enable v-hacd in cmake for BulletRobotics and pybullet build (use cma…

…ke -DENABLE_VHACD=OFF .. to disable) cmake: enable stable PD plugin (-DDSTATIC_LINK_SPD_PLUGIN) btMultibody, make some args const in mulMatrix
n33r4j · Mar 1, 2021 · adcaa75 · adcaa75
1 parent 97add36
commit adcaa75
Show file tree

Hide file tree

Showing 5 changed files with 34 additions and 7 deletions.
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)

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
@@ -156,7 +159,25 @@ SET(BulletRobotics_SRCS ${BulletRobotics_INCLUDES}
 		../../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)

diff --git a/examples/pybullet/CMakeLists.txt b/examples/pybullet/CMakeLists.txt
@@ -13,15 +13,19 @@ IF(BUILD_PYBULLET_NUMPY)
 	)
 ENDIF()
 
-ADD_DEFINITIONS(-DSTATIC_LINK_SPD_PLUGIN)
+ADD_DEFINITIONS(-DSTATIC_LINK_SPD_PLUGIN )
 
-SET(pybullet3_SRCS
-	pybullet.c
-	)
+IF(ENABLE_VHACD)
+ADD_DEFINITIONS(-DBT_ENABLE_VHACD)
+
+INCLUDE_DIRECTORIES( 
+  ../../Extras/VHACD/inc
+  ../../Extras/VHACD/public
+)
+ENDIF(ENABLE_VHACD)
 
 SET(pybullet_SRCS
 	pybullet.c
-
 )
 
 IF(BUILD_CLSOCKET)

diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp
@@ -1411,7 +1411,7 @@ void btMultiBody::solveImatrix(const btSpatialForceVector &rhs, btSpatialMotionV
 	}
 }
 
-void btMultiBody::mulMatrix(btScalar *pA, btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const
+void btMultiBody::mulMatrix(const btScalar *pA, const btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const
 {
 	for (int row = 0; row < rowsA; row++)
 	{

diff --git a/src/BulletDynamics/Featherstone/btMultiBody.h b/src/BulletDynamics/Featherstone/btMultiBody.h
@@ -745,7 +745,7 @@ btMultiBody
 		}
 	}
 
-	void mulMatrix(btScalar * pA, btScalar * pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const;
+	void mulMatrix(const btScalar *pA, const btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const;
 
 private:
 	btMultiBodyLinkCollider *m_baseCollider;  //can be NULL
-Original file line number
+Diff line change
@@ Expand Up @@
     	}
     }
-    void btMultiBody::mulMatrix(btScalar *pA, btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const
+    void btMultiBody::mulMatrix(const btScalar *pA, const btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const
     {
     	for (int row = 0; row < rowsA; row++)
     	{
@@ Expand Down @@