cmake_minimum_required(VERSION 2.4.3) set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true) cmake_policy(SET CMP0017 NEW) #this line has to appear before 'PROJECT' in order to be able to disable incremental linking SET(MSVC_INCREMENTAL_DEFAULT ON) PROJECT(BULLET_PHYSICS) FILE (STRINGS "VERSION" BULLET_VERSION) IF(COMMAND cmake_policy) cmake_policy(SET CMP0003 NEW) if(POLICY CMP0042) # Enable MACOSX_RPATH by default. cmake_policy(SET CMP0042 NEW) endif(POLICY CMP0042) ENDIF(COMMAND cmake_policy) IF (NOT CMAKE_BUILD_TYPE) # SET(CMAKE_BUILD_TYPE "Debug") SET(CMAKE_BUILD_TYPE "Release") ENDIF (NOT CMAKE_BUILD_TYPE) SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG") #MESSAGE("CMAKE_CXX_FLAGS_DEBUG="+${CMAKE_CXX_FLAGS_DEBUG}) OPTION(USE_DOUBLE_PRECISION "Use double precision" OFF) SET(CLAMP_VELOCITIES "0" CACHE STRING "Clamp rigid bodies' velocity to this value, if larger than zero. 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SET(OSDEF -D_BSD) ENDIF(APPLE) ENDIF(CMAKE_SYSTEM_NAME MATCHES "Linux") ENDIF(NOT WIN32) OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF) #statically linking VC++ isn't supported for WindowsPhone/WindowsStore IF (CMAKE_SYSTEM_NAME STREQUAL WindowsPhone OR CMAKE_SYSTEM_NAME STREQUAL WindowsStore) OPTION(USE_MSVC_RUNTIME_LIBRARY_DLL "Use MSVC Runtime Library DLL (/MD or /MDd)" ON) ELSE () OPTION(USE_MSVC_RUNTIME_LIBRARY_DLL "Use MSVC Runtime Library DLL (/MD or /MDd)" OFF) ENDIF (CMAKE_SYSTEM_NAME STREQUAL WindowsPhone OR CMAKE_SYSTEM_NAME STREQUAL WindowsStore) OPTION(USE_MSVC_RELEASE_RUNTIME_ALWAYS "Use MSVC Release Runtime Library even in Debug" OFF) #SET(CMAKE_EXE_LINKER_FLAGS_INIT "/STACK:10000000 /INCREMENTAL:NO") #SET(CMAKE_EXE_LINKER_FLAGS "/STACK:10000000 /INCREMENTAL:NO") #MESSAGE("MSVC_INCREMENTAL_YES_FLAG"+${MSVC_INCREMENTAL_YES_FLAG}) IF(MSVC) IF (NOT USE_MSVC_INCREMENTAL_LINKING) #MESSAGE("MSVC_INCREMENTAL_DEFAULT"+${MSVC_INCREMENTAL_DEFAULT}) SET( MSVC_INCREMENTAL_YES_FLAG "/INCREMENTAL:NO") STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags "${CMAKE_EXE_LINKER_FLAGS_DEBUG}") SET(CMAKE_EXE_LINKER_FLAGS_DEBUG "/INCREMENTAL:NO ${replacementFlags}" ) MESSAGE("CMAKE_EXE_LINKER_FLAGS_DEBUG=${CMAKE_EXE_LINKER_FLAGS_DEBUG}") STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags2 "${CMAKE_EXE_LINKER_FLAGS}") SET(CMAKE_EXE_LINKER_FLAGS ${replacementFlag2}) STRING(REPLACE "INCREMENTAL:YES" "" replacementFlags3 "${CMAKE_EXTRA_LINK_FLAGS}") SET(CMAKE_EXTRA_LINK_FLAGS ${replacementFlag3}) STRING(REPLACE "INCREMENTAL:YES" "INCREMENTAL:NO" replacementFlags3 "${CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO}") SET(CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO ${replacementFlags3}) SET(CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO "/INCREMENTAL:NO ${replacementFlags3}" ) ENDIF (NOT USE_MSVC_INCREMENTAL_LINKING) IF (NOT USE_MSVC_RUNTIME_LIBRARY_DLL) #We statically link to reduce dependencies FOREACH(flag_var CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO ) IF(${flag_var} MATCHES "/MD") STRING(REGEX REPLACE "/MD" "/MT" ${flag_var} "${${flag_var}}") ENDIF(${flag_var} MATCHES "/MD") IF(${flag_var} MATCHES "/MDd") STRING(REGEX REPLACE "/MDd" "/MTd" ${flag_var} "${${flag_var}}") ENDIF(${flag_var} MATCHES "/MDd") ENDFOREACH(flag_var) ENDIF (NOT USE_MSVC_RUNTIME_LIBRARY_DLL) IF (USE_MSVC_RELEASE_RUNTIME_ALWAYS) FOREACH(flag_var CMAKE_CXX_FLAGS CMAKE_CXX_FLAGS_DEBUG CMAKE_CXX_FLAGS_RELEASE CMAKE_CXX_FLAGS_MINSIZEREL CMAKE_CXX_FLAGS_RELWITHDEBINFO CMAKE_C_FLAGS CMAKE_C_FLAGS_DEBUG CMAKE_C_FLAGS_RELEASE CMAKE_C_FLAGS_MINSIZEREL CMAKE_C_FLAGS_RELWITHDEBINFO ) IF(${flag_var} MATCHES "/MDd") STRING(REGEX REPLACE "/MDd" "/MD" ${flag_var} "${${flag_var}}") ENDIF(${flag_var} MATCHES "/MDd") IF(${flag_var} MATCHES "/MTd") STRING(REGEX REPLACE "/MTd" "/MT" ${flag_var} "${${flag_var}}") ENDIF(${flag_var} MATCHES "/MTd") # 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Disable RTTI SET(CMAKE_C_FLAGS "/GR- ${CMAKE_C_FLAGS}") SET(CMAKE_CXX_FLAGS "/GR- ${CMAKE_CXX_FLAGS}") ENDIF(USE_MSVC_DISABLE_RTTI) SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4244 /wd4267") ENDIF(MSVC) IF (WIN32) OPTION(INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES "Create MSVC projectfiles that can be distributed" OFF) IF (INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES) SET (LIBRARY_OUTPUT_PATH ${BULLET_PHYSICS_SOURCE_DIR}/lib CACHE PATH "Single output directory for building all libraries.") SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}) SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${BULLET_PHYSICS_SOURCE_DIR}) SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${BULLET_PHYSICS_SOURCE_DIR}) SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_MINSIZEREL ${BULLET_PHYSICS_SOURCE_DIR}) SET( CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELWITHDEBINFO ${BULLET_PHYSICS_SOURCE_DIR}) ELSE() SET (LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib CACHE PATH "Single output directory for building all libraries.") ENDIF() OPTION(INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES "Create MSVC projectfiles with relative paths" OFF) OPTION(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES "Add MSVC postfix for executable names (_Debug)" OFF) SET(CMAKE_DEBUG_POSTFIX "_Debug" CACHE STRING "Adds a postfix for debug-built libraries.") SET(CMAKE_MINSIZEREL_POSTFIX "_MinsizeRel" CACHE STRING "Adds a postfix for MinsizeRelease-built libraries.") SET(CMAKE_RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo" CACHE STRING "Adds a postfix for ReleaseWithDebug-built libraries.") IF (INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES) SET(CMAKE_SUPPRESS_REGENERATION 1) SET(CMAKE_USE_RELATIVE_PATHS 1) ENDIF(INTERNAL_CREATE_MSVC_RELATIVE_PATH_PROJECTFILES) ENDIF (WIN32) OPTION(BUILD_CPU_DEMOS "Build original Bullet CPU examples" ON) OPTION(INTERNAL_UPDATE_SERIALIZATION_STRUCTURES "Internal update serialization structures" OFF) IF (INTERNAL_UPDATE_SERIALIZATION_STRUCTURES) ADD_DEFINITIONS( -DBT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES) ENDIF (INTERNAL_UPDATE_SERIALIZATION_STRUCTURES) IF (CLAMP_VELOCITIES) ADD_DEFINITIONS( -DBT_CLAMP_VELOCITY_TO=${CLAMP_VELOCITIES}) ENDIF (CLAMP_VELOCITIES) IF (USE_DOUBLE_PRECISION) ADD_DEFINITIONS( -DBT_USE_DOUBLE_PRECISION) SET( BULLET_DOUBLE_DEF "-DBT_USE_DOUBLE_PRECISION") ENDIF (USE_DOUBLE_PRECISION) IF (NOT USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD) ADD_DEFINITIONS(-DSKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD) ENDIF () IF(USE_GRAPHICAL_BENCHMARK) ADD_DEFINITIONS( -DUSE_GRAPHICAL_BENCHMARK) ENDIF (USE_GRAPHICAL_BENCHMARK) IF(BULLET2_MULTITHREADING) ADD_DEFINITIONS( -DBT_THREADSAFE=1 ) IF (NOT MSVC) SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11") ENDIF (NOT MSVC) IF (NOT WIN32) LINK_LIBRARIES( pthread ) ENDIF (NOT WIN32) ENDIF (BULLET2_MULTITHREADING) IF (BULLET2_USE_OPEN_MP_MULTITHREADING) ADD_DEFINITIONS("-DBT_USE_OPENMP=1") IF (MSVC) SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /openmp") ELSE (MSVC) # GCC, Clang SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp") ENDIF (MSVC) ENDIF (BULLET2_USE_OPEN_MP_MULTITHREADING) IF (BULLET2_USE_TBB_MULTITHREADING) SET (BULLET2_TBB_INCLUDE_DIR "not found" CACHE PATH "Directory for Intel TBB includes.") SET (BULLET2_TBB_LIB_DIR "not found" CACHE PATH "Directory for Intel TBB libraries.") find_library(TBB_LIBRARY tbb PATHS ${BULLET2_TBB_LIB_DIR}) find_library(TBBMALLOC_LIBRARY tbbmalloc PATHS ${BULLET2_TBB_LIB_DIR}) ADD_DEFINITIONS("-DBT_USE_TBB=1") INCLUDE_DIRECTORIES( ${BULLET2_TBB_INCLUDE_DIR} ) LINK_LIBRARIES( ${TBB_LIBRARY} ${TBBMALLOC_LIBRARY} ) ENDIF (BULLET2_USE_TBB_MULTITHREADING) IF (BULLET2_USE_PPL_MULTITHREADING) ADD_DEFINITIONS("-DBT_USE_PPL=1") ENDIF (BULLET2_USE_PPL_MULTITHREADING) IF (WIN32) OPTION(USE_GLUT "Use Glut" ON) ADD_DEFINITIONS( -D_CRT_SECURE_NO_WARNINGS ) ADD_DEFINITIONS( -D_CRT_SECURE_NO_DEPRECATE ) ADD_DEFINITIONS( -D_SCL_SECURE_NO_WARNINGS ) IF (USE_GLUT AND MSVC) string (REPLACE "/D_WINDOWS" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS}) remove_definitions(-D_WINDOWS ) ENDIF() ELSE(WIN32) OPTION(USE_GLUT "Use Glut" ON) ENDIF(WIN32) IF(COMMAND cmake_policy) cmake_policy(SET CMP0003 NEW) ENDIF(COMMAND cmake_policy) # This is the shortcut to finding GLU, GLUT and OpenGL if they are properly installed on your system # This should be the case. FIND_PACKAGE(OpenGL) IF (OPENGL_FOUND) MESSAGE("OPENGL FOUND") MESSAGE(${OPENGL_LIBRARIES}) ELSE (OPENGL_FOUND) MESSAGE("OPENGL NOT FOUND") SET(OPENGL_gl_LIBRARY opengl32) SET(OPENGL_glu_LIBRARY glu32) ENDIF (OPENGL_FOUND) #FIND_PACKAGE(GLU) IF (APPLE) FIND_LIBRARY(COCOA_LIBRARY Cocoa) ENDIF() OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON) # Optional Python configuration # Will not probe environment for Python configuration (which can abort the # build process) unless you explicitly turn on BUILD_PYBULLET. OPTION(BUILD_PYBULLET "Set when you want to build pybullet (Python bindings for Bullet)" OFF) IF(BUILD_PYBULLET) SET(PYTHON_VERSION_PYBULLET "" CACHE STRING "Python version pybullet will use.") SET(Python_ADDITIONAL_VERSIONS 3 3.6 3.5 3.4 3.3 3.2 3.1 3.0 2.7 2.7.12 2.7.10 2.7.3 ) SET_PROPERTY(CACHE PYTHON_VERSION_PYBULLET PROPERTY STRINGS ${Python_ADDITIONAL_VERSIONS}) SET(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build3/cmake ${CMAKE_MODULE_PATH}) OPTION(EXACT_PYTHON_VERSION "Require Python and match PYTHON_VERSION_PYBULLET exactly, e.g. 2.7.12" OFF) IF(EXACT_PYTHON_VERSION) set(EXACT_PYTHON_VERSION_FLAG EXACT REQUIRED) ENDIF(EXACT_PYTHON_VERSION) # first find the python interpreter FIND_PACKAGE(PythonInterp ${PYTHON_VERSION_PYBULLET} ${EXACT_PYTHON_VERSION_FLAG}) # python library should exactly match that of the interpreter # the following can result in fatal error if you don't have the right python configuration FIND_PACKAGE(PythonLibs ${PYTHON_VERSION_STRING} EXACT) ENDIF(BUILD_PYBULLET) OPTION(BUILD_ENET "Set when you want to build apps with enet UDP networking support" ON) OPTION(BUILD_CLSOCKET "Set when you want to build apps with enet TCP networking support" ON) IF(BUILD_PYBULLET) FIND_PACKAGE(PythonLibs) OPTION(BUILD_PYBULLET_NUMPY "Set when you want to build pybullet with NumPy support" OFF) OPTION(BUILD_PYBULLET_ENET "Set when you want to build pybullet with enet UDP networking support" ON) OPTION(BUILD_PYBULLET_CLSOCKET "Set when you want to build pybullet with enet TCP networking support" ON) OPTION(BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK "Set when you want to use the Python Framework on Mac" OFF) IF(BUILD_PYBULLET_NUMPY) #include(FindNumPy) FIND_PACKAGE(NumPy) if (PYTHON_NUMPY_FOUND) message("NumPy found") add_definitions(-DPYBULLET_USE_NUMPY) else() message("NumPy not found") endif() ENDIF() IF(WIN32) SET(BUILD_SHARED_LIBS OFF CACHE BOOL "Shared Libs" FORCE) ELSE(WIN32) SET(BUILD_SHARED_LIBS ON CACHE BOOL "Shared Libs" FORCE) ENDIF(WIN32) IF(APPLE) OPTION(BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK "Set when you want to use the Python Framework on Mac" ON) IF(NOT BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK) add_definitions(-DB3_NO_PYTHON_FRAMEWORK) ENDIF(NOT BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK) OPTION(BUILD_PYBULLET_SHOW_PY_VERSION "Set when you want to show the PY_MAJOR_VERSION and PY_MAJOR_VERSION using #pragme message." OFF) IF(BUILD_PYBULLET_SHOW_PY_VERSION) add_definitions(-DB3_DUMP_PYTHON_VERSION) ENDIF() ENDIF(APPLE) ENDIF(BUILD_PYBULLET) IF(NOT WIN32 AND NOT APPLE) OPTION(BUILD_EGL "Build OpenGL/EGL" ON) IF(BUILD_EGL) ADD_DEFINITIONS(-DBT_USE_EGL) ENDIF(BUILD_EGL) ENDIF() IF(BUILD_BULLET3) IF(APPLE) MESSAGE("Mac OSX Version is ${_CURRENT_OSX_VERSION}") IF(_CURRENT_OSX_VERSION VERSION_LESS 10.9) MESSAGE("Mac OSX below 10.9 has no OpenGL 3 support so please disable the BUILD_OPENGL3_DEMOS option") #unset(BUILD_OPENGL3_DEMOS CACHE) OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build the OpenGL3+ demos" OFF) ELSE() OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build the OpenGL3+ demos" ON) ENDIF() ELSE() OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build Bullet 3 OpenGL3+ demos" ON) ENDIF() ELSE(BUILD_BULLET3) unset(BUILD_OPENGL3_DEMOS CACHE) OPTION(BUILD_OPENGL3_DEMOS "Set when you want to build Bullet 3 OpenGL3+ demos" OFF) ENDIF(BUILD_BULLET3) IF(BUILD_OPENGL3_DEMOS) IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/Demos3 AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/Demos3) SUBDIRS(Demos3) ENDIF() ELSE() ADD_DEFINITIONS(-DNO_OPENGL3) ENDIF(BUILD_OPENGL3_DEMOS) OPTION(BUILD_BULLET2_DEMOS "Set when you want to build the Bullet 2 demos" ON) IF(BUILD_BULLET2_DEMOS) IF(EXISTS ${BULLET_PHYSICS_SOURCE_DIR}/examples AND IS_DIRECTORY ${BULLET_PHYSICS_SOURCE_DIR}/examples) SUBDIRS(examples) ENDIF() ENDIF(BUILD_BULLET2_DEMOS) OPTION(BUILD_EXTRAS "Set when you want to build the extras" ON) IF(BUILD_EXTRAS) SUBDIRS(Extras) ENDIF(BUILD_EXTRAS) SUBDIRS(src) IF("${CMAKE_GENERATOR}" MATCHES "Unix Makefiles") OPTION(INSTALL_LIBS "Set when you want to install libraries" ON) ELSE() IF(APPLE AND FRAMEWORK) OPTION(INSTALL_LIBS "Set when you want to install libraries" ON) ELSE() #by default, don't enable the 'INSTALL' option for Xcode and MSVC projectfiles OPTION(INSTALL_LIBS "Set when you want to install libraries" OFF) ENDIF() ENDIF() IF(INSTALL_LIBS) #INSTALL of other files requires CMake 2.6 IF(BUILD_EXTRAS) IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) OPTION(INSTALL_EXTRA_LIBS "Set when you want extra libraries installed" ON) ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5) ENDIF(BUILD_EXTRAS) SET (LIB_SUFFIX "" CACHE STRING "Define suffix of directory name (32/64)" ) SET (LIB_DESTINATION "lib${LIB_SUFFIX}" CACHE STRING "Library directory name") ## the following are directories where stuff will be installed to SET(INCLUDE_INSTALL_DIR "include/bullet/" CACHE PATH "The subdirectory to the header prefix") SET(PKGCONFIG_INSTALL_PREFIX "lib${LIB_SUFFIX}/pkgconfig/" CACHE STRING "Base directory for pkgconfig files") IF(NOT MSVC) CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/bullet.pc.cmake ${CMAKE_CURRENT_BINARY_DIR}/bullet.pc @ONLY) INSTALL( FILES ${CMAKE_CURRENT_BINARY_DIR}/bullet.pc DESTINATION ${PKGCONFIG_INSTALL_PREFIX}) ENDIF(NOT MSVC) ENDIF() OPTION(BUILD_UNIT_TESTS "Build Unit Tests" ON) IF (BUILD_UNIT_TESTS) ENABLE_TESTING() SUBDIRS(test) ENDIF() set (BULLET_CONFIG_CMAKE_PATH lib${LIB_SUFFIX}/cmake/bullet ) list (APPEND BULLET_DEFINITIONS ${BULLET_DOUBLE_DEF}) list (APPEND BULLET_LIBRARIES LinearMath) list (APPEND BULLET_LIBRARIES Bullet3Common) list (APPEND BULLET_LIBRARIES BulletInverseDynamics) list (APPEND BULLET_LIBRARIES BulletCollision) list (APPEND BULLET_LIBRARIES BulletDynamics) list (APPEND BULLET_LIBRARIES BulletSoftBody) set (BULLET_USE_FILE ${BULLET_CONFIG_CMAKE_PATH}/UseBullet.cmake) configure_file ( ${CMAKE_CURRENT_SOURCE_DIR}/BulletConfig.cmake.in ${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake @ONLY ESCAPE_QUOTES ) OPTION(INSTALL_CMAKE_FILES "Install generated CMake files" ON) IF (INSTALL_CMAKE_FILES) install ( FILES ${CMAKE_CURRENT_SOURCE_DIR}/UseBullet.cmake ${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake DESTINATION ${BULLET_CONFIG_CMAKE_PATH} ) ENDIF (INSTALL_CMAKE_FILES)