solution "0_Bullet3Solution"

	local osversion = os.getversion()
	print(string.format(" %d.%d.%d (%s)",
   		osversion.majorversion, osversion.minorversion, osversion.revision,
   		osversion.description))

	if _ACTION == "vs2010" or _ACTION=="vs2008" then
		buildoptions
		{
			-- Multithreaded compiling
			"/MP",
			-- Disable a few useless warnings
			"/wd4244",
			"/wd4267"
		}
	end

	act = ""

	if _ACTION then
		act = _ACTION
	end

	projectRootDir = os.getcwd() .. "/../"
	print("Project root directory: " .. projectRootDir);
	
	newoption {
		trigger     = "ios",
		description = "Enable iOS target (requires xcode4)"
	}

	newoption
	{
		trigger = "enable_system_glx",
		description = "Try to link against system glx instead of using glad_glx (default)"
	}

	newoption
	{
		trigger = "enable_system_opengl",
		description = "Try to link and use the system OpenGL headers version instead of dynamically loading OpenGL (dlopen is default)"
	}

	newoption
	{
		trigger = "enable_openvr",
		description = "Enable experimental Virtual Reality examples, using OpenVR for HTC Vive and Oculus Rift"
	}
	newoption
	{
		trigger = "enable_system_x11",
		description = "Try to link and use system X11 headers instead of dynamically loading X11 (dlopen is default)"
	}

	newoption
	{
		trigger = "enable_stable_pd",
		description = "Enable Stable PD control in PyBullet"
	}


	newoption
	{
		trigger = "enable_static_vr_plugin",
		description = "Statically link vr plugin (in examples/SharedMemory/plugins/vrSyncPlugin)"
	}
	
	newoption
	{
		trigger = "enable_physx",
		description = "Allow optional PhysX backend for PyBullet, use pybullet.connect(pybullet.PhysX)."
	}

	newoption
	{
		trigger = "noopengl3",
		description = "Don't compile any OpenGL3+ code"
	}

	newoption
	{
		trigger = "midi",
		description = "Use Midi controller to control parameters"
	}
	
	
	newoption
	{
		trigger = "enable_egl",
		value       = false,
		description = "Build an experimental eglPlugin"
	}

	
	newoption
	{
		trigger = "enable_grpc",
		description = "Build GRPC server/client features for PyBullet/BulletRobotics"
	
	}

	if os.is("Linux") then
                default_grpc_include_dir = "usr/local/include/GRPC"
                default_grpc_lib_dir = "/usr/local/lib"
                default_protobuf_include_dir = "/usr/local/include/protobuf"
                default_protobuf_lib_dir = "/usr/local/lib"
	end

	if os.is("macosx") then
                default_grpc_include_dir = "/usr/local/Cellar/grpc/1.14.1/include"
                default_grpc_lib_dir = "/usr/local/Cellar/grpc/1.14.1/lib"
								default_protobuf_include_dir = "/usr/local/Cellar/protobuf/3.6.0/include"
                default_protobuf_lib_dir = "/usr/local/Cellar/protobuf/3.6.0/lib"
	end

	if os.is("Windows") then
                default_grpc_include_dir = projectRootDir .. "examples/ThirdPartyLibs/grpc/include"
                default_grpc_lib_dir = projectRootDir .. "examples/ThirdPartyLibs/grpc/lib"
                default_protobuf_include_dir =projectRootDir .. "examples/ThirdPartyLibs/grpc/include"
                default_protobuf_lib_dir = projectRootDir .. "examples/ThirdPartyLibs/grpc/lib"
	end
	
	newoption
	{
                        trigger     = "grpc_include_dir",
                        value       = default_grpc_include_dir,
                        description = "(optional) GRPC include directory"
	}

	newoption
	{
                        trigger     = "grpc_lib_dir",
                        value       = default_grpc_lib_dir,
                        description = "(optional) GRPC library directory "
	}


	newoption
        {
                        trigger     = "protobuf_include_dir",
                        value       = default_protobuf_include_dir,
                        description = "(optional) protobuf include directory"
        }

        newoption
        {
                        trigger     = "protobuf_lib_dir",
                        value       = default_protobuf_lib_dir,
                        description = "(optional) protobuf library directory "
        }


	if not _OPTIONS["grpc_lib_dir"] then
		_OPTIONS["grpc_lib_dir"] = default_grpc_lib_dir
	end
	if not _OPTIONS["grpc_include_dir"] then
		_OPTIONS["grpc_include_dir"] = default_grpc_include_dir
	end
	if not _OPTIONS["protobuf_include_dir"] then
		_OPTIONS["protobuf_include_dir"] = default_protobuf_include_dir
	end	
	
	if not _OPTIONS["protobuf_lib_dir"] then
		_OPTIONS["protobuf_lib_dir"] = default_protobuf_lib_dir
	end	
	

	if _OPTIONS["enable_egl"] then
		function initEGL()
			defines {"BT_USE_EGL"}
		end
	end	
	
	
	if _OPTIONS["enable_grpc"] then
	function initGRPC()
	

			print "BT_ENABLE_GRPC"

			print("grpc_include_dir=")
			print(_OPTIONS["grpc_include_dir"])
			print("grpc_lib_dir=")
			print(_OPTIONS["grpc_lib_dir"])
			print("protobuf_include_dir=")
			print(_OPTIONS["protobuf_include_dir"])
			print("protobuf_lib_dir=")
			print(_OPTIONS["protobuf_lib_dir"])
			
			defines {"BT_ENABLE_GRPC"}
			
				if os.is("macosx") then
			 buildoptions { "-std=c++11" }
			 links{ "dl"}
			end
			
			if os.is("Linux") then
			 		buildoptions { "-std=c++11" }
					links{ "dl"}
			end
			
			if os.is("Windows") then
					defines {"_WIN32_WINNT=0x0600"}
					links{ "zlibstatic","ssl","crypto"}
			end

      includedirs {
             projectRootDir .. "examples", _OPTIONS["grpc_include_dir"], _OPTIONS["protobuf_include_dir"],
      }

			if os.is("Windows") then
				configuration {"x64", "debug"}			
						libdirs {_OPTIONS["grpc_lib_dir"] .. "/win64_debug" , _OPTIONS["protobuf_lib_dir"] .. "win64_debug",}
				configuration {"x86", "debug"}
						libdirs {_OPTIONS["grpc_lib_dir"] .. "/win32_debug" , _OPTIONS["protobuf_lib_dir"] .. "win32_debug",}
				configuration {"x64", "release"}
						libdirs {_OPTIONS["grpc_lib_dir"] .. "/win64_release", _OPTIONS["protobuf_lib_dir"] .. "win64_release",}
				configuration {"x86", "release"}
						libdirs {_OPTIONS["grpc_lib_dir"] .. "/win32_release" , _OPTIONS["protobuf_lib_dir"] .. "win32_release",}
				configuration{}
				
				else
				libdirs {_OPTIONS["grpc_lib_dir"], _OPTIONS["protobuf_lib_dir"],}
			end
      
      links { "grpc","grpc++", "grpc++_reflection", "gpr", "protobuf"}
      files { 
      projectRootDir .. "examples/SharedMemory/grpc/ConvertGRPCBullet.cpp",
			projectRootDir .. "examples/SharedMemory/grpc/ConvertGRPCBullet.h",
			projectRootDir .. "examples/SharedMemory/grpc/proto/pybullet.grpc.pb.cpp",
			projectRootDir .. "examples/SharedMemory/grpc/proto/pybullet.grpc.pb.h",
			projectRootDir .. "examples/SharedMemory/grpc/proto/pybullet.pb.cpp",
			projectRootDir .. "examples/SharedMemory/grpc/proto/pybullet.pb.h", }
		end

	end

-- _OPTIONS["midi"] = "1";

	newoption
	{
		trigger = "no-demos",
		description = "Don't build demos"
	}

	newoption
	{
		trigger = "no-extras",
		description = "Don't build Extras"
	}

	newoption
	{
		trigger = "standalone-examples",
		description = "Build standalone examples with reduced dependencies."
	}

	newoption
	{
		trigger = "no-clsocket",
		description = "Disable clsocket and clsocket tests (used for optional TCP networking in pybullet and shared memory C-API)"
	}


	newoption
	{
		trigger = "no-enet",
		description = "Disable enet and enet tests (used for optional UDP networking in pybullet and shared memory C-API)"
	}

	newoption
	{
		trigger = "lua",
		description = "Enable Lua scipting support in Example Browser"
	}

	newoption
        {
                trigger = "enable_pybullet",
                description = "Enable high-level Python scripting of Bullet with URDF/SDF import and synthetic camera."
        }

if os.is("Linux") then
 		default_python_include_dir = "/usr/include/python2.7"
 		default_python_lib_dir = "/usr/local/lib/"
end

		
if os.is("Windows") then
 		default_python_include_dir = "C:/Python-3.5.2/include"
 		default_python_lib_dir = "C:/Python-3.5.2/libs"
end

		newoption
    {
			trigger     = "python_include_dir",
			value       = default_python_include_dir,
			description = "Python (2.x or 3.x) include directory"
    }
    
    newoption
    {
			trigger     = "python_lib_dir",
			value       = default_python_lib_dir,
			description = "Python (2.x or 3.x) library directory "
    }

	
	newoption {
		trigger     = "targetdir",
		value       = "path such as ../bin",
		description = "Set the output location for the generated project files"
	}

	newoption
	{
		trigger = "no-test",
		description = "Disable all tests"
	}

	newoption
	{
		trigger = "no-gtest",
		description = "Disable unit tests using gtest"
	}

	newoption
	{
		trigger = "no-bullet3",
		description = "Do not build bullet3 libs"
	}

	newoption
	{
		trigger = "double",
		description = "Double precision version of Bullet"
	}

	newoption
	{
		trigger = "clamp-velocities",
		description = "Limit maximum velocities to reduce FP exception risk"
	}
	
	newoption
	{
		trigger = "serial",
		description = "Enable serial, for testing the VR glove in C++"
	}
	
	newoption
	{
		trigger = "audio",
		description = "Enable audio"
	}
	newoption
	{
		trigger = "enable_multithreading",
		description = "enable CPU multithreading for bullet2 libs"
	}
	if _OPTIONS["enable_multithreading"] then
		defines {"BT_THREADSAFE=1"}
	end
	if _OPTIONS["double"] then
		defines {"BT_USE_DOUBLE_PRECISION"}
	end
	if _OPTIONS["clamp-velocities"] then
		defines {"BT_CLAMP_VELOCITY_TO=9999"}
	end

	newoption
	{
		trigger = "dynamic-runtime",
		description = "Enable dynamic DLL CRT runtime"
	}
	configurations {"Release", "Debug"}
	configuration "Release"
		flags { "Optimize", "EnableSSE2", "NoMinimalRebuild", "FloatFast"}
		if not _OPTIONS["dynamic-runtime"] then
			flags { "StaticRuntime" } 
		end
	configuration "Debug"
		defines {"_DEBUG=1"}
		flags { "Symbols" , "NoMinimalRebuild", "NoEditAndContinue" ,"FloatFast"}
		if not _OPTIONS["dynamic-runtime"] then
			flags { "StaticRuntime" } 
		end


	if os.is("Linux") or os.is("macosx") then
		if os.is64bit() then
			platforms {"x64"}
		else
			platforms {"x32"}
		end
	else
		platforms {"x32","x64"}
	end

	configuration {"x32"}
		targetsuffix ("_" .. act)
	configuration "x64"
		targetsuffix ("_" .. act .. "_64" )
	configuration {"x64", "debug"}
		targetsuffix ("_" .. act .. "_x64_debug")
	configuration {"x64", "release"}
		targetsuffix ("_" .. act .. "_x64_release" )
	configuration {"x32", "debug"}
		targetsuffix ("_" .. act .. "_debug" )

	configuration{}

	postfix=""

	if _ACTION == "xcode4" then
		if _OPTIONS["ios"] then
			_OPTIONS["no-bullet3"] = "1"
			_OPTIONS["no-gtest"] = "1"

			postfix = "ios";
			xcodebuildsettings
			{
				'INFOPLIST_FILE = "../../test/Bullet2/Info.plist"',
				'CODE_SIGN_IDENTITY = "iPhone Developer"',
				"SDKROOT = iphoneos",
				'ARCHS = "armv7"',
				'TARGETED_DEVICE_FAMILY = "1,2"',
				'VALID_ARCHS = "armv7"',
			}
		else
			xcodebuildsettings
			{
				'ARCHS = "$(ARCHS_STANDARD_64_BIT)"',
				'VALID_ARCHS = "x86_64"',
--			'SDKROOT = "macosx10.9"',
			}
		end
	end

-- comment-out for now, URDF reader needs exceptions
--	flags { "NoRTTI", "NoExceptions"}
--	defines { "_HAS_EXCEPTIONS=0" }
--printf ( _OPTIONS["targetdir"] )

	targetdir( _OPTIONS["targetdir"] or "../bin" )
	location("./" .. act .. postfix)

	
	
	if not _OPTIONS["python_include_dir"] then
			_OPTIONS["python_include_dir"] = default_python_include_dir
	end
	
	if not _OPTIONS["python_lib_dir"] then
			_OPTIONS["python_lib_dir"] = default_python_lib_dir
	end

if os.is("Linux") then
                default_glfw_include_dir = "usr/local/include/GLFW"
                default_glfw_lib_dir = "/usr/local/lib/"
		default_glfw_lib_name = "glfw3"
end

if os.is("macosx") then
		default_glfw_include_dir = "/usr/local/Cellar/glfw/3.2.1/include"
		default_glfw_lib_dir = "/usr/local/Cellar/glfw/3.2.1/lib"
		default_glfw_lib_name = "glfw"
end

if os.is("Windows") then
                default_glfw_include_dir = "c:/glfw/include"
                default_glfw_lib_dir = "c:/glfw/lib"
		default_glfw_lib_name = "glfw3"
end

	

	
	if not _OPTIONS["glfw_lib_dir"] then
		_OPTIONS["glfw_lib_dir"] = default_glfw_lib_dir
	end
	if not _OPTIONS["glfw_include_dir"] then
		_OPTIONS["glfw_include_dir"] = default_glfw_include_dir
	end
	if not _OPTIONS["glfw_lib_name"] then
		_OPTIONS["glfw_lib_name"] = default_glfw_lib_name
	end	

	

	newoption
    {
			trigger     = "glfw_include_dir",
			value       = default_glfw_include_dir,
			description = "GLFW 3.x include directory"
    }
   
	 newoption
    {
                        trigger     = "glfw_lib_name",
                        value       = default_glfw_lib_name,
                        description = "GLFW 3.x library name (glfw, glfw3)"
    }
 
    newoption
    {
			trigger     = "glfw_lib_dir",
			value       = default_glfw_lib_dir,
			description = "(optional) GLFW 3.x library directory "
    }
    
    newoption
    {
			trigger     = "enable_glfw",
			value       = false,
			description = "(optional) use GLFW 3.x library"
    }
    
	if _OPTIONS["enable_glfw"] then
		defines {"B3_USE_GLFW"}
		
		function initOpenGL()
		includedirs {
					projectRootDir .. "examples/ThirdPartyLibs/glad"
			}
		
			includedirs {
				_OPTIONS["glfw_include_dir"],
			}
			
			libdirs {
				_OPTIONS["glfw_lib_dir"]
			}
			links { _OPTIONS["glfw_lib_name"]}
			files { projectRootDir .. "examples/ThirdPartyLibs/glad/glad.c" }
		end
		function findOpenGL3()
			return true
		end
		function initGlew()
		end
		function initX11()
		links {"X11", "dl","pthread"}

		end
		
	else
		dofile ("findOpenGLGlewGlut.lua")
		if (not findOpenGL3()) then
			defines {"NO_OPENGL3"}
		end
	end

	

	dofile ("findOpenCL.lua")
	dofile ("findDirectX11.lua")
	
	
	
	language "C++"


	
	
	

	if _OPTIONS["audio"] then
		include "../examples/TinyAudio"
	end

	if _OPTIONS["serial"] then
		include "../examples/ThirdPartyLibs/serial"
	end

	if not _OPTIONS["no-demos"] then
		include "../examples/ExampleBrowser"
		include "../examples/RobotSimulator"
		include "../examples/OpenGLWindow"
		include "../examples/ThirdPartyLibs/Gwen"
		include "../examples/HelloWorld"
		include "../examples/SharedMemory"
		include "../examples/ThirdPartyLibs/BussIK"

		if _OPTIONS["lua"] then
		   include "../examples/ThirdPartyLibs/lua-5.2.3"
		end
		if _OPTIONS["enable_pybullet"] then
		  include "../examples/pybullet"
		end
		include "../examples/SimpleOpenGL3"

		if _OPTIONS["standalone-examples"] then
			
			include "../examples/TinyRenderer"
			include "../examples/BasicDemo"
			include "../examples/InverseDynamics"
			include "../examples/ExtendedTutorials"
			include "../examples/MultiThreading"
		end

		if not _OPTIONS["no-test"] then
			include "../test/SharedMemory"
		end
	end

	if _OPTIONS["midi"] then
		include "../examples/ThirdPartyLibs/midi"
	end
	
	if not _OPTIONS["no-clsocket"] then
		defines {"BT_ENABLE_CLSOCKET"}
		include "../examples/ThirdPartyLibs/clsocket"		
		include "../test/clsocket"
	end

	if not _OPTIONS["no-enet"] then
				defines {"BT_ENABLE_ENET"}

				include "../examples/ThirdPartyLibs/enet"
				include "../test/enet/nat_punchthrough/client"
				include "../test/enet/nat_punchthrough/server"
				include "../test/enet/chat/client"
				include "../test/enet/chat/server"
	end

	 if _OPTIONS["no-bullet3"] then
                print "--no-bullet3 implies --no-demos"
                _OPTIONS["no-demos"] = "1"
        else
                include "../src/Bullet3Common"
                include "../src/Bullet3Geometry"
                include "../src/Bullet3Collision"
                include "../src/Bullet3Dynamics"
                include "../src/Bullet3OpenCL"
                include "../src/Bullet3Serialize/Bullet2FileLoader"
        end

        if _OPTIONS["no-extras"] then
                print "--no-extras implies --no-demos"
                _OPTIONS["no-demos"] = "1"
        else
                include "../Extras"
        end

	if not _OPTIONS["no-test"] then
		include "../test/Bullet2"

		if not _OPTIONS["no-gtest"] then
			include "../test/gtest-1.7.0"
--			include "../test/hello_gtest"
			include "../test/collision"
			include "../test/BulletDynamics/pendulum"
			if not _OPTIONS["no-bullet3"] then
				if not _OPTIONS["no-extras"] then
					include "../test/InverseDynamics"
				end
				include "../test/TestBullet3OpenCL"
			end
			if not _OPTIONS["no-demos"] then
				-- Gwen is only used for demos
				include "../test/GwenOpenGLTest"
			end
		end
	end

	include "../src/BulletInverseDynamics"
 	include "../src/BulletSoftBody"
	include "../src/BulletDynamics"
	include "../src/BulletCollision"
	include "../src/LinearMath"
	if _OPTIONS["enable_physx"] then
		include "../src/physx"
	end