bullet 2.82

dglyoo · Apr 18, 2014 · 2018d36 · 2018d36
1 parent ed1974d
commit 2018d36
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diff --git a/README.markdown b/README.markdown
@@ -267,10 +267,8 @@ following steps:
     ok.
 
 
-TODO
-====
+Upstream Version
+================
 
-  * The HEAP memory space may not be implemented as a flat object in
-    all JS engines, especially when we use a lot of memory. Need to
-    investigate this.
+Bullet 2.82
 
diff --git a/bullet/BulletConfig.cmake.in b/bullet/BulletConfig.cmake.in
@@ -0,0 +1,25 @@
+#                                               -*- cmake -*-
+#
+#  BulletConfig.cmake(.in)
+#
+
+# Use the following variables to compile and link against Bullet:
+#  BULLET_FOUND              - True if Bullet was found on your system
+#  BULLET_USE_FILE           - The file making Bullet usable
+#  BULLET_DEFINITIONS        - Definitions needed to build with Bullet
+#  BULLET_INCLUDE_DIR        - Directory where Bullet-C-Api.h can be found
+#  BULLET_INCLUDE_DIRS       - List of directories of Bullet and it's dependencies
+#  BULLET_LIBRARIES          - List of libraries to link against Bullet library
+#  BULLET_LIBRARY_DIRS       - List of directories containing Bullet' libraries
+#  BULLET_ROOT_DIR           - The base directory of Bullet
+#  BULLET_VERSION_STRING     - A human-readable string containing the version
+
+set ( BULLET_FOUND 1 )
+set ( BULLET_USE_FILE     "@BULLET_USE_FILE@" )
+set ( BULLET_DEFINITIONS  "@BULLET_DEFINITIONS@" )
+set ( BULLET_INCLUDE_DIR  "@INCLUDE_INSTALL_DIR@" )
+set ( BULLET_INCLUDE_DIRS "@INCLUDE_INSTALL_DIR@" )
+set ( BULLET_LIBRARIES    "@BULLET_LIBRARIES@" )
+set ( BULLET_LIBRARY_DIRS "@LIB_DESTINATION@" )
+set ( BULLET_ROOT_DIR     "@CMAKE_INSTALL_PREFIX@" )
+set ( BULLET_VERSION_STRING "@BULLET_VERSION@" )
diff --git a/bullet/Bullet_User_Manual.pdf b/bullet/Bullet_User_Manual.pdf
diff --git a/bullet/CMakeLists.txt b/bullet/CMakeLists.txt
@@ -5,7 +5,7 @@ set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true)
 SET(MSVC_INCREMENTAL_DEFAULT ON)
 
 PROJECT(BULLET_PHYSICS)
-SET(BULLET_VERSION 2.78)
+SET(BULLET_VERSION 2.82)
 
 IF(COMMAND cmake_policy)
    cmake_policy(SET CMP0003 NEW)
@@ -22,11 +22,7 @@ SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG")
 
 OPTION(USE_DOUBLE_PRECISION "Use double precision"	OFF)
 OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON)
-OPTION(USE_MULTITHREADED_BENCHMARK "Use Multithreaded Benchmark" OFF)
 
-IF (USE_MULTITHREADED_BENCHMARK)
-	ADD_DEFINITIONS(-DUSE_PARALLEL_SOLVER_BENCHMARK -DUSE_PARALLEL_DISPATCHER_BENCHMARK)
-ENDIF()
 
 OPTION(USE_MSVC_RUNTIME_LIBRARY_DLL "Use MSVC Runtime Library DLL (/MD or /MDd)" OFF)
 OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF)
@@ -42,14 +38,141 @@ IF (USE_CUSTOM_VECTOR_MATH)
 	ENDIF(WIN32)
 ENDIF(USE_CUSTOM_VECTOR_MATH)
 
-IF (MSVC)
-	FIND_PATH(DIRECTX_SDK_BASE_DIR Include/D3D11.h PATH  $ENV{DXSDK_DIR} )
-	IF(DIRECTX_SDK_BASE_DIR)
-		OPTION(USE_DX11 "Use DirectX 11"	ON)
+
+IF (APPLE OR MSVC)
+	OPTION(BUILD_MULTITHREADING "Use BulletMultiThreading" ON)
+ELSE()
+	OPTION(BUILD_MULTITHREADING "Use BulletMultiThreading" OFF)
+ENDIF()
+
+IF (BUILD_MULTITHREADING)
+	OPTION(USE_MULTITHREADED_BENCHMARK "Use Multithreaded Benchmark" OFF)
+	IF (USE_MULTITHREADED_BENCHMARK)
+		ADD_DEFINITIONS(-DUSE_PARALLEL_SOLVER_BENCHMARK -DUSE_PARALLEL_DISPATCHER_BENCHMARK)
+	ENDIF(USE_MULTITHREADED_BENCHMARK)
+
+	IF (MSVC OR APPLE)
+		OPTION(BUILD_MINICL_OPENCL_DEMOS "Build OpenCL demos for MiniCL (Generic CPU)"  ON)
 	ELSE()
-		OPTION(USE_DX11 "Use DirectX 11"	OFF)
-	ENDIF()
-ENDIF(MSVC)
+		OPTION(BUILD_MINICL_OPENCL_DEMOS "Build OpenCL demos for MiniCL (Generic CPU)" OFF)
+	ENDIF(MSVC OR APPLE)
+
+	IF(MSVC)
+		FIND_PATH(DIRECTX_SDK_BASE_DIR Include/D3D11.h PATH  $ENV{DXSDK_DIR} )
+		IF(DIRECTX_SDK_BASE_DIR)
+			OPTION(USE_DX11 "Use DirectX 11"	ON)
+		ELSE()
+			OPTION(USE_DX11 "Use DirectX 11"	OFF)
+		ENDIF()
+
+		FIND_PATH(AMD_OPENCL_BASE_DIR include/CL/cl.h PATH  $ENV{ATISTREAMSDKROOT} $ENV{AMDAPPSDKROOT} )
+		IF(AMD_OPENCL_BASE_DIR)
+			#AMD adds an extras slash at the end of the ATISTREAMSDKROOT variable
+			SET(AMD_OPENCL_INCLUDES ${AMD_OPENCL_BASE_DIR}/include )
+			MESSAGE("AMD OPENCL SDK FOUND")
+			IF (CMAKE_CL_64)
+				SET(CMAKE_ATISTREAMSDK_LIBPATH 		${AMD_OPENCL_BASE_DIR}/lib/x86_64 )
+			ELSE(CMAKE_CL_64)
+				SET(CMAKE_ATISTREAMSDK_LIBPATH		${AMD_OPENCL_BASE_DIR}/lib/x86 )
+			ENDIF(CMAKE_CL_64)
+			SET(CMAKE_ATISTREAMSDK_LIBRARY		${CMAKE_ATISTREAMSDK_LIBPATH}/OpenCL.lib )
+			OPTION(BUILD_AMD_OPENCL_DEMOS "Build OpenCL demos for AMD (GPU or CPU)"	ON)
+			IF (CMAKE_CL_64)
+				SET(CMAK_GLEW_LIBRARY
+					${BULLET_PHYSICS_SOURCE_DIR}/Glut/glew64s.lib		)
+			ELSE(CMAKE_CL_64)
+				SET(CMAK_GLEW_LIBRARY		${BULLET_PHYSICS_SOURCE_DIR}/Glut/glew32s.lib		)
+			ENDIF(CMAKE_CL_64)
+		ELSE()
+			OPTION(BUILD_AMD_OPENCL_DEMOS "Build OpenCL demos for AMD (GPU or CPU)"	OFF)
+		ENDIF()
+
+		FIND_PATH(INTEL_OPENCL_BASE_DIR include/CL/cl.h PATH  $ENV{INTELOCLSDKROOT} )
+		IF(INTEL_OPENCL_BASE_DIR)
+			SET(INTEL_OPENCL_INCLUDES ${INTEL_OPENCL_BASE_DIR}/include )
+			MESSAGE("INTEL OPENCL SDK FOUND")
+			MESSAGE(${INTEL_OPENCL_INCLUDES})
+			IF (CMAKE_CL_64)
+				SET(CMAKE_INTELOCLSDK_LIBPATH 		${INTEL_OPENCL_BASE_DIR}/lib/x64 )
+			ELSE(CMAKE_CL_64)
+				SET(CMAKE_INTELOCLSDK_LIBPATH		${INTEL_OPENCL_BASE_DIR}/lib/x86 )
+			ENDIF(CMAKE_CL_64)
+			SET(INTEL_OPENCL_LIBRARIES ${CMAKE_INTELOCLSDK_LIBPATH}/OpenCL.lib)
+			OPTION(BUILD_INTEL_OPENCL_DEMOS "Build OpenCL demos for Intel (CPU)"	ON)
+		ELSE()
+			OPTION(BUILD_INTEL_OPENCL_DEMOS "Build OpenCL demos for Intel (CPU)"	OFF)
+		ENDIF()
+
+		FIND_PATH(NVIDIA_OPENCL_BASE_DIR include/CL/cl.h PATH  $ENV{CUDA_PATH} )
+		IF(NVIDIA_OPENCL_BASE_DIR)
+			SET(NVIDIA_OPENCL_INCLUDES ${NVIDIA_OPENCL_BASE_DIR}/include )
+			MESSAGE("NVIDIA OPENCL SDK FOUND")
+			MESSAGE(${NVIDIA_OPENCL_INCLUDES})
+			IF (CMAKE_CL_64)
+				SET(CMAKE_NVSDKCOMPUTE_LIBPATH		${NVIDIA_OPENCL_BASE_DIR}/lib/x64 )
+			ELSE(CMAKE_CL_64)
+				SET(CMAKE_NVSDKCOMPUTE_LIBPATH		${NVIDIA_OPENCL_BASE_DIR}/lib/Win32	)
+			ENDIF(CMAKE_CL_64)
+			SET(NVIDIA_OPENCL_LIBRARIES		${CMAKE_NVSDKCOMPUTE_LIBPATH}/OpenCL.lib)
+
+			OPTION(BUILD_NVIDIA_OPENCL_DEMOS "Build OpenCL demos for NVidia (GPU)"	ON)
+		ELSE()
+			OPTION(BUILD_NVIDIA_OPENCL_DEMOS "Build OpenCL demos for NVidia (GPU)"	OFF)
+		ENDIF()
+	ELSE(MSVC)
+		FIND_PATH(AMD_OPENCL_BASE_DIR include/CL/cl.h PATH  $ENV{ATISTREAMSDKROOT} $ENV{AMDAPPSDKROOT} )
+		IF(AMD_OPENCL_BASE_DIR)
+			#AMD adds an extras slash at the end of the ATISTREAMSDKROOT variable
+			SET(AMD_OPENCL_INCLUDES ${AMD_OPENCL_BASE_DIR}/include )
+			MESSAGE("AMD OPENCL SDK FOUND")
+			MESSAGE(${AMD_OPENCL_INCLUDES})
+			IF (CMAKE_CL_64)
+				SET(CMAKE_ATISTREAMSDK_LIBPATH 		${AMD_OPENCL_BASE_DIR}/lib/x86_64 )
+			ELSE(CMAKE_CL_64)
+				SET(CMAKE_ATISTREAMSDK_LIBPATH		${AMD_OPENCL_BASE_DIR}/lib/x86 )
+			ENDIF(CMAKE_CL_64)
+			OPTION(BUILD_AMD_OPENCL_DEMOS "Build OpenCL demos for AMD (GPU or CPU)"	ON)
+			SET(CMAKE_ATISTREAMSDK_LIBRARY		OpenCL )
+		ELSE()
+			OPTION(BUILD_AMD_OPENCL_DEMOS "Build OpenCL demos for AMD (GPU or CPU)"	OFF)
+		ENDIF(AMD_OPENCL_BASE_DIR)
+
+    FIND_PATH(INTEL_OPENCL_INCLUDES CL/cl.h)
+    FIND_PATH(INTEL_OPENCL_ICD_CFG intelocl64.icd /etc/OpenCL/vendors)
+    FIND_LIBRARY(INTEL_OPENCL_LIBRARIES OpenCL PATH /usr/lib64)
+    IF (INTEL_OPENCL_INCLUDES AND INTEL_OPENCL_LIBRARIES AND INTEL_OPENCL_ICD_CFG)
+            MESSAGE("INTEL OPENCL SDK FOUND")
+            MESSAGE(${INTEL_OPENCL_LIBRARIES})
+            OPTION(BUILD_INTEL_OPENCL_DEMOS "Build OpenCL demos for Intel (CPU)"        ON)
+    ELSE ()
+            MESSAGE("INTEL OPENCL NOT FOUND")
+            OPTION(BUILD_INTEL_OPENCL_DEMOS "Build OpenCL demos for Intel (CPU)"        OFF)
+    ENDIF ()
+
+
+		FIND_PATH(NVIDIA_OPENCL_INCLUDES CL/cl.h)
+    FIND_PATH(NVIDIA_OPENCL_ICD_CFG nvidia.icd /etc/OpenCL/vendors)
+    FIND_LIBRARY(NVIDIA_OPENCL_LIBRARIES OpenCL PATH /usr/lib64 /usr/local/lib)
+    IF (NVIDIA_OPENCL_INCLUDES AND NVIDIA_OPENCL_LIBRARIES AND NVIDIA_OPENCL_ICD_CFG)
+                MESSAGE("NVidia OPENCL FOUND")
+			MESSAGE(${NVIDIA_OPENCL_LIBRARIES})
+			OPTION(BUILD_NVIDIA_OPENCL_DEMOS "Build OpenCL demos for NVidia (GPU)"	ON)
+		ELSE ()
+	                MESSAGE("NVidia OPENCL NOT FOUND")
+			OPTION(BUILD_NVIDIA_OPENCL_DEMOS "Build OpenCL demos for NVidia (GPU)"	OFF)
+		ENDIF ()
+	ENDIF(MSVC)
+
+ELSE(BUILD_MULTITHREADING)
+# 	SET(BUILD_NVIDIA_OPENCL_DEMOS OFF CACHE BOOL "Build OpenCL demos for NVidia" FORCE)
+# 	SET(BUILD_AMD_OPENCL_DEMOS OFF CACHE BOOL "Build OpenCL demos for AMD" FORCE)
+# 	SET(BUILD_INTEL_OPENCL_DEMOS OFF CACHE BOOL "Build OpenCL demos for Intel (CPU)" FORCE)
+# 	SET(BUILD_MINICL_OPENCL_DEMOS  OFF CACHE BOOL "Build OpenCL demos for MiniCL (Generic CPU)" FORCE)
+# 	SET(USE_DX11  OFF CACHE BOOL "Use DirectX 11" FORCE)
+# 	SET(USE_MULTITHREADED_BENCHMARK  OFF CACHE BOOL "Use Multithreaded Benchmark" FORCE)
+ENDIF(BUILD_MULTITHREADING)
+
+
 
 
 #SET(CMAKE_EXE_LINKER_FLAGS_INIT    "/STACK:10000000 /INCREMENTAL:NO")	
@@ -91,9 +214,13 @@ IF(MSVC)
 		ENDFOREACH(flag_var)
 	ENDIF (NOT USE_MSVC_RUNTIME_LIBRARY_DLL)
 
-	OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option"	ON)
-	IF (USE_MSVC_SSE)
+	IF (CMAKE_CL_64)
+	  ADD_DEFINITIONS(-D_WIN64)
+	ELSE()
+	  OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option"	ON)
+	  IF (USE_MSVC_SSE)
 		ADD_DEFINITIONS(/arch:SSE)
+	  ENDIF()
 	ENDIF()
 	OPTION(USE_MSVC_FAST_FLOATINGPOINT "Use MSVC /fp:fast option"	ON)
 	IF (USE_MSVC_FAST_FLOATINGPOINT)
@@ -117,41 +244,16 @@ ELSE()
 	SET (LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib CACHE PATH "Single output directory for building all libraries.")
 ENDIF()
 
+
+
 OPTION(INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES "Create MSVC projectfiles with relative paths" OFF)
 OPTION(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES "Add MSVC postfix for executable names (_Debug)" OFF)
 
-IF(MSVC)
-	FIND_PATH(AMD_OPENCL_BASE_DIR include/CL/cl.h PATH  $ENV{ATISTREAMSDKROOT} )
-	IF(AMD_OPENCL_BASE_DIR)
-		#AMD adds an extras slash at the end of the ATISTREAMSDKROOT variable
-		SET(AMD_OPENCL_INCLUDES ${AMD_OPENCL_BASE_DIR}/include )
-		MESSAGE(${AMD_OPENCL_INCLUDES})
-		IF (CMAKE_CL_64)
-			SET(CMAKE_ATISTREAMSDK_LIBPATH 		${AMD_OPENCL_BASE_DIR}/lib/x86_64 )
-		ELSE(CMAKE_CL_64)
-			SET(CMAKE_ATISTREAMSDK_LIBPATH		${AMD_OPENCL_BASE_DIR}/lib/x86		)
-		ENDIF(CMAKE_CL_64)
-		OPTION(BUILD_AMD_OPENCL_DEMOS "Build OpenCL demos for AMD (GPU or CPU)"	ON)
-	ELSE()
-		OPTION(BUILD_AMD_OPENCL_DEMOS "Build OpenCL demos for AMD (GPU or CPU)"	OFF)
-	ENDIF()
-
-	FIND_PATH(NVIDIA_OPENCL_BASE_DIR OpenCL/common/inc/CL/cl.h PATH  $ENV{NVSDKCOMPUTE_ROOT} )
-	IF(NVIDIA_OPENCL_BASE_DIR)
-		SET(NVIDIA_OPENCL_INCLUDES ${NVIDIA_OPENCL_BASE_DIR}/OpenCL/common/inc )
-		MESSAGE(${NVIDIA_OPENCL_INCLUDES})
-		IF (CMAKE_CL_64)
-			SET(CMAKE_NVSDKCOMPUTE_LIBPATH		${NVIDIA_OPENCL_BASE_DIR}/OpenCL/common/lib/x64 )
-		ELSE(CMAKE_CL_64)
-			SET(CMAKE_NVSDKCOMPUTE_LIBPATH		${NVIDIA_OPENCL_BASE_DIR}/OpenCL/common/lib/Win32	)
-		ENDIF(CMAKE_CL_64)
-	SET(NVIDIA_OPENCL_LIBRARIES		${CMAKE_NVSDKCOMPUTE_LIBPATH}/OpenCL.lib)
-
-		OPTION(BUILD_NVIDIA_OPENCL_DEMOS "Build OpenCL demos for NVidia (GPU)"	ON)
-	ELSE()
-		OPTION(BUILD_NVIDIA_OPENCL_DEMOS "Build OpenCL demos for NVidia (GPU)"	OFF)
-	ENDIF()
-ENDIF()
+SET(CMAKE_DEBUG_POSTFIX "_Debug" CACHE STRING "Adds a postfix for debug-built libraries.")
+SET(CMAKE_MINSIZEREL_POSTFIX "_MinsizeRel" CACHE STRING "Adds a postfix for MinsizeRelease-built libraries.")
+SET(CMAKE_RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo" CACHE STRING "Adds a postfix for ReleaseWithDebug-built libraries.")
+
+
 
 
 
@@ -162,22 +264,6 @@ ENDIF(INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES)
 
 ENDIF (WIN32)
 
-IF (MSVC OR APPLE)
-	OPTION(BUILD_MINICL_OPENCL_DEMOS "Build OpenCL demos for MiniCL (Generic CPU)"  ON)
-ELSE()
-	OPTION(BUILD_MINICL_OPENCL_DEMOS "Build OpenCL demos for MiniCL (Generic CPU)" OFF)
-
-	FIND_PATH(NVIDIA_OPENCL_INCLUDES CL/cl.h)
-	FIND_LIBRARY(NVIDIA_OPENCL_LIBRARIES OpenCL PATH /usr/lib /usr/local/lib)
-	IF (NVIDIA_OPENCL_INCLUDES AND NVIDIA_OPENCL_LIBRARIES)
-		MESSAGE("OPENCL FOUND")
-		MESSAGE(${NVIDIA_OPENCL_LIBRARIES})
-		OPTION(BUILD_NVIDIA_OPENCL_DEMOS "Build OpenCL demos for NVidia (GPU)"	ON)
-	ELSE ()
-		MESSAGE("OPENCL NOT FOUND")
-		OPTION(BUILD_NVIDIA_OPENCL_DEMOS "Build OpenCL demos for NVidia (GPU)"	OFF)
-	ENDIF ()
-ENDIF()
 
 OPTION(BUILD_CPU_DEMOS "Build original Bullet CPU demos"        ON)
 
@@ -336,3 +422,18 @@ OPTION(BUILD_UNIT_TESTS "Build Unit Tests"	OFF)
 IF (BUILD_UNIT_TESTS)
 	SUBDIRS(UnitTests)
 ENDIF()
+
+set (BULLET_CONFIG_CMAKE_PATH lib${LIB_SUFFIX}/cmake/bullet )
+list (APPEND BULLET_LIBRARIES LinearMath)
+list (APPEND BULLET_LIBRARIES BulletCollisions)
+list (APPEND BULLET_LIBRARIES BulletDynamics)
+list (APPEND BULLET_LIBRARIES BulletSoftBody)
+set (BULLET_USE_FILE ${CMAKE_INSTALL_PREFIX}/${BULLET_CONFIG_CMAKE_PATH}/UseBullet.cmake)
+configure_file ( ${CMAKE_SOURCE_DIR}/BulletConfig.cmake.in
+                 ${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
+                 @ONLY ESCAPE_QUOTES
+               )
+install ( FILES ${CMAKE_SOURCE_DIR}/UseBullet.cmake
+                ${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
+          DESTINATION ${BULLET_CONFIG_CMAKE_PATH}
+        )