link_libs})
+ TARGET_LINK_LIBRARIES(gazebo_server gazebo_physics_bullet
${bullet_link_libs})
endif (INCLUDE_BULLET)
if (INCLUDE_ODE)
- TARGET_LINK_LIBRARIES(gazebo-exec gazebo_physics_ode)
- TARGET_LINK_LIBRARIES( gazebo_server ${ODE_LIBRARIES})
+ TARGET_LINK_LIBRARIES(gazebo-exec gazebo_physics_ode ${ODE_LIBRARIES})
+ TARGET_LINK_LIBRARIES(gazebo_server gazebo_physics_ode ${ODE_LIBRARIES})
endif (INCLUDE_ODE)
TARGET_LINK_LIBRARIES( gazebo_server ${libtool_library} ${freeimage_library}
gazebo)
Modified: code/gazebo/trunk/server/physics/bullet/BulletBody.hh
===================================================================
--- code/gazebo/trunk/server/physics/bullet/BulletBody.hh 2009-11-03
22:43:17 UTC (rev 8363)
+++ code/gazebo/trunk/server/physics/bullet/BulletBody.hh 2009-11-04
16:37:44 UTC (rev 8364)
@@ -27,15 +27,12 @@
#ifndef BulletBODY_HH
#define BulletBODY_HH
-#include <btBulletCollisionCommon.h>
-#include <btBulletDynamicsCommon.h>
-
+#include "BulletPhysics.hh"
#include "Body.hh"
namespace gazebo
{
class XMLConfigNode;
- class BulletPhysics;
class BulletMotionState;
class BulletGeom;
Modified: code/gazebo/trunk/server/physics/bullet/BulletPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/bullet/BulletPhysics.cc 2009-11-03
22:43:17 UTC (rev 8363)
+++ code/gazebo/trunk/server/physics/bullet/BulletPhysics.cc 2009-11-04
16:37:44 UTC (rev 8364)
@@ -24,8 +24,6 @@
* SVN: $Id: BulletPhysics.cc 7714 2009-05-23 18:08:49Z natepak $
*/
-#include <assert.h>
-
#include "BulletBody.hh"
#include "BulletPlaneShape.hh"
#include "BulletSphereShape.hh"
@@ -50,10 +48,10 @@
#include "Entity.hh"
#include "XMLConfig.hh"
-#include "BulletPhysics.hh"
-
#include "Simulator.hh"
+#include "BulletPhysics.hh"
+
using namespace gazebo;
GZ_REGISTER_PHYSICS_ENGINE("bullet", BulletPhysics);
Modified: code/gazebo/trunk/server/physics/bullet/BulletPhysics.hh
===================================================================
--- code/gazebo/trunk/server/physics/bullet/BulletPhysics.hh 2009-11-03
22:43:17 UTC (rev 8363)
+++ code/gazebo/trunk/server/physics/bullet/BulletPhysics.hh 2009-11-04
16:37:44 UTC (rev 8364)
@@ -28,15 +28,16 @@
#define BULLETPHYSICS_HH
#include <btBulletDynamicsCommon.h>
+#include <btBulletCollisionCommon.h>
+#include <boost/thread/thread.hpp>
+#include <boost/thread/mutex.hpp>
+
#include "Param.hh"
#include "PhysicsEngine.hh"
#include "Geom.hh"
#include "Shape.hh"
-#include <boost/thread/thread.hpp>
-#include <boost/thread/mutex.hpp>
-
namespace gazebo
{
class Entity;
Modified: code/gazebo/trunk/server/physics/bullet/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/physics/bullet/CMakeLists.txt 2009-11-03
22:43:17 UTC (rev 8363)
+++ code/gazebo/trunk/server/physics/bullet/CMakeLists.txt 2009-11-04
16:37:44 UTC (rev 8364)
@@ -14,12 +14,6 @@
)
#ADD_DEFINITIONS(-DBT_USE_DOUBLE_PRECISION -DBT_EULER_DEFAULT_ZYX)
-
-ADD_LIBRARY(gazebo_physics_bullet STATIC ${sources})
-
-# Removes colon separated rpath. This breaks Ubuntu-intrepid
-# (possibly gcc-4.3.2).
-SET_TARGET_PROPERTIES(gazebo_physics_bullet PROPERTIES SKIP_BUILD_RPATH TRUE)
-
-TARGET_LINK_LIBRARIES( gazebo_physics_bullet BulletCollision LinearMath
BulletDynamics)
-INSTALL ( TARGETS gazebo_physics_bullet DESTINATION
${CMAKE_INSTALL_PREFIX}/lib )
+ADD_LIBRARY(gazebo_physics_bullet SHARED ${sources})
+TARGET_LINK_LIBRARIES( gazebo_physics_bullet BulletDynamics BulletCollision
LinearMath )
+INSTALL( TARGETS gazebo_physics_bullet DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
)
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