cmake_minimum_required(VERSION 3.0.0)
project(cbullet CXX)
SET(BUILD_UNIT_TESTS OFF CACHE BOOL "Build Unit Tests" FORCE)
SET(USE_DOUBLE_PRECISION ON CACHE BOOL "Use double precision" FORCE)
SET(BULLET_DOUBLE_DEF "-DBT_USE_DOUBLE_PRECISION")
# Add the Bullet libraries.
add_subdirectory(libbullet3)
add_definitions(-DBT_ENABLE_CLSOCKET -DBT_USE_DOUBLE_PRECISION -DBT_USE_EGL -DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1 -DGLEW_INIT_OPENGL11_FUNCTIONS=1 -DGLEW_STATIC -DUSE_GRAPHICAL_BENCHMARK -D_LINUX)
# Create the library for the Bullet C API
add_library(cbullet
        libbullet3/examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp
        libbullet3/examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h
        libbullet3/examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp
        libbullet3/examples/SharedMemory/plugins/stablePDPlugin/Shape.h
        libbullet3/examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp
        libbullet3/examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.h
        libbullet3/examples/SharedMemory/plugins/stablePDPlugin/RBDModel.cpp
        libbullet3/examples/SharedMemory/plugins/stablePDPlugin/RBDModel.h
        libbullet3/examples/SharedMemory/plugins/stablePDPlugin/MathUtil.cpp
        libbullet3/examples/SharedMemory/plugins/stablePDPlugin/MathUtil.h
        libbullet3/examples/SharedMemory/plugins/stablePDPlugin/KinTree.cpp
        libbullet3/examples/SharedMemory/plugins/stablePDPlugin/KinTree.h
        libbullet3/examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp
        libbullet3/examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.h
        libbullet3/examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
        libbullet3/examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
        libbullet3/examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
        libbullet3/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
        libbullet3/examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
        libbullet3/examples/SharedMemory/IKTrajectoryHelper.cpp
        libbullet3/examples/SharedMemory/IKTrajectoryHelper.h
        libbullet3/examples/ExampleBrowser/InProcessExampleBrowser.cpp
        libbullet3/examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
        libbullet3/examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h
        libbullet3/examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
        libbullet3/examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h
        libbullet3/examples/OpenGLWindow/SimpleCamera.cpp
        libbullet3/examples/OpenGLWindow/SimpleCamera.h
        libbullet3/examples/TinyRenderer/geometry.cpp
        libbullet3/examples/TinyRenderer/model.cpp
        libbullet3/examples/TinyRenderer/tgaimage.cpp
        libbullet3/examples/TinyRenderer/our_gl.cpp
        libbullet3/examples/TinyRenderer/TinyRenderer.cpp
        libbullet3/examples/SharedMemory/InProcessMemory.cpp
        libbullet3/examples/SharedMemory/PhysicsClient.cpp
        libbullet3/examples/SharedMemory/PhysicsClient.h
        libbullet3/examples/SharedMemory/PhysicsServer.cpp
        libbullet3/examples/SharedMemory/PhysicsServer.h
        libbullet3/examples/SharedMemory/GraphicsServerExample.cpp
        libbullet3/examples/SharedMemory/GraphicsClientExample.cpp
        libbullet3/examples/SharedMemory/RemoteGUIHelper.cpp
        libbullet3/examples/SharedMemory/GraphicsServerExample.h
        libbullet3/examples/SharedMemory/GraphicsClientExample.h
        libbullet3/examples/SharedMemory/RemoteGUIHelper.h
        libbullet3/examples/SharedMemory/GraphicsSharedMemoryCommands.h
        libbullet3/examples/SharedMemory/GraphicsSharedMemoryPublic.h
        libbullet3/examples/SharedMemory/PhysicsServerExample.cpp
        libbullet3/examples/SharedMemory/PhysicsServerExampleBullet2.cpp
        libbullet3/examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
        libbullet3/examples/SharedMemory/PhysicsServerSharedMemory.cpp
        libbullet3/examples/SharedMemory/PhysicsServerSharedMemory.h
        libbullet3/examples/SharedMemory/PhysicsDirect.cpp
        libbullet3/examples/SharedMemory/PhysicsDirect.h
        libbullet3/examples/SharedMemory/PhysicsDirectC_API.cpp
        libbullet3/examples/SharedMemory/PhysicsDirectC_API.h
        libbullet3/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
        libbullet3/examples/SharedMemory/PhysicsServerCommandProcessor.h
        libbullet3/examples/SharedMemory/b3PluginManager.cpp
        libbullet3/examples/SharedMemory/b3PluginManager.h

        libbullet3/examples/SharedMemory/PhysicsClientSharedMemory.cpp
        libbullet3/examples/SharedMemory/PhysicsClientSharedMemory.h
        libbullet3/examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
        libbullet3/examples/SharedMemory/PhysicsClientSharedMemory_C_API.h

        libbullet3/examples/SharedMemory/PhysicsClientC_API.cpp
        libbullet3/examples/SharedMemory/PhysicsClientC_API.h
        libbullet3/examples/SharedMemory/Win32SharedMemory.cpp
        libbullet3/examples/SharedMemory/Win32SharedMemory.h
        libbullet3/examples/SharedMemory/PosixSharedMemory.cpp
        libbullet3/examples/SharedMemory/PosixSharedMemory.h
        libbullet3/examples/Utils/b3ResourcePath.cpp
        libbullet3/examples/Utils/b3ResourcePath.h
        libbullet3/examples/Utils/RobotLoggingUtil.cpp
        libbullet3/examples/Utils/RobotLoggingUtil.h

        libbullet3/examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
        libbullet3/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
        libbullet3/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
        libbullet3/examples/ThirdPartyLibs/stb_image/stb_image.cpp
        libbullet3/examples/ThirdPartyLibs/stb_image/stb_image_write.cpp
        libbullet3/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
        libbullet3/examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
        libbullet3/examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
        libbullet3/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
        libbullet3/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
        libbullet3/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
        libbullet3/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
        libbullet3/examples/Importers/ImportURDFDemo/UrdfParser.cpp
        libbullet3/examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
        libbullet3/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
        libbullet3/examples/MultiThreading/b3PosixThreadSupport.cpp
        libbullet3/examples/MultiThreading/b3Win32ThreadSupport.cpp
        libbullet3/examples/MultiThreading/b3ThreadSupportInterface.cpp
        )

target_include_directories(cbullet
        PUBLIC
        ${BULLET_PHYSICS_SOURCE_DIR}/src
        ${BULLET_PHYSICS_SOURCE_DIR}/examples
        ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
        ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
        ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
        )

target_link_libraries(cbullet
        PUBLIC
        BulletRoboticsGUI
        BulletRobotics
        BulletExampleBrowserLib
        BulletFileLoader
        BulletWorldImporter
        BulletSoftBody
        BulletDynamics
        BulletCollision
        BulletInverseDynamicsUtils
        BulletInverseDynamics
        LinearMath
        OpenGLWindow
        gwen
        BussIK
        Bullet3Common
        pthread
        )

install(
        TARGETS cbullet
        ARCHIVE DESTINATION lib
        LIBRARY DESTINATION lib
)