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CMakeLists.txt
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cmake_minimum_required(VERSION 3.18)
project(simDyn)
set(CMAKE_INCLUDE_CURRENT_DIR ON)
set(CMAKE_MACOSX_RPATH 1)
find_package(Boost REQUIRED)
if(NOT COPPELIASIM_INCLUDE_DIR)
if(DEFINED ENV{COPPELIASIM_ROOT_DIR})
set(COPPELIASIM_INCLUDE_DIR $ENV{COPPELIASIM_ROOT_DIR}/programming/include)
else()
set(COPPELIASIM_INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../include)
endif()
endif()
list(APPEND CMAKE_MODULE_PATH ${COPPELIASIM_INCLUDE_DIR}/cmake)
find_package(CoppeliaSim 4.5.1.7 REQUIRED)
if(WIN32)
# bullet-2-83 fails to compile with:
# error LNK2038: mismatch detected for 'RuntimeLibrary': value
# 'MT_StaticRelease' doesn't match value 'MD_DynamicRelease'
if(POLICY CMP0091)
cmake_policy(SET CMP0091 NEW)
endif()
endif()
set(Bullet_2_78_default ON)
set(Bullet_2_83_default ON)
set(ODE_default ON)
set(Newton_default ON)
set(Mujoco_default ON)
set(Drake_default ON)
if(APPLE)
set(Vortex_default OFF)
else()
set(Vortex_default ON)
endif()
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
if(CMAKE_CXX_COMPILER_FRONTEND_VARIANT STREQUAL "MSVC")
# using clang with clang-cl front end
#elseif(CMAKE_CXX_COMPILER_FRONTEND_VARIANT STREQUAL "GNU")
else()
# using clang with regular front end
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -msse -msse2 -msse3 -msse4")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fpermissive -Wno-narrowing")
# following flags cause instability of Bullet-2.78 plugin:
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpmath=sse")
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ffast-math")
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -freciprocal-math")
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -funsafe-math-optimizations")
endif()
elseif(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
# using GCC
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -msse -msse2 -msse3 -msse4 -mfpmath=sse -ffloat-store -ffast-math -freciprocal-math -funsafe-math-optimizations")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fpermissive -Wno-narrowing")
elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
# using Visual Studio C++
endif()
if(UNIX AND NOT APPLE)
add_definitions(-D_POSIX_VER_64)
endif()
if(APPLE)
add_definitions(-D_MACOSX_VER)
endif()
include_directories(sourceCode)
include_directories(sourceCode/dynamics)
include_directories(${COPPELIASIM_INCLUDE_DIR})
set(COMMON_SOURCES
${COPPELIASIM_INCLUDE_DIR}/simMath/3Vector.cpp
${COPPELIASIM_INCLUDE_DIR}/simMath/4Vector.cpp
${COPPELIASIM_INCLUDE_DIR}/simMath/7Vector.cpp
${COPPELIASIM_INCLUDE_DIR}/simMath/3X3Matrix.cpp
${COPPELIASIM_INCLUDE_DIR}/simMath/4X4Matrix.cpp
${COPPELIASIM_INCLUDE_DIR}/simMath/mXnMatrix.cpp
${COPPELIASIM_INCLUDE_DIR}/simMath/mathFuncs.cpp
${COPPELIASIM_INCLUDE_DIR}/simStack/stackArray.cpp
${COPPELIASIM_INCLUDE_DIR}/simStack/stackBool.cpp
${COPPELIASIM_INCLUDE_DIR}/simStack/stackMap.cpp
${COPPELIASIM_INCLUDE_DIR}/simStack/stackNull.cpp
${COPPELIASIM_INCLUDE_DIR}/simStack/stackNumber.cpp
${COPPELIASIM_INCLUDE_DIR}/simStack/stackObject.cpp
${COPPELIASIM_INCLUDE_DIR}/simStack/stackString.cpp
sourceCode/dynamics/CollShapeDyn_base.cpp
sourceCode/dynamics/ConstraintDyn_base.cpp
sourceCode/dynamics/ParticleObjectContainer_base.cpp
sourceCode/dynamics/ParticleObject_base.cpp
sourceCode/dynamics/ParticleDyn_base.cpp
sourceCode/dynamics/RigidBodyDyn_base.cpp
sourceCode/dynamics/RigidBodyContainerDyn_base.cpp
sourceCode/simDyn.cpp
)
set(Bullet_2_78 ${Bullet_2_78_default} CACHE BOOL "")
if(Bullet_2_78)
coppeliasim_add_plugin(
simBullet-2-78
LEGACY
SOURCES
${COMMON_SOURCES}
sourceCode/dynamics/bullet_2_78/CollShapeDyn.cpp
sourceCode/dynamics/bullet_2_78/RigidBodyDyn.cpp
sourceCode/dynamics/bullet_2_78/ConstraintDyn.cpp
sourceCode/dynamics/bullet_2_78/RigidBodyContainerDyn.cpp
sourceCode/dynamics/bullet_2_78/ParticleDyn.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/BroadphaseCollision/btSimpleBroadphase.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/BroadphaseCollision/btQuantizedBvh.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/BroadphaseCollision/btDispatcher.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/BroadphaseCollision/btDbvt.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionDispatch/SphereTriangleDetector.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionDispatch/btUnionFind.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionDispatch/btManifoldResult.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionDispatch/btInternalEdgeUtility.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionDispatch/btGhostObject.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionDispatch/btCollisionWorld.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionDispatch/btCollisionObject.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionDispatch/btBoxBoxDetector.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btUniformScalingShape.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btTriangleMesh.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btTriangleCallback.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btTriangleBuffer.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btTetrahedronShape.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btSphereShape.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btShapeHull.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btPolyhedralConvexShape.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btOptimizedBvh.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btMinkowskiSumShape.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btEmptyShape.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btCylinderShape.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btConvexShape.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btConvexInternalShape.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btConvexHullShape.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btConvex2dShape.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btConeShape.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btConcaveShape.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btCompoundShape.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btCollisionShape.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btCapsuleShape.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btBoxShape.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/CollisionShapes/btBox2dShape.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/Gimpact/gim_tri_collision.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/Gimpact/gim_memory.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/Gimpact/gim_contact.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/Gimpact/gim_box_set.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/Gimpact/btTriangleShapeEx.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/Gimpact/btGImpactShape.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/Gimpact/btGImpactBvh.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/Gimpact/btGenericPoolAllocator.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/Gimpact/btContactProcessing.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/NarrowPhaseCollision/btRaycastCallback.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/NarrowPhaseCollision/btGjkEpa2.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/NarrowPhaseCollision/btConvexCast.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletDynamics/ConstraintSolver/btUniversalConstraint.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletDynamics/ConstraintSolver/btSliderConstraint.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletDynamics/ConstraintSolver/btHingeConstraint.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletDynamics/ConstraintSolver/btHinge2Constraint.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletDynamics/ConstraintSolver/btContactConstraint.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletDynamics/ConstraintSolver/btConeTwistConstraint.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletDynamics/Dynamics/btSimpleDynamicsWorld.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletDynamics/Dynamics/btRigidBody.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/BulletDynamics/Dynamics/btContinuousDynamicsWorld.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/LinearMath/btSerializer.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/LinearMath/btQuickprof.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/LinearMath/btGeometryUtil.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/LinearMath/btConvexHull.cpp
sourceCode/dynamics/bullet_2_78/bullet_2_78/LinearMath/btAlignedAllocator.cpp
)
target_compile_definitions(simBullet-2-78 PRIVATE SIM_MATH_DOUBLE)
target_compile_definitions(simBullet-2-78 PRIVATE sReal=double)
target_compile_definitions(simBullet-2-78 PRIVATE BT_USE_DOUBLE_PRECISION)
target_compile_definitions(simBullet-2-78 PRIVATE INCLUDE_BULLET_2_78_CODE)
target_compile_definitions(simBullet-2-78 PRIVATE DYNAMICS_PLUGIN_VERSION=20)
target_compile_definitions(simBullet-2-78 PRIVATE LIBRARY_NAME=\"simBullet-2-78\")
target_compile_definitions(simBullet-2-78 PRIVATE ENGINE_NAME=\"Bullet\")
target_include_directories(simBullet-2-78 PRIVATE sourceCode/dynamics/bullet_2_78)
target_include_directories(simBullet-2-78 PRIVATE sourceCode/dynamics/bullet_2_78/bullet_2_78)
coppeliasim_add_lua(lua/simBullet-2-78.lua)
endif(Bullet_2_78)
set(Bullet_2_83 ${Bullet_2_83_default} CACHE BOOL "")
if(Bullet_2_83)
coppeliasim_add_plugin(
simBullet-2-83
LEGACY
SOURCES
${COMMON_SOURCES}
sourceCode/dynamics/bullet_2_83/CollShapeDyn.cpp
sourceCode/dynamics/bullet_2_83/RigidBodyDyn.cpp
sourceCode/dynamics/bullet_2_83/ConstraintDyn.cpp
sourceCode/dynamics/bullet_2_83/RigidBodyContainerDyn.cpp
sourceCode/dynamics/bullet_2_83/ParticleDyn.cpp
)
target_compile_definitions(simBullet-2-83 PRIVATE SIM_MATH_DOUBLE)
target_compile_definitions(simBullet-2-83 PRIVATE sReal=double)
target_compile_definitions(simBullet-2-83 PRIVATE BT_USE_DOUBLE_PRECISION)
target_compile_definitions(simBullet-2-83 PRIVATE INCLUDE_BULLET_2_83_CODE)
target_compile_definitions(simBullet-2-83 PRIVATE DYNAMICS_PLUGIN_VERSION=20)
target_compile_definitions(simBullet-2-83 PRIVATE LIBRARY_NAME=\"simBullet-2-83\")
target_compile_definitions(simBullet-2-83 PRIVATE ENGINE_NAME=\"Bullet\")
target_include_directories(simBullet-2-83 PRIVATE ${BULLET_INCLUDEPATH})
target_include_directories(simBullet-2-83 PRIVATE sourceCode/dynamics/bullet_2_83)
if(WIN32)
target_link_libraries(simBullet-2-83
PRIVATE
${BULLET_BUILD_DIR}/lib/Release/BulletDynamics.lib
${BULLET_BUILD_DIR}/lib/Release/BulletCollision.lib
${BULLET_BUILD_DIR}/lib/Release/LinearMath.lib
)
# see about error LNK2038 at the top of this file:
set_property(TARGET simBullet-2-83 PROPERTY
MSVC_RUNTIME_LIBRARY "MultiThreaded$<$<CONFIG:Debug>:Debug>")
elseif(UNIX)
target_link_libraries(simBullet-2-83
PRIVATE
${BULLET_BUILD_DIR}/src/BulletDynamics/libBulletDynamics.a
${BULLET_BUILD_DIR}/src/BulletCollision/libBulletCollision.a
${BULLET_BUILD_DIR}/src/LinearMath/libLinearMath.a
)
endif()
coppeliasim_add_lua(lua/simBullet-2-83.lua)
endif(Bullet_2_83)
set(ODE ${ODE_default} CACHE BOOL "")
if(ODE)
coppeliasim_add_plugin(
simODE
LEGACY
SOURCES
${COMMON_SOURCES}
sourceCode/dynamics/ode/CollShapeDyn.cpp
sourceCode/dynamics/ode/RigidBodyDyn.cpp
sourceCode/dynamics/ode/ConstraintDyn.cpp
sourceCode/dynamics/ode/RigidBodyContainerDyn.cpp
sourceCode/dynamics/ode/ParticleDyn.cpp
sourceCode/dynamics/ode/ode/src/util.cpp
sourceCode/dynamics/ode/ode/src/timer.cpp
sourceCode/dynamics/ode/ode/src/step.cpp
sourceCode/dynamics/ode/ode/src/sphere.cpp
sourceCode/dynamics/ode/ode/src/rotation.cpp
sourceCode/dynamics/ode/ode/src/ray.cpp
sourceCode/dynamics/ode/ode/src/quickstep.cpp
sourceCode/dynamics/ode/ode/src/plane.cpp
sourceCode/dynamics/ode/ode/src/odetls.cpp
sourceCode/dynamics/ode/ode/src/odeou.cpp
sourceCode/dynamics/ode/ode/src/odemath.cpp
sourceCode/dynamics/ode/ode/src/odeinit.cpp
sourceCode/dynamics/ode/ode/src/ode.cpp
sourceCode/dynamics/ode/ode/src/obstack.cpp
sourceCode/dynamics/ode/ode/src/misc.cpp
sourceCode/dynamics/ode/ode/src/memory.cpp
sourceCode/dynamics/ode/ode/src/matrix.cpp
sourceCode/dynamics/ode/ode/src/mat.cpp
sourceCode/dynamics/ode/ode/src/mass.cpp
sourceCode/dynamics/ode/ode/src/lcp.cpp
sourceCode/dynamics/ode/ode/src/heightfield.cpp
sourceCode/dynamics/ode/ode/src/fastltsolve.c
sourceCode/dynamics/ode/ode/src/fastlsolve.c
sourceCode/dynamics/ode/ode/src/fastldlt.c
sourceCode/dynamics/ode/ode/src/fastdot.c
sourceCode/dynamics/ode/ode/src/export-dif.cpp
sourceCode/dynamics/ode/ode/src/error.cpp
sourceCode/dynamics/ode/ode/src/cylinder.cpp
sourceCode/dynamics/ode/ode/src/convex.cpp
sourceCode/dynamics/ode/ode/src/collision_util.cpp
sourceCode/dynamics/ode/ode/src/collision_trimesh_trimesh_new.cpp
sourceCode/dynamics/ode/ode/src/collision_trimesh_trimesh.cpp
sourceCode/dynamics/ode/ode/src/collision_trimesh_sphere.cpp
sourceCode/dynamics/ode/ode/src/collision_trimesh_ray.cpp
sourceCode/dynamics/ode/ode/src/collision_trimesh_plane.cpp
sourceCode/dynamics/ode/ode/src/collision_trimesh_opcode.cpp
sourceCode/dynamics/ode/ode/src/collision_trimesh_gimpact.cpp
sourceCode/dynamics/ode/ode/src/collision_trimesh_distance.cpp
sourceCode/dynamics/ode/ode/src/collision_trimesh_disabled.cpp
sourceCode/dynamics/ode/ode/src/collision_trimesh_ccylinder.cpp
sourceCode/dynamics/ode/ode/src/collision_trimesh_box.cpp
sourceCode/dynamics/ode/ode/src/collision_transform.cpp
sourceCode/dynamics/ode/ode/src/collision_space.cpp
sourceCode/dynamics/ode/ode/src/collision_sapspace.cpp
sourceCode/dynamics/ode/ode/src/collision_quadtreespace.cpp
sourceCode/dynamics/ode/ode/src/collision_kernel.cpp
sourceCode/dynamics/ode/ode/src/collision_cylinder_trimesh.cpp
sourceCode/dynamics/ode/ode/src/collision_cylinder_sphere.cpp
sourceCode/dynamics/ode/ode/src/collision_cylinder_plane.cpp
sourceCode/dynamics/ode/ode/src/collision_cylinder_box.cpp
sourceCode/dynamics/ode/ode/src/capsule.cpp
sourceCode/dynamics/ode/ode/src/box.cpp
sourceCode/dynamics/ode/ode/src/array.cpp
sourceCode/dynamics/ode/ode/src/joints/universal.cpp
sourceCode/dynamics/ode/ode/src/joints/slider.cpp
sourceCode/dynamics/ode/ode/src/joints/pu.cpp
sourceCode/dynamics/ode/ode/src/joints/pr.cpp
sourceCode/dynamics/ode/ode/src/joints/plane2d.cpp
sourceCode/dynamics/ode/ode/src/joints/piston.cpp
sourceCode/dynamics/ode/ode/src/joints/null.cpp
sourceCode/dynamics/ode/ode/src/joints/lmotor.cpp
sourceCode/dynamics/ode/ode/src/joints/joint.cpp
sourceCode/dynamics/ode/ode/src/joints/hinge2.cpp
sourceCode/dynamics/ode/ode/src/joints/hinge.cpp
sourceCode/dynamics/ode/ode/src/joints/fixed.cpp
sourceCode/dynamics/ode/ode/src/joints/contact.cpp
sourceCode/dynamics/ode/ode/src/joints/ball.cpp
sourceCode/dynamics/ode/ode/src/joints/amotor.cpp
sourceCode/dynamics/ode/ode/OPCODE/Opcode.cpp
sourceCode/dynamics/ode/ode/OPCODE/OPC_VolumeCollider.cpp
sourceCode/dynamics/ode/ode/OPCODE/OPC_TreeCollider.cpp
sourceCode/dynamics/ode/ode/OPCODE/OPC_TreeBuilders.cpp
sourceCode/dynamics/ode/ode/OPCODE/OPC_SphereCollider.cpp
sourceCode/dynamics/ode/ode/OPCODE/OPC_RayCollider.cpp
sourceCode/dynamics/ode/ode/OPCODE/OPC_PlanesCollider.cpp
sourceCode/dynamics/ode/ode/OPCODE/OPC_Picking.cpp
sourceCode/dynamics/ode/ode/OPCODE/OPC_OptimizedTree.cpp
sourceCode/dynamics/ode/ode/OPCODE/OPC_OBBCollider.cpp
sourceCode/dynamics/ode/ode/OPCODE/OPC_Model.cpp
sourceCode/dynamics/ode/ode/OPCODE/OPC_MeshInterface.cpp
sourceCode/dynamics/ode/ode/OPCODE/OPC_LSSCollider.cpp
sourceCode/dynamics/ode/ode/OPCODE/OPC_HybridModel.cpp
sourceCode/dynamics/ode/ode/OPCODE/OPC_Common.cpp
sourceCode/dynamics/ode/ode/OPCODE/OPC_Collider.cpp
sourceCode/dynamics/ode/ode/OPCODE/OPC_BaseModel.cpp
sourceCode/dynamics/ode/ode/OPCODE/OPC_AABBTree.cpp
sourceCode/dynamics/ode/ode/OPCODE/OPC_AABBCollider.cpp
sourceCode/dynamics/ode/ode/OPCODE/Ice/IceUtils.cpp
sourceCode/dynamics/ode/ode/OPCODE/Ice/IceTriangle.cpp
sourceCode/dynamics/ode/ode/OPCODE/Ice/IceSegment.cpp
sourceCode/dynamics/ode/ode/OPCODE/Ice/IceRevisitedRadix.cpp
sourceCode/dynamics/ode/ode/OPCODE/Ice/IceRay.cpp
sourceCode/dynamics/ode/ode/OPCODE/Ice/IceRandom.cpp
sourceCode/dynamics/ode/ode/OPCODE/Ice/IcePoint.cpp
sourceCode/dynamics/ode/ode/OPCODE/Ice/IcePlane.cpp
sourceCode/dynamics/ode/ode/OPCODE/Ice/IceOBB.cpp
sourceCode/dynamics/ode/ode/OPCODE/Ice/IceMatrix4x4.cpp
sourceCode/dynamics/ode/ode/OPCODE/Ice/IceMatrix3x3.cpp
sourceCode/dynamics/ode/ode/OPCODE/Ice/IceIndexedTriangle.cpp
sourceCode/dynamics/ode/ode/OPCODE/Ice/IceHPoint.cpp
sourceCode/dynamics/ode/ode/OPCODE/Ice/IceContainer.cpp
sourceCode/dynamics/ode/ode/OPCODE/Ice/IceAABB.cpp
sourceCode/dynamics/ode/ode/src/collision_libccd.cpp
sourceCode/dynamics/ode/ode/src/nextafterf.c
sourceCode/dynamics/ode/ode/libccd/src/alloc.c
sourceCode/dynamics/ode/ode/libccd/src/ccd.c
sourceCode/dynamics/ode/ode/libccd/src/mpr.c
sourceCode/dynamics/ode/ode/libccd/src/polytope.c
sourceCode/dynamics/ode/ode/libccd/src/support.c
sourceCode/dynamics/ode/ode/libccd/src/vec3.c
)
target_compile_definitions(simODE PRIVATE SIM_MATH_DOUBLE)
target_compile_definitions(simODE PRIVATE sReal=double)
target_compile_definitions(simODE PRIVATE dDOUBLE)
target_compile_definitions(simODE PRIVATE CCD_DOUBLE)
target_compile_definitions(simODE PRIVATE INCLUDE_ODE_CODE)
target_compile_definitions(simODE PRIVATE DYNAMICS_PLUGIN_VERSION=20)
target_compile_definitions(simODE PRIVATE LIBRARY_NAME=\"simODE\")
target_compile_definitions(simODE PRIVATE ENGINE_NAME=\"ODE\")
target_compile_definitions(simODE PRIVATE dNODEBUG)
target_compile_definitions(simODE PRIVATE dLIBCCD_ENABLED)
target_compile_definitions(simODE PRIVATE dLIBCCD_CYL_CYL)
target_compile_definitions(simODE PRIVATE ODE_LIB)
target_compile_definitions(simODE PRIVATE dLIBCCD_CONVEX_BOX)
target_compile_definitions(simODE PRIVATE dLIBCCD_CONVEX_CYL)
target_compile_definitions(simODE PRIVATE dLIBCCD_CONVEX_SPHERE)
target_compile_definitions(simODE PRIVATE dLIBCCD_CONVEX_CONVEX)
target_compile_definitions(simODE PRIVATE dTRIMESH_ENABLED)
target_compile_definitions(simODE PRIVATE dTRIMESH_OPCODE)
target_include_directories(simODE PRIVATE sourceCode/dynamics/ode)
target_include_directories(simODE PRIVATE sourceCode/dynamics/ode/ode)
target_include_directories(simODE PRIVATE sourceCode/dynamics/ode/ode/src)
target_include_directories(simODE PRIVATE sourceCode/dynamics/ode/ode/OPCODE)
target_include_directories(simODE PRIVATE sourceCode/dynamics/ode/ode/libccd/src)
coppeliasim_add_lua(lua/simODE.lua)
endif(ODE)
set(Newton ${Newton_default} CACHE BOOL "")
if(Newton)
if(WIN32)
set(NEWTON_PLATFORM_SPECIFIC_SOURCES
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/pthreads.2/pthread.c
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/ampPhysics/dgAMP.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/ampPhysics/dgAmpSolver.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/ampPhysics/dgAmpInstance.cpp
)
endif()
coppeliasim_add_plugin(
simNewton
LEGACY
SOURCES
${COMMON_SOURCES}
sourceCode/dynamics/newton/CollShapeDyn.cpp
sourceCode/dynamics/newton/RigidBodyDyn.cpp
sourceCode/dynamics/newton/ConstraintDyn.cpp
sourceCode/dynamics/newton/RigidBodyContainerDyn.cpp
sourceCode/dynamics/newton/ParticleDyn.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/newton/Newton.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/newton/NewtonClass.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dg.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgAABBPolygonSoup.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgAsyncThread.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgConvexHull3d.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgConvexHull4d.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgCRC.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgDebug.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgDelaunayTetrahedralization.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgGeneralMatrix.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgGeneralVector.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgGoogol.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgIntersections.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgMatrix.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgMemory.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgMutexThread.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgNode.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgObb.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgPolygonSoupBuilder.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgPolyhedra.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgPolyhedraMassProperties.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgQuaternion.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgRandom.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgRef.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgRefCounter.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgSmallDeterminant.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgSPDMatrix.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgThread.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgThreadHive.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgTree.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core/dgTypes.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgBallConstraint.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgBilateralConstraint.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgBody.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgBodyMasterList.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgBroadPhase.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgBroadPhaseAggregate.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgBroadPhaseDefault.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgBroadPhasePersistent.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgCollision.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgCollisionBox.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgCollisionBVH.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgCollisionCapsule.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgCollisionChamferCylinder.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgCollisionCompound.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgCollisionCompoundFractured.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgCollisionCone.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgCollisionConvex.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgCollisionConvexHull.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgCollisionConvexPolygon.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgCollisionCylinder.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgCollisionDeformableClothPatch.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgCollisionDeformableMesh.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgCollisionDeformableSolidMesh.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgCollisionHeightField.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgCollisionInstance.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgCollisionMesh.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgCollisionNull.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgCollisionScene.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgCollisionSphere.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgCollisionTaperedCapsule.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgCollisionTaperedCylinder.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgCollisionUserMesh.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgConstraint.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgContact.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgCorkscrewConstraint.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgDeformableBodiesUpdate.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgDeformableBody.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgDeformableContact.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgDynamicBody.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgHingeConstraint.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgKinematicBody.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgNarrowPhaseCollision.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgSkeletonContainer.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgSlidingConstraint.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgUniversalConstraint.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgUpVectorConstraint.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgUserConstraint.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgWorld.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgWorldDynamicsParallelSolver.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgWorldDynamicsSimpleSolver.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics/dgWorldDynamicUpdate.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/meshUtil/dgMeshEffect1.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/meshUtil/dgMeshEffect2.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/meshUtil/dgMeshEffect3.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/meshUtil/dgMeshEffect4.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/meshUtil/dgMeshEffect5.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/meshUtil/dgMeshEffect6.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dMath/dLinearAlgebra.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dMath/dMathDefines.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dMath/dMatrix.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dMath/dQuaternion.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dMath/dStdAfxMath.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dMath/dVector.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dCustomJoints/Custom6DOF.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dCustomJoints/CustomAlloc.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dCustomJoints/CustomArcticulatedTransformManager.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dCustomJoints/CustomBallAndSocket.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dCustomJoints/CustomControllerManager.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dCustomJoints/CustomCorkScrew.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dCustomJoints/CustomDryRollingFriction.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dCustomJoints/CustomGear.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dCustomJoints/CustomHinge.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dCustomJoints/CustomHingeActuator.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dCustomJoints/CustomInputManager.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dCustomJoints/CustomJoint.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dCustomJoints/CustomJointLibraryStdAfx.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dCustomJoints/CustomKinematicController.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dCustomJoints/CustomPathFollow.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dCustomJoints/CustomPulley.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dCustomJoints/CustomRackAndPinion.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dCustomJoints/CustomSlider.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dCustomJoints/CustomSliderActuator.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dCustomJoints/CustomSlidingContact.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dCustomJoints/CustomTriggerManager.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dCustomJoints/CustomUniversal.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dCustomJoints/CustomUniversalActuator.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dCustomJoints/CustomUpVector.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dCustomJoints/CustomUserBlank.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dContainers/dBaseHierarchy.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dContainers/dClassInfo.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dContainers/dContainersAlloc.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dContainers/dContainersStdAfx.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dContainers/dCRC.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dContainers/dRefCounter.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dContainers/dString.cpp
sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dContainers/dTree.cpp
${NEWTON_PLATFORM_SPECIFIC_SOURCES}
)
#target_compile_definitions(simNewton PRIVATE USE_THREAD_EMULATION) # not recomended. Use only if you need to handle Newton contacts in a contact callback script
#target_compile_definitions(simNewton PRIVATE SIM_MATH_DOUBLE)
#target_compile_definitions(simNewton PRIVATE _NEWTON_USE_DOUBLE)
target_compile_definitions(simNewton PRIVATE SIM_INTERFACE_SINGLE)
target_compile_definitions(simNewton PRIVATE sReal=float)
target_compile_definitions(simNewton PRIVATE INCLUDE_NEWTON_CODE)
target_compile_definitions(simNewton PRIVATE DYNAMICS_PLUGIN_VERSION=20)
target_compile_definitions(simNewton PRIVATE LIBRARY_NAME=\"simNewton\")
target_compile_definitions(simNewton PRIVATE ENGINE_NAME=\"Newton\")
target_compile_definitions(simNewton PRIVATE _CUSTOM_JOINTS_STATIC_LIB)
target_compile_definitions(simNewton PRIVATE _NEWTON_STATIC_LIB)
target_compile_definitions(simNewton PRIVATE PTW32_STATIC_LIB)
target_compile_definitions(simNewton PRIVATE _ASSERTE=void)
if(USE_THREAD_EMULATION)
target_compile_definitions(simNewton PRIVATE DG_USE_THREAD_EMULATION)
endif()
target_include_directories(simNewton PRIVATE sourceCode/dynamics/newton)
target_include_directories(simNewton PRIVATE sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/newton)
target_include_directories(simNewton PRIVATE sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/core)
target_include_directories(simNewton PRIVATE sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/physics)
target_include_directories(simNewton PRIVATE sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/meshUtil)
target_include_directories(simNewton PRIVATE sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/ampPhysics)
target_include_directories(simNewton PRIVATE sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dMath)
target_include_directories(simNewton PRIVATE sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dCustomJoints)
target_include_directories(simNewton PRIVATE sourceCode/dynamics/newton/newton-dynamics-newton-3.14/packages/dContainers)
if(WIN32)
target_include_directories(simNewton PRIVATE sourceCode/dynamics/newton/newton-dynamics-newton-3.14/coreLibrary_300/source/pthreads.2)
endif()
coppeliasim_add_lua(lua/simNewton.lua)
endif(Newton)
set(Vortex ${Vortex_default} CACHE BOOL "")
if(Vortex)
coppeliasim_add_plugin(
simVortex
LEGACY
SOURCES
${COMMON_SOURCES}
sourceCode/dynamics/vortex/CollShapeDyn.cpp
sourceCode/dynamics/vortex/RigidBodyDyn.cpp
sourceCode/dynamics/vortex/ConstraintDyn.cpp
sourceCode/dynamics/vortex/RigidBodyContainerDyn.cpp
sourceCode/dynamics/vortex/ParticleDyn.cpp
)
target_compile_definitions(simVortex PRIVATE SIM_MATH_DOUBLE)
target_compile_definitions(simVortex PRIVATE sReal=double)
target_compile_definitions(simVortex PRIVATE INCLUDE_VORTEX_CODE)
target_compile_definitions(simVortex PRIVATE VX_DLL)
target_compile_definitions(simVortex PRIVATE DYNAMICS_PLUGIN_VERSION=20)
target_compile_definitions(simVortex PRIVATE LIBRARY_NAME=\"simVortex\")
target_compile_definitions(simVortex PRIVATE ENGINE_NAME=\"Vortex\")
target_compile_definitions(simVortex PRIVATE _GLIBCXX_USE_CXX11_ABI=0)
if(WIN32)
target_link_libraries(simVortex PRIVATE ${VORTEX_LIBPATH}/VxCore.lib)
target_link_libraries(simVortex PRIVATE ${VORTEX_LIBPATH}/VxFoundation.lib)
target_link_libraries(simVortex PRIVATE ${VORTEX_LIBPATH}/VxPlatform.lib)
target_link_libraries(simVortex PRIVATE ${VORTEX_LIBPATH}/VxMath.lib)
endif()
if(UNIX AND NOT APPLE)
target_link_libraries(simVortex PRIVATE ${VORTEX_LIBPATH}/libVxCore.so)
target_link_libraries(simVortex PRIVATE ${VORTEX_LIBPATH}/libVxPlatform.so)
target_link_libraries(simVortex PRIVATE ${VORTEX_LIBPATH}/libVxMath.so)
endif()
target_include_directories(simVortex PRIVATE ${VORTEX_INCLUDEPATH})
target_include_directories(simVortex PRIVATE sourceCode/dynamics/vortex)
coppeliasim_add_lua(lua/simVortex.lua)
endif(Vortex)
set(Mujoco ${Mujoco_default} CACHE BOOL "")
if(Mujoco)
coppeliasim_add_plugin(
simMujoco
LEGACY
SOURCES
${COMMON_SOURCES}
sourceCode/dynamics/mujoco/CollShapeDyn.cpp
sourceCode/dynamics/mujoco/RigidBodyDyn.cpp
sourceCode/dynamics/mujoco/ConstraintDyn.cpp
sourceCode/dynamics/mujoco/RigidBodyContainerDyn.cpp
sourceCode/dynamics/mujoco/ParticleDyn.cpp
sourceCode/dynamics/mujoco/xmlser.cpp
sourceCode/dynamics/mujoco/tinyxml2.cpp
)
target_compile_definitions(simMujoco PRIVATE SIM_MATH_DOUBLE)
target_compile_definitions(simMujoco PRIVATE sReal=double)
target_compile_definitions(simMujoco PRIVATE INCLUDE_MUJOCO_CODE)
target_compile_definitions(simMujoco PRIVATE DYNAMICS_PLUGIN_VERSION=24)
target_compile_definitions(simMujoco PRIVATE LIBRARY_NAME=\"simMujoco\")
target_compile_definitions(simMujoco PRIVATE ENGINE_NAME=\"Mujoco\")
target_include_directories(simMujoco PRIVATE ${MUJOCO_INCLUDEPATH})
target_include_directories(simMujoco PRIVATE sourceCode/dynamics/mujoco)
if(WIN32)
target_link_libraries(simMujoco PRIVATE ${MUJOCO_LIBPATH}/mujoco.lib)
elseif(UNIX AND APPLE)
target_link_libraries(simMujoco PRIVATE ${MUJOCO_LIBPATH}/libmujoco.dylib)
elseif(UNIX)
target_link_libraries(simMujoco PRIVATE ${MUJOCO_LIBPATH}/libmujoco.so)
endif()
coppeliasim_add_lua(lua/simMujoco.lua)
coppeliasim_add_lua(lua/simMujoco-ce.lua)
coppeliasim_add_manual(manual/simMujoco.htm)
coppeliasim_add_manual(manual/index/simMujoco.json SUBDIR index)
endif(Mujoco)
set(Drake ${Drake_default} CACHE BOOL "")
if(Drake)
coppeliasim_add_plugin(
simDrake
LEGACY
SOURCES
${COMMON_SOURCES}
sourceCode/dynamics/drake/CollShapeDyn.cpp
sourceCode/dynamics/drake/RigidBodyDyn.cpp
sourceCode/dynamics/drake/ConstraintDyn.cpp
sourceCode/dynamics/drake/RigidBodyContainerDyn.cpp
sourceCode/dynamics/drake/ParticleDyn.cpp
sourceCode/dynamics/drake/xmlser.cpp
sourceCode/dynamics/drake/tinyxml2.cpp
)
target_compile_definitions(simDrake PRIVATE SIM_MATH_DOUBLE)
target_compile_definitions(simDrake PRIVATE sReal=double)
target_compile_definitions(simDrake PRIVATE INCLUDE_MUJOCO_CODE)
target_compile_definitions(simDrake PRIVATE DYNAMICS_PLUGIN_VERSION=1)
target_compile_definitions(simDrake PRIVATE LIBRARY_NAME=\"simDrake\")
target_compile_definitions(simDrake PRIVATE ENGINE_NAME=\"Drake\")
target_include_directories(simDrake PRIVATE ${DRAKE_INCLUDEPATH})
target_include_directories(simDrake PRIVATE sourceCode/dynamics/drake)
if(WIN32)
target_link_libraries(simDrake PRIVATE ${DRAKE_LIBPATH}/mujoco.lib)
elseif(UNIX AND APPLE)
target_link_libraries(simDrake PRIVATE ${DRAKE_LIBPATH}/libmujoco.dylib)
elseif(UNIX)
target_link_libraries(simDrake PRIVATE ${DRAKE_LIBPATH}/libmujoco.so)
endif()
coppeliasim_add_lua(lua/simDrake.lua)
endif(Drake)