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add premake4.lua build for BulletRobotics target, C++ API, similar to…
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… PyBullet. Use BulletRobotics target for App_HelloBulletRobotics (without GUI) and App_RobotSimulator
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@erwincoumans
erwincoumans committed Jun 9, 2018
1 parent 8a70afa commit 046a86c
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Showing 3 changed files with 248 additions and 85 deletions.
179 changes: 179 additions & 0 deletions Extras/BulletRobotics/premake4.lua
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Original file line number Diff line number Diff line change
@@ -0,0 +1,179 @@


project ("BulletRobotics")
language "C++"
kind "StaticLib"

includedirs {"../../src", "../../examples",
"../../examples/ThirdPartyLibs"}
defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
hasCL = findOpenCL("clew")

links{"BulletExampleBrowserLib","gwen", "BulletFileLoader","BulletWorldImporter","OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK", "Bullet3Common"}
initOpenGL()
initGlew()

includedirs {
"../../src",
"../../examples",
"../../examples/SharedMemory",
"../ThirdPartyLibs",
"../ThirdPartyLibs/enet/include",
"../ThirdPartyLibs/clsocket/src",
}

if os.is("MacOSX") then
-- targetextension {"so"}
links{"Cocoa.framework","Python"}
end


if not _OPTIONS["no-enet"] then

includedirs {"../../examples/ThirdPartyLibs/enet/include"}

if os.is("Windows") then
-- targetextension {"dylib"}
defines { "WIN32" }
links {"Ws2_32","Winmm"}
end
if os.is("Linux") then
end
if os.is("MacOSX") then
end

links {"enet"}

files {
"../../examples/SharedMemory/PhysicsClientUDP.cpp",
"../../examples/SharedMemory/PhysicsClientUDP.h",
"../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp",
"../../examples/SharedMemory/PhysicsClientUDP_C_API.h",
}
defines {"BT_ENABLE_ENET"}
end

if not _OPTIONS["no-clsocket"] then

includedirs {"../../examples/ThirdPartyLibs/clsocket/src"}

if os.is("Windows") then
defines { "WIN32" }
links {"Ws2_32","Winmm"}
end
if os.is("Linux") then
defines {"_LINUX"}
end
if os.is("MacOSX") then
defines {"_DARWIN"}
end

links {"clsocket"}

files {
"../../examples/SharedMemory/PhysicsClientTCP.cpp",
"../../examples/SharedMemory/PhysicsClientTCP.h",
"../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp",
"../../examples/SharedMemory/PhysicsClientTCP_C_API.h",
}
defines {"BT_ENABLE_CLSOCKET"}
end


files {
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h",
"../../examples/SharedMemory/IKTrajectoryHelper.cpp",
"../../examples/SharedMemory/IKTrajectoryHelper.h",
"../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
"../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
"../../examples/OpenGLWindow/SimpleCamera.cpp",
"../../examples/OpenGLWindow/SimpleCamera.h",
"../../examples/TinyRenderer/geometry.cpp",
"../../examples/TinyRenderer/model.cpp",
"../../examples/TinyRenderer/tgaimage.cpp",
"../../examples/TinyRenderer/our_gl.cpp",
"../../examples/TinyRenderer/TinyRenderer.cpp",
"../../examples/SharedMemory/InProcessMemory.cpp",
"../../examples/SharedMemory/PhysicsClient.cpp",
"../../examples/SharedMemory/PhysicsClient.h",
"../../examples/SharedMemory/PhysicsServer.cpp",
"../../examples/SharedMemory/PhysicsServer.h",
"../../examples/SharedMemory/PhysicsServerSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsServerSharedMemory.h",
"../../examples/SharedMemory/PhysicsDirect.cpp",
"../../examples/SharedMemory/PhysicsDirect.h",
"../../examples/SharedMemory/PhysicsDirectC_API.cpp",
"../../examples/SharedMemory/PhysicsDirectC_API.h",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.h",
"../../examples/SharedMemory/b3PluginManager.cpp",
"../../examples/SharedMemory/b3PluginManager.h",

"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp",
"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h",
"../../examples/SharedMemory/PhysicsClientC_API.cpp",

"../../examples/SharedMemory/PhysicsClientC_API.h",
"../../examples/SharedMemory/SharedMemoryPublic.h",

"../../examples/SharedMemory/Win32SharedMemory.cpp",
"../../examples/SharedMemory/Win32SharedMemory.h",
"../../examples/SharedMemory/PosixSharedMemory.cpp",
"../../examples/SharedMemory/PosixSharedMemory.h",

"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
"../../examples/Utils/RobotLoggingUtil.cpp",
"../../examples/Utils/RobotLoggingUtil.h",
"../../examples/Utils/b3Clock.cpp",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ERPCFMHelper.hpp",
"../../examples/Utils/b3ReferenceFrameHelper.hpp",
"../../examples/Utils/ChromeTraceUtil.cpp",

"../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp",

"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",

"../../examples/ThirdPartyLibs/stb_image/stb_image.cpp",

"../../examples/ThirdPartyLibs/BussIK/Jacobian.cpp",
"../../examples/ThirdPartyLibs/BussIK/LinearR2.cpp",
"../../examples/ThirdPartyLibs/BussIK/LinearR3.cpp",
"../../examples/ThirdPartyLibs/BussIK/LinearR4.cpp",
"../../examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp",
"../../examples/ThirdPartyLibs/BussIK/Misc.cpp",
"../../examples/ThirdPartyLibs/BussIK/Node.cpp",
"../../examples/ThirdPartyLibs/BussIK/Tree.cpp",
"../../examples/ThirdPartyLibs/BussIK/VectorRn.cpp",

"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
"../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
"../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",

"../../examples/MultiThreading/b3PosixThreadSupport.cpp",
"../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
}

if (_OPTIONS["enable_static_vr_plugin"]) then
files {"../../examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
end



1 change: 1 addition & 0 deletions Extras/premake4.lua
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Original file line number Diff line number Diff line change
Expand Up @@ -7,3 +7,4 @@ include "Serialize/BulletFileLoader"
include "Serialize/BulletWorldImporter"
include "Serialize/BulletXmlWorldImporter"
include "obj2sdf"
include "BulletRobotics"
153 changes: 68 additions & 85 deletions examples/RobotSimulator/premake4.lua
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Original file line number Diff line number Diff line change
@@ -1,73 +1,4 @@

myfiles =
{

"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp",
"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h",
"../../examples/SharedMemory/IKTrajectoryHelper.cpp",
"../../examples/SharedMemory/IKTrajectoryHelper.h",
"../../examples/ExampleBrowser/InProcessExampleBrowser.cpp",
"../../examples/SharedMemory/InProcessMemory.cpp",
"../../examples/SharedMemory/PhysicsClient.cpp",
"../../examples/SharedMemory/PhysicsClient.h",
"../../examples/SharedMemory/PhysicsServer.cpp",
"../../examples/SharedMemory/PhysicsServer.h",
"../../examples/SharedMemory/PhysicsServerExample.cpp",
"../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp",
"../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
"../../examples/SharedMemory/PhysicsServerSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsServerSharedMemory.h",
"../../examples/SharedMemory/PhysicsDirect.cpp",
"../../examples/SharedMemory/PhysicsDirect.h",
"../../examples/SharedMemory/PhysicsDirectC_API.cpp",
"../../examples/SharedMemory/PhysicsDirectC_API.h",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp",
"../../examples/SharedMemory/PhysicsServerCommandProcessor.h",
"../../examples/SharedMemory/b3PluginManager.cpp",

"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp",
"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h",
"../../examples/SharedMemory/PhysicsClientC_API.cpp",
"../../examples/SharedMemory/PhysicsClientC_API.h",
"../../examples/SharedMemory/Win32SharedMemory.cpp",
"../../examples/SharedMemory/Win32SharedMemory.h",
"../../examples/SharedMemory/PosixSharedMemory.cpp",
"../../examples/SharedMemory/PosixSharedMemory.h",
"../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
"../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
"../../examples/TinyRenderer/geometry.cpp",
"../../examples/TinyRenderer/model.cpp",
"../../examples/TinyRenderer/tgaimage.cpp",
"../../examples/TinyRenderer/our_gl.cpp",
"../../examples/TinyRenderer/TinyRenderer.cpp",
"../../examples/Utils/b3ResourcePath.cpp",
"../../examples/Utils/b3ResourcePath.h",
"../../examples/Utils/RobotLoggingUtil.cpp",
"../../examples/Utils/RobotLoggingUtil.h",
"../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
"../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
"../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
"../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
"../../examples/MultiThreading/b3PosixThreadSupport.cpp",
"../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
"../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
"../../examples/ThirdPartyLibs/stb_image/stb_image.cpp",
}

project ("App_RobotSimulator")

Expand All @@ -78,9 +9,8 @@ project ("App_RobotSimulator")
"../../examples/ThirdPartyLibs"}
defines {"B3_USE_ROBOTSIM_GUI", "PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}

hasCL = findOpenCL("clew")

links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletFileLoader","BulletWorldImporter","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK","Bullet3Common"}
links{"BulletRobotics", "BulletExampleBrowserLib", "gwen", "OpenGL_Window","BulletFileLoader","BulletWorldImporter","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","Bullet3Common"}
initOpenGL()
initGlew()

Expand All @@ -96,17 +26,6 @@ project ("App_RobotSimulator")
links{"Cocoa.framework"}
end

if (hasCL) then
links {
"Bullet3OpenCL_clew",
"Bullet3Dynamics",
"Bullet3Collision",
"Bullet3Geometry",
"Bullet3Common",
}
end



if not _OPTIONS["no-enet"] then

Expand Down Expand Up @@ -200,7 +119,10 @@ if not _OPTIONS["no-enet"] then
"b3RobotSimulatorClientAPI.h",
"MinitaurSetup.cpp",
"MinitaurSetup.h",
myfiles
"../../examples/ExampleBrowser/InProcessExampleBrowser.cpp",
"../../examples/SharedMemory/PhysicsServerExample.cpp",
"../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp",
"../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
}

if (_OPTIONS["enable_static_vr_plugin"]) then
Expand All @@ -225,7 +147,7 @@ project ("App_VRGloveHandSimulator")

hasCL = findOpenCL("clew")

links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletFileLoader","BulletWorldImporter","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK","Bullet3Common"}
links{"BulletRobotics", "BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletFileLoader","BulletWorldImporter","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK","Bullet3Common"}
initOpenGL()
initGlew()

Expand Down Expand Up @@ -288,7 +210,7 @@ project ("App_VRGloveHandSimulator")
"VRGloveSimulatorMain.cpp",
"b3RobotSimulatorClientAPI.cpp",
"b3RobotSimulatorClientAPI.h",
myfiles

}

if (_OPTIONS["enable_static_vr_plugin"]) then
Expand All @@ -299,3 +221,64 @@ end
initX11()
end
end


project ("App_HelloBulletRobotics")

language "C++"
kind "ConsoleApp"

links{"BulletRobotics","BulletFileLoader","BulletWorldImporter","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","Bullet3Common"}

includedirs {
".",
"../../src",
"../../examples/SharedMemory",
"../ThirdPartyLibs",
}

if not _OPTIONS["no-enet"] then

includedirs {"../../examples/ThirdPartyLibs/enet/include"}

if os.is("Windows") then
defines { "WIN32" }
links {"Ws2_32","Winmm"}
end
if os.is("Linux") then
end
if os.is("MacOSX") then
end
links {"enet"}
defines {"BT_ENABLE_ENET"}
end

if not _OPTIONS["no-clsocket"] then

includedirs {"../../examples/ThirdPartyLibs/clsocket/src"}

if os.is("Windows") then
defines { "WIN32" }
links {"Ws2_32","Winmm"}
end
if os.is("Linux") then
defines {"_LINUX"}
end
if os.is("MacOSX") then
defines {"_DARWIN"}
end

links {"clsocket"}
defines {"BT_ENABLE_CLSOCKET"}
end

if os.is("MacOSX") then
links{"Cocoa.framework"}
end


files {
"HelloBulletRobotics.cpp"
}


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