Merge branch 'bulletphysics:master' into master

bulletphysics · Feb 13, 2024 · 7824fc7 · 7824fc7
2 parents 0309615 + 6bb8d11
commit 7824fc7
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diff --git a/.github/workflows/cmake.yml b/.github/workflows/cmake.yml
@@ -0,0 +1,38 @@
+name: CMake
+
+on:
+  push:
+    branches: [ master ]
+  pull_request:
+    branches: [ master ]
+
+env:
+  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
+  BUILD_TYPE: Release
+
+jobs:
+  build:
+    # The CMake configure and build commands are platform agnostic and should work equally
+    # well on Windows or Mac.  You can convert this to a matrix build if you need
+    # cross-platform coverage.
+    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Configure CMake
+      # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
+      # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
+      run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
+
+    - name: Build
+      # Build your program with the given configuration
+      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
+
+    - name: Test
+      working-directory: ${{github.workspace}}/build
+      # Execute tests defined by the CMake configuration.  
+      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
+      run: ctest -C ${{env.BUILD_TYPE}}
+
diff --git a/.gitignore b/.gitignore
@@ -36,3 +36,7 @@ CTestTestFile.cmake
 
 # vim temp files
 *.swp
+
+.vscode/
+.idea/
+cmake-build-debug/
diff --git a/.travis.yml b/.travis.yml
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -30,6 +30,8 @@ OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF)
 OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" ON)
 OPTION(USE_OPENVR "Use OpenVR for virtual reality" OFF)
 
+OPTION(ENABLE_VHACD "Use VHACD in BulletRobotics and pybullet" ON)
+
 OPTION(BULLET2_MULTITHREADING "Build Bullet 2 libraries with mutex locking around certain operations (required for multi-threading)" OFF)
 IF (BULLET2_MULTITHREADING)
     OPTION(BULLET2_USE_OPEN_MP_MULTITHREADING "Build Bullet 2 with support for multi-threading with OpenMP (requires a compiler with OpenMP support)" OFF)
@@ -252,7 +254,8 @@ IF(BULLET2_MULTITHREADING)
 		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 	ENDIF (NOT MSVC)
 	IF (NOT WIN32)
-		LINK_LIBRARIES( pthread )
+		FIND_PACKAGE(Threads)
+		LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} )
 	ENDIF (NOT WIN32)
 ENDIF (BULLET2_MULTITHREADING)
 

diff --git a/Extras/BulletRobotics/CMakeLists.txt b/Extras/BulletRobotics/CMakeLists.txt
@@ -7,6 +7,9 @@ INCLUDE_DIRECTORIES(
 		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
 		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
 )
+ADD_DEFINITIONS(-DSTATIC_LINK_SPD_PLUGIN)
+
+
 
 SET(BulletRobotics_INCLUDES
   ../../examples/CommonInterfaces/Common2dCanvasInterface.h
@@ -94,69 +97,102 @@ SET(BulletRobotics_INCLUDES
 )
 
 SET(BulletRobotics_SRCS ${BulletRobotics_INCLUDES}
-    ../../examples/OpenGLWindow/SimpleCamera.cpp
-
-		../../examples/TinyRenderer/geometry.cpp
-		../../examples/TinyRenderer/model.cpp
-		../../examples/TinyRenderer/tgaimage.cpp
-		../../examples/TinyRenderer/our_gl.cpp
-		../../examples/TinyRenderer/TinyRenderer.cpp
-
-    ../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
-		../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
-		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp
-		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
-		../../examples/SharedMemory/IKTrajectoryHelper.cpp
-		../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
-		../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
-		../../examples/SharedMemory/InProcessMemory.cpp
-		../../examples/SharedMemory/PhysicsClient.cpp
-		../../examples/SharedMemory/PhysicsServer.cpp
-		../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
-		../../examples/SharedMemory/PhysicsDirect.cpp
-		../../examples/SharedMemory/PhysicsDirectC_API.cpp
-		../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
-		../../examples/SharedMemory/b3PluginManager.cpp
-		../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
-		../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
-		../../examples/SharedMemory/PhysicsClientC_API.cpp
-		../../examples/SharedMemory/Win32SharedMemory.cpp
-		../../examples/SharedMemory/PosixSharedMemory.cpp
-
-		../../examples/Utils/b3ResourcePath.cpp
-		../../examples/Utils/RobotLoggingUtil.cpp
-		../../examples/Utils/b3Clock.cpp
-		../../examples/Utils/b3ResourcePath.cpp
-		../../examples/Utils/ChromeTraceUtil.cpp
-
-		../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
-		../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
-		../../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
+	../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h
+	../../examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/Shape.h
+	../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.h
+	../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.h
+	../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.h
+	../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.h
+	../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp
+	../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.h
+
+	../../examples/OpenGLWindow/SimpleCamera.cpp
+
+	../../examples/TinyRenderer/geometry.cpp
+	../../examples/TinyRenderer/model.cpp
+	../../examples/TinyRenderer/tgaimage.cpp
+	../../examples/TinyRenderer/our_gl.cpp
+	../../examples/TinyRenderer/TinyRenderer.cpp
+
+	../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
+	../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
+	../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp
+	../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
+	../../examples/SharedMemory/IKTrajectoryHelper.cpp
+	../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
+	../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
+	../../examples/SharedMemory/InProcessMemory.cpp
+	../../examples/SharedMemory/PhysicsClient.cpp
+	../../examples/SharedMemory/PhysicsServer.cpp
+	../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
+	../../examples/SharedMemory/PhysicsDirect.cpp
+	../../examples/SharedMemory/PhysicsDirectC_API.cpp
+	../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+	../../examples/SharedMemory/b3PluginManager.cpp
+	../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
+	../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
+	../../examples/SharedMemory/PhysicsClientC_API.cpp
+	../../examples/SharedMemory/Win32SharedMemory.cpp
+	../../examples/SharedMemory/PosixSharedMemory.cpp
+
+	../../examples/Utils/b3ResourcePath.cpp
+	../../examples/Utils/RobotLoggingUtil.cpp
+	../../examples/Utils/b3Clock.cpp
+	../../examples/Utils/b3ResourcePath.cpp
+	../../examples/Utils/ChromeTraceUtil.cpp
+
+	../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
+	../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
+	../../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(ENABLE_VHACD)
+ADD_DEFINITIONS(-DBT_ENABLE_VHACD)
+SET(BulletRobotics_SRCS ${BulletRobotics_SRCS}
+  ../../Extras/VHACD/test/src/main_vhacd.cpp
+  ../../Extras/VHACD/src/VHACD.cpp
+  ../../Extras/VHACD/src/vhacdICHull.cpp
+  ../../Extras/VHACD/src/vhacdManifoldMesh.cpp
+  ../../Extras/VHACD/src/vhacdMesh.cpp
+  ../../Extras/VHACD/src/vhacdVolume.cpp
+)
+INCLUDE_DIRECTORIES( 
+  ../../Extras/VHACD/inc
+  ../../Extras/VHACD/public
 )
+ENDIF(ENABLE_VHACD)
 
 IF(BUILD_CLSOCKET)
  ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
@@ -180,7 +216,8 @@ ELSE(WIN32)
 	ENDIF(BUILD_CLSOCKET)
 
 	IF(NOT APPLE)
-		LINK_LIBRARIES(  pthread ${DL} )
+		FIND_PACKAGE(Threads)
+		LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
 	ENDIF(NOT APPLE)
 ENDIF(WIN32)
 
@@ -267,6 +304,7 @@ INSTALL (
   ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)	
 
 IF(NOT MSVC)
+    SET(PKGCONFIG_INSTALL_PREFIX "lib${LIB_SUFFIX}/pkgconfig/" CACHE STRING "Base directory for pkgconfig files")
     CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/bullet_robotics.pc.cmake
                    ${CMAKE_CURRENT_BINARY_DIR}/bullet_robotics.pc @ONLY)
   	INSTALL(

diff --git a/Extras/BulletRoboticsGUI/CMakeLists.txt b/Extras/BulletRoboticsGUI/CMakeLists.txt
@@ -94,21 +94,6 @@ SET(BulletRoboticsGUI_INCLUDES
 )
 
 SET(BulletRoboticsGUI_SRCS ${BulletRoboticsGUI_INCLUDES}
-
-	../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp
-  ../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h
-  ../../examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp
-  ../../examples/SharedMemory/plugins/stablePDPlugin/Shape.h
-  ../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp
-  ../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.h
-  ../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.cpp
-  ../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.h
-  ../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.cpp
-  ../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.h
-  ../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.cpp
-  ../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.h
-  ../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp
-  ../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.h
 	../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
 	../../examples/SharedMemory/GraphicsServerExample.cpp
 	../../examples/SharedMemory/GraphicsClientExample.cpp
@@ -146,7 +131,8 @@ ELSE(WIN32)
 	ENDIF(BUILD_CLSOCKET)
 
 	IF(NOT APPLE)
-		LINK_LIBRARIES(  pthread ${DL} )
+		FIND_PACKAGE(Threads)
+		LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
 	ENDIF(NOT APPLE)
 ENDIF(WIN32)
 
@@ -197,6 +183,7 @@ ENDIF (BUILD_SHARED_LIBS)
   ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)	
 
 IF(NOT MSVC)
+    SET(PKGCONFIG_INSTALL_PREFIX "lib${LIB_SUFFIX}/pkgconfig/" CACHE STRING "Base directory for pkgconfig files")
     CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/bullet_robotics_gui.pc.cmake
                    ${CMAKE_CURRENT_BINARY_DIR}/bullet_robotics_gui.pc @ONLY)
   	INSTALL(

diff --git a/Extras/CMakeLists.txt b/Extras/CMakeLists.txt
@@ -1,5 +1,36 @@
-SUBDIRS( InverseDynamics BulletRoboticsGUI BulletRobotics obj2sdf Serialize ConvexDecomposition HACD GIMPACTUtils )
+OPTION(BUILD_INVERSE_DYNAMIC_EXTRA "Build InverseDynamic extra module, only applied when BUILD_EXTRAS is ON" ON)
+OPTION(BUILD_BULLET_ROBOTICS_GUI_EXTRA "Build BulletRoboticsGUI extra module, only applied when BUILD_EXTRAS is ON" ON)
+OPTION(BUILD_BULLET_ROBOTICS_EXTRA "Build BulletRobotics extra module, only applied when BUILD_EXTRAS is ON" ON)
+OPTION(BUILD_OBJ2SDF_EXTRA "Build obj2sdf extra module, only applied when BUILD_EXTRAS is ON" ON)
+OPTION(BUILD_SERIALIZE_EXTRA "Build Serialize extra module, only applied when BUILD_EXTRAS is ON" ON)
+OPTION(BUILD_CONVEX_DECOMPOSITION_EXTRA "Build ConvexDecomposition extra module, only applied when BUILD_EXTRAS is ON" ON)
+OPTION(BUILD_HACD_EXTRA "Build HACD extra module, only applied when BUILD_EXTRAS is ON" ON)
+OPTION(BUILD_GIMPACTUTILS_EXTRA "Build GIMPACTUtils extra module, only applied when BUILD_EXTRAS is ON" ON)
 
+IF(BUILD_INVERSE_DYNAMIC_EXTRA)
+  SUBDIRS( InverseDynamics )
+ENDIF()
+IF(BUILD_BULLET_ROBOTICS_GUI_EXTRA)
+  SUBDIRS( BulletRoboticsGUI )
+ENDIF()
+IF(BUILD_BULLET_ROBOTICS_EXTRA)
+  SUBDIRS( BulletRobotics )
+ENDIF()
+IF(BUILD_OBJ2SDF_EXTRA)
+  SUBDIRS( obj2sdf )
+ENDIF()
+IF(BUILD_SERIALIZE_EXTRA)
+  SUBDIRS( Serialize )
+ENDIF()
+IF(BUILD_CONVEX_DECOMPOSITION_EXTRA)
+  SUBDIRS( ConvexDecomposition )
+ENDIF()
+IF(BUILD_HACD_EXTRA)
+  SUBDIRS( HACD )
+ENDIF()
+IF(BUILD_GIMPACTUTILS_EXTRA)
+  SUBDIRS( GIMPACTUtils )
+ENDIF()
 
 
 #Maya Dynamica plugin is moved to http://dynamica.googlecode.com