Merge remote-tracking branch 'bp/master'

.travis.yml

@@ -1,11 +1,6 @@
 language: cpp
 matrix:
   include:
-    - os: linux
-      compiler: gcc
-      env:
-        - BUILD_NAME=TRUSTY_GCC
-        - SUDO=sudo
     - os: linux
       compiler: clang
       env:

CMakeLists.txt

@@ -254,7 +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)
 

Extras/BulletRobotics/CMakeLists.txt

@@ -201,7 +201,8 @@ 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)
 

Extras/BulletRoboticsGUI/CMakeLists.txt

@@ -146,7 +146,8 @@ 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)
 

Extras/ConvexDecomposition/LICENSE.txt

@@ -0,0 +1,19 @@
+Copyright (c) 2004 Open Dynamics Framework Group
+					www.physicstools.org
+		All rights reserved.
+		Redistribution and use in source and binary forms, with or without modification, are permitted provided
+		that the following conditions are met:
+		Redistributions of source code must retain the above copyright notice, this list of conditions
+		and the following disclaimer.
+		Redistributions in binary form must reproduce the above copyright notice,
+		this list of conditions and the following disclaimer in the documentation
+		and/or other materials provided with the distribution.
+		Neither the name of the Open Dynamics Framework Group nor the names of its contributors may
+		be used to endorse or promote products derived from this software without specific prior written permission.
+		THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 'AS IS' AND ANY EXPRESS OR IMPLIED WARRANTIES,
+		INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+		DISCLAIMED. IN NO EVENT SHALL THE INTEL OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+		EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+		LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
+		IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
+		THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Extras/GIMPACTUtils/LICENSE.txt

@@ -0,0 +1,11 @@
+
+Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
+email: [email protected]
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.

Extras/HACD/LICENSE.txt

@@ -0,0 +1,13 @@
+Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+
+
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Extras/InverseDynamics/LICENSE.txt

@@ -0,0 +1,12 @@
+Bullet Continuous Collision Detection and Physics Library
+http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.

Extras/Serialize/BulletFileLoader/bFile.cpp

@@ -643,8 +643,8 @@ char *bFile::readStruct(char *head, bChunkInd &dataChunk)
 			if ((strcmp(oldType, "btShortIntIndexData") == 0))
 			{
 				int allocLen = 2;
-				char *dataAlloc = new char[(dataChunk.nr * allocLen) + 1];
-				memset(dataAlloc, 0, (dataChunk.nr * allocLen) + 1);
+				char *dataAlloc = new char[(dataChunk.nr * allocLen) + sizeof(void*)];
+				memset(dataAlloc, 0, (dataChunk.nr * allocLen) + sizeof(void*));
 				short *dest = (short *)dataAlloc;
 				const short *src = (short *)head;
 				for (int i = 0; i < dataChunk.nr; i++)
@@ -682,8 +682,8 @@ char *bFile::readStruct(char *head, bChunkInd &dataChunk)
 				// numBlocks * length
 
 				int allocLen = (curLen);
-				char *dataAlloc = new char[(dataChunk.nr * allocLen) + 1];
-				memset(dataAlloc, 0, (dataChunk.nr * allocLen));
+				char *dataAlloc = new char[(dataChunk.nr * allocLen) + sizeof(void*)];
+				memset(dataAlloc, 0, (dataChunk.nr * allocLen) + sizeof(void*));
 
 				// track allocated
 				addDataBlock(dataAlloc);
@@ -719,8 +719,8 @@ char *bFile::readStruct(char *head, bChunkInd &dataChunk)
 #endif  //
 	}
 
-	char *dataAlloc = new char[(dataChunk.len) + 1];
-	memset(dataAlloc, 0, dataChunk.len + 1);
+	char *dataAlloc = new char[(dataChunk.len) + sizeof(void*)];
+	memset(dataAlloc, 0, dataChunk.len + sizeof(void*));
 
 	// track allocated
 	addDataBlock(dataAlloc);

Extras/Serialize/makesdna/DNA_rigidbody.h

@@ -1,3 +1,17 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
 
 #ifndef DNA_RIGIDBODY_H
 #define DNA_RIGIDBODY_H

Extras/VHACD/LICENSE.txt

@@ -0,0 +1,14 @@
+Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
+ All rights reserved.
+
+
+ Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
+
+ 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
+
+ 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
+
+ 3. The names of the contributors may not be used to endorse or promote products derived from this software without specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+

Extras/obj2sdf/obj2sdf.cpp

@@ -4,6 +4,20 @@
 /// this will make it easier to load complex obj files into pybullet
 /// see for example export in data/kitchens/fathirmutfak.sdf
 
+///Bullet Continuous Collision Detection and Physics Library
+///Erwin Coumans (C) 2018
+///http://bulletphysics.org
+///
+///This software is provided 'as-is', without any express or implied warranty.
+///In no event will the authors be held liable for any damages arising from the use of this software.
+///Permission is granted to anyone to use this software for any purpose,
+///including commercial applications, and to alter it and redistribute it freely,
+///subject to the following restrictions:
+///
+///1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+///2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+///3. This notice may not be removed or altered from any source distribution.
+
 #include <string.h>
 #include <stdio.h>
 #include <assert.h>

examples/BasicDemo/CMakeLists.txt

@@ -84,7 +84,8 @@ ELSE(WIN32)
                 ADD_DEFINITIONS("-DGLEW_STATIC")
                 ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
 
-                LINK_LIBRARIES(  pthread ${DL} )
+                FIND_PACKAGE(Threads)
+                LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
         ENDIF(APPLE)
 ENDIF(WIN32)
 

examples/ExampleBrowser/CMakeLists.txt

@@ -61,11 +61,12 @@ IF (BUILD_SHARED_LIBS)
                                 BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK
                                 ${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
                  )
-  			ELSE(APPLE)
+				ELSE(APPLE)
+                 FIND_PACKAGE(Threads)
                  TARGET_LINK_LIBRARIES(
                                 BulletExampleBrowserLib Bullet3Common BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils
                                 BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK
-                                pthread ${DL}
+                                ${CMAKE_THREAD_LIBS_INIT} ${DL}
                         )
         ENDIF(APPLE)
 	ENDIF(WIN32)
@@ -116,7 +117,8 @@ ELSE(WIN32)
 		ADD_DEFINITIONS("-DGLEW_STATIC")
 		ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
 		INCLUDE_DIRECTORIES( ${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/glad )
-		LINK_LIBRARIES( pthread ${DL})
+		FIND_PACKAGE(Threads)
+		LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
 	ENDIF(APPLE)
 ENDIF(WIN32)
 

examples/Importers/ImportURDFDemo/UrdfParser.cpp

@@ -1132,6 +1132,7 @@ bool UrdfParser::parseDeformable(UrdfModel& model, tinyxml2::XMLElement* config,
 	if (!i)
 	{
 		logger->reportError("expected an inertial element");
+		return false;
 	}
 	UrdfInertia inertia;
 	if (!parseInertia(inertia, i, logger))

examples/RobotSimulator/CMakeLists.txt

@@ -58,7 +58,8 @@ ELSE(WIN32)
 		ADD_DEFINITIONS("-DGLEW_STATIC")
 		ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
 
-		LINK_LIBRARIES(  pthread ${DL} )
+		FIND_PACKAGE(Threads)
+		LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
 	ENDIF(APPLE)
 ENDIF(WIN32)
 
@@ -110,7 +111,8 @@ IF(WIN32)
 ELSE()
 	IF(APPLE)
 	ELSE(APPLE)
-		TARGET_LINK_LIBRARIES( App_RobotSimulator_NoGUI pthread ${DL} )
+		FIND_PACKAGE(Threads)
+		LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
 	ENDIF(APPLE)
 ENDIF(WIN32)
 
@@ -144,10 +146,10 @@ IF(WIN32)
                 TARGET_LINK_LIBRARIES(App_HelloBulletRobotics ws2_32 Winmm)
         ENDIF(BUILD_ENET OR BUILD_CLSOCKET)
 ELSE()
-        IF(APPLE)
-        ELSE(APPLE)
-                TARGET_LINK_LIBRARIES( App_HelloBulletRobotics pthread ${DL} )
-        ENDIF(APPLE)
+	IF(NOT APPLE)
+		FIND_PACKAGE(Threads)
+		TARGET_LINK_LIBRARIES( App_HelloBulletRobotics ${CMAKE_THREAD_LIBS_INIT} ${DL} )
+	ENDIF(APPLE)
 ENDIF(WIN32)
 
 

examples/SharedMemory/CMakeLists.txt

@@ -120,17 +120,17 @@ IF (WIN32)
                 ${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
         )
 ELSE(WIN32)
-			 IF(APPLE)
-			        LINK_LIBRARIES(  pthread dl )
+	FIND_PACKAGE(Threads)
+	LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
+	IF(APPLE)
 			        ADD_EXECUTABLE(App_PhysicsServer_SharedMemory
 			                ${SharedMemory_SRCS}
 			                ../MultiThreading/b3PosixThreadSupport.cpp
 	               			../MultiThreading/b3PosixThreadSupport.h
 			                main.cpp
 			        )
 
-        ELSE(APPLE)
-                                LINK_LIBRARIES(  pthread ${DL} )
+	ELSE(APPLE)
 			        ADD_EXECUTABLE(App_PhysicsServer_SharedMemory
 			                ${SharedMemory_SRCS}
 			                ../MultiThreading/b3PosixThreadSupport.cpp
@@ -180,8 +180,9 @@ IF (WIN32)
 			          ${BULLET_PHYSICS_SOURCE_DIR}/build3/bullet.rc
         )
 ELSE(WIN32)
+	FIND_PACKAGE(Threads)
+	LINK_LIBRARIES( ${CMAKE_THREAD_LIBS_INIT} ${DL} )
 			 IF(APPLE)
-			        LINK_LIBRARIES(  pthread dl )
 			        FIND_LIBRARY(COCOA NAMES Cocoa)
               MESSAGE(${COCOA})
               LINK_LIBRARIES(${COCOA} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY})
@@ -197,7 +198,6 @@ ELSE(WIN32)
 			        )
 
         ELSE(APPLE)
-				LINK_LIBRARIES(  pthread ${DL} )
          			ADD_DEFINITIONS("-DGLEW_INIT_OPENGL11_FUNCTIONS=1")
               ADD_DEFINITIONS("-DGLEW_STATIC")
               ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
@@ -393,9 +393,10 @@ ELSE(WIN32 OR APPLE)
                -std=c++11
        )
 
+       FIND_PACKAGE(Threads)
        target_link_libraries(App_PhysicsServer_SharedMemory_VR PRIVATE
                openvr_api
-               pthread
+               ${CMAKE_THREAD_LIBS_INIT}
                ${DL}
                Bullet3Common
                BulletWorldImporter

examples/SimpleOpenGL3/CMakeLists.txt

@@ -37,7 +37,8 @@ ELSE(WIN32)
 		ADD_DEFINITIONS("-DGLEW_STATIC")
 		ADD_DEFINITIONS("-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1")
 
-		LINK_LIBRARIES( X11 pthread ${DL} Xext)
+		FIND_PACKAGE(Threads)
+		LINK_LIBRARIES( X11 ${CMAKE_THREAD_LIBS_INIT} ${DL} Xext )
 	ENDIF(APPLE)
 ENDIF(WIN32)
 

examples/ThirdPartyLibs/BussIK/LICENSE.txt

@@ -0,0 +1,12 @@
+* Author: Samuel R. Buss, [email protected].
+* Web page: http://www.math.ucsd.edu/~sbuss/ResearchWeb/ikmethods/index.html
+*
+*
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.

examples/ThirdPartyLibs/Eigen/LICENSE.txt

@@ -0,0 +1,8 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <[email protected]>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.

examples/ThirdPartyLibs/Gwen/LICENSE.txt

@@ -0,0 +1,11 @@
+GWEN modified and adapted for the Bullet Physics Library
+Using the Zlib license with permission from Garry Newman
+Copyright (c) 2010 Facepunch Studios
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.

examples/ThirdPartyLibs/Wavefront/LICENSE.txt

@@ -0,0 +1,3 @@
+// Copyright 2012-2013, Syoyo Fujita.
+//
+// Licensed under 2-clause BSD liecense.