Merge pull request RobotLocomotion#7582 from jamiesnape/shared-bullet

Use shared libraries for Bullet
KyleFromKitware · Dec 12, 2017 · 97e5e79 · 97e5e79
2 parents a5bc1bc + c215ecb
commit 97e5e79
Show file tree

Hide file tree

Showing 3 changed files with 39 additions and 60 deletions.
diff --git a/tools/install/libdrake/BUILD.bazel b/tools/install/libdrake/BUILD.bazel
@@ -107,9 +107,8 @@ cc_library(
 # required *.so's that are WORKSPACE downloads (such as VTK, Gurobi, etc).
 #
 # TODO(jwnimmer-tri) Ideally, Bazel should be able to handle the depended-on
-# *.so files (Gurobi, LCM, Mosek, SCS, TinyXML2, VTK) for us, without us having
-# to know up-front here which dependencies are coming from the WORKSPACE in the
-# form of *.so.
+# *.so files for us, without us having to know up-front here which dependencies
+# are coming from the WORKSPACE in the form of *.so.
 cc_library(
     name = "drake_shared_library",
     hdrs = [":libdrake_headers"],
@@ -122,6 +121,7 @@ cc_library(
         ":gurobi_deps",
         ":mosek_deps",
         ":vtk_deps",
+        "@bullet//:BulletCollision",
         "@lcm",
         "@scs//:scsdir",
         "@tinyxml2",

diff --git a/tools/workspace/bullet/bullet-create-cps.py b/tools/workspace/bullet/bullet-create-cps.py
@@ -12,43 +12,24 @@
   "Cps-Version": "0.8.0",
   "Name": "Bullet",
   "Description": "Real-time collision detection and multi-physics simulation",
-  "License": "Zlib",
-  "Version": "%s",
-  "Default-Components": [
-    ":BulletCollision",
-    ":BulletDynamics"
+  "License": [
+    "LGPL-2.1+",
+    "Zlib"
   ],
+  "Version": "%s",
+  "Default-Components": [":BulletCollision"],
   "Components": {
     "BulletCollision": {
       "Type": "dylib",
       "Location": "@prefix@/lib/libBulletCollision.so",
       "Includes": ["@prefix@/include/bullet"],
       "Requires": [":LinearMath"]
     },
-    "BulletDynamics": {
-      "Type": "dylib",
-      "Location": "@prefix@/lib/libBulletDynamics.so",
-      "Includes": ["@prefix@/include/bullet"],
-      "Requires": [
-        ":BulletCollision",
-        ":LinearMath"
-      ]
-    },
     "LinearMath": {
       "Type": "dylib",
       "Location": "@prefix@/lib/libLinearMath.so",
       "Definitions": ["BT_USE_DOUBLE_PRECISION"],
       "Includes": ["@prefix@/include/bullet"]
-    },
-    "BulletSoftBody": {
-      "Type": "dylib",
-      "Location": "@prefix@/lib/libBulletSoftBody.so",
-      "Includes": ["@prefix@/include/bullet"],
-      "Requires": [
-        ":BulletCollision",
-        ":BulletDynamics",
-        ":LinearMath"
-      ]
     }
   }
 }

diff --git a/tools/workspace/bullet/bullet.BUILD.bazel b/tools/workspace/bullet/bullet.BUILD.bazel
@@ -16,53 +16,53 @@ BULLET_COPTS = ["-Wno-all"]
 
 BULLET_INCLUDES = ["src"]
 
+LINEAR_MATH_HDRS = glob(["src/LinearMath/**/*.h"])
+
 # Keep defines in sync with Components.LinearMath.Definitions in
 # bullet-create-cps.py.
-cc_library(
-    name = "LinearMath",
-    srcs = glob(["src/LinearMath/**/*.cpp"]),
-    hdrs = glob(["src/LinearMath/**/*.h"]),
+LINEAR_MATH_DEFINES = ["BT_USE_DOUBLE_PRECISION"]
+
+cc_binary(
+    name = "libLinearMath.so",
+    srcs = glob(["src/LinearMath/**/*.cpp"]) + LINEAR_MATH_HDRS,
     copts = BULLET_COPTS,
-    defines = ["BT_USE_DOUBLE_PRECISION"],
+    defines = LINEAR_MATH_DEFINES,
     includes = BULLET_INCLUDES,
+    linkshared = 1,
+    visibility = ["//visibility:private"],
 )
 
 cc_library(
-    name = "BulletCollision",
-    srcs = glob(["src/BulletCollision/**/*.cpp"]),
-    hdrs = glob(["src/BulletCollision/**/*.h"]) + [
-        "src/btBulletCollisionCommon.h",
-    ],
+    name = "LinearMath",
+    srcs = ["libLinearMath.so"],
+    hdrs = LINEAR_MATH_HDRS,
     copts = BULLET_COPTS,
+    defines = LINEAR_MATH_DEFINES,
     includes = BULLET_INCLUDES,
-    deps = [":LinearMath"],
 )
 
-cc_library(
-    name = "BulletDynamics",
-    srcs = glob(["src/BulletDynamics/**/*.cpp"]),
-    hdrs = glob(["src/BulletDynamics/**/*.h"]) + [
-        "src/btBulletDynamicsCommon.h",
-    ],
+BULLET_COLLISION_HDRS = glob(["src/BulletCollision/**/*.h"]) + [
+    "src/btBulletCollisionCommon.h",
+]
+
+# BulletCollision contains LGPL code so only build shared library.
+cc_binary(
+    name = "libBulletCollision.so",
+    srcs = glob(["src/BulletCollision/**/*.cpp"]) + BULLET_COLLISION_HDRS,
     copts = BULLET_COPTS,
     includes = BULLET_INCLUDES,
-    deps = [
-        ":BulletCollision",
-        ":LinearMath",
-    ],
+    linkshared = 1,
+    visibility = ["//visibility:private"],
+    deps = [":LinearMath"],
 )
 
 cc_library(
-    name = "BulletSoftBody",
-    srcs = glob(["src/BulletSoftBody/**/*.cpp"]),
-    hdrs = glob(["src/BulletSoftBody/**/*.h"]),
+    name = "BulletCollision",
+    srcs = ["libBulletCollision.so"],
+    hdrs = BULLET_COLLISION_HDRS,
     copts = BULLET_COPTS,
     includes = BULLET_INCLUDES,
-    deps = [
-        ":BulletCollision",
-        ":BulletDynamics",
-        ":LinearMath",
-    ],
+    deps = [":LinearMath"],
 )
 
 cmake_config(
@@ -76,10 +76,8 @@ install_cmake_config(package = "Bullet")
 install(
     name = "install",
     targets = [
-        ":BulletCollision",
-        ":BulletDynamics",
-        ":BulletSoftBody",
-        ":LinearMath",
+        ":libBulletCollision.so",
+        ":libLinearMath.so",
     ],
     hdr_dest = "include/bullet",
     hdr_strip_prefix = BULLET_INCLUDES,