add ode

1 files changed, 590 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/build/premake4.lua b/libs/ode-0.16.1/build/premake4.lua
new file mode 100644
index 0000000..b97f6ac
--- /dev/null
+++ b/libs/ode-0.16.1/build/premake4.lua
@@ -0,0 +1,590 @@
+----------------------------------------------------------------------
+-- Premake4 configuration script for OpenDE
+-- Contributed by Jason Perkins (starkos@industriousone.com)
+-- For more information on Premake: http://industriousone.com/premake
+----------------------------------------------------------------------
+
+  ode_version = "0.16.1"
+
+----------------------------------------------------------------------
+-- Demo list: add/remove demos from here and the rest of the build
+-- should just work.
+----------------------------------------------------------------------
+
+  local demos = {
+    "boxstack",
+    "buggy",
+    "cards",
+    "chain1",
+    "chain2",
+    "collision",
+    "convex",
+    "crash",
+    "cylvssphere",
+    "dball",
+    "dhinge",
+    "feedback",
+    "friction",
+    "gyroscopic",
+    "gyro2",
+    "heightfield",
+    "hinge",
+    "I",
+    "jointPR",
+    "jointPU",
+    "joints",
+    "kinematic",
+    "motion",
+    "motor",
+    "ode",
+    "piston",
+    "plane2d",
+    "rfriction",
+    "slider",
+    "space",
+    "space_stress",
+    "step",
+    "transmission"
+  }
+
+  local trimesh_demos = {
+    "basket",
+    "cyl",
+    "moving_convex",
+    "moving_trimesh",
+    "tracks",
+    "trimesh"
+  }
+  
+  if not _OPTIONS["no-trimesh"] then
+    demos = table.join(demos, trimesh_demos)
+  end
+
+
+
+----------------------------------------------------------------------
+-- Configuration options
+----------------------------------------------------------------------
+
+  newoption {
+    trigger     = "with-demos",
+    description = "Builds the demo applications and DrawStuff library"
+  }
+  
+  newoption {
+    trigger     = "with-tests",
+    description = "Builds the unit test application"
+  }
+  
+  newoption {
+    trigger     = "with-gimpact",
+    description = "Use GIMPACT for trimesh collisions (experimental)"
+  }
+  
+  newoption {
+    trigger     = "all-collis-libs",
+    description = "Include sources of all collision libraries into the project"
+  }
+  
+  newoption {
+    trigger     = "with-libccd",
+    description = "Uses libccd for handling some collision tests absent in ODE."
+  }
+  
+  newoption {
+    trigger     = "no-dif",
+    description = "Exclude DIF (Dynamics Interchange Format) exports"
+  }
+  
+  newoption {
+    trigger     = "no-trimesh",
+    description = "Exclude trimesh collision geometry"
+  }
+  
+  newoption {
+    trigger     = "with-ou",
+    description = "Use TLS for global caches (allows threaded collision checks for separated spaces)"
+  }
+
+  newoption {
+    trigger     = "no-builtin-threading-impl",
+    description = "Disable built-in multithreaded threading implementation"
+  }
+
+  newoption {
+    trigger     = "no-threading-intf",
+    description = "Disable threading interface support (external implementations cannot be assigned)"
+  }
+
+  newoption {
+    trigger     = "16bit-indices",
+    description = "Use 16-bit indices for trimeshes (default is 32-bit)"
+  }
+
+  newoption {
+    trigger     = "old-trimesh",
+    description = "Use old OPCODE trimesh-trimesh collider"
+  }
+  
+  newoption {
+    trigger     = "to",
+    value       = "path",
+    description = "Set the output location for the generated project files"
+  }
+  
+  newoption {
+    trigger     = "only-shared",
+	description = "Only build shared (DLL) version of the library"
+  }
+  
+  newoption {
+    trigger     = "only-static",
+	description = "Only build static versions of the library"
+  }
+
+  newoption {
+    trigger     = "only-single",
+	description = "Only use single-precision math"
+  }
+  
+  newoption {
+    trigger     = "only-double",
+	description = "Only use double-precision math"
+  }
+  
+  -- always clean all of the optional components and toolsets
+  if _ACTION == "clean" then
+    _OPTIONS["with-demos"] = ""
+    _OPTIONS["with-tests"] = ""
+    for action in premake.action.each() do
+      os.rmdir(action.trigger)
+    end
+    os.remove("../ode/src/config.h")
+    os.remove("../include/ode/version.h")
+    os.remove("../include/ode/precision.h")
+    os.remove("../libccd/src/ccd/precision.h")
+  end
+  
+  -- special validation for Xcode  
+  if _ACTION == "xcode3" and (not _OPTIONS["only-static"] and not _OPTIONS["only-shared"]) then
+    error(
+	  "Xcode does not support different library types in a single project.\n" ..
+	  "Please use one of the flags: --only-static or --only-shared", 0)
+  end
+
+  -- build the list of configurations, based on the flags. Ends up
+  -- with configurations like "Debug", "DebugSingle" or "DebugSingleShared"
+  local configs = { "Debug", "Release" }
+  
+  local function addconfigs(...)
+	local newconfigs = { }
+	for _, root in ipairs(configs) do
+	  for _, suffix in ipairs(arg) do
+		table.insert(newconfigs, root .. suffix)
+	  end
+	end
+	configs = newconfigs
+  end
+  
+  
+  if not _OPTIONS["only-single"] and not _OPTIONS["only-double"] then
+    addconfigs("Single", "Double")
+  end
+  
+  if not _OPTIONS["only-shared"] and not _OPTIONS["only-static"] then
+    addconfigs("DLL", "Lib")
+  end
+
+  
+----------------------------------------------------------------------
+-- The solution, and solution-wide settings
+----------------------------------------------------------------------
+
+  solution "ode"
+
+    language "C++"
+    uuid     "4DA77C12-15E5-497B-B1BB-5100D5161E15"
+    location ( _OPTIONS["to"] or _ACTION )
+
+    includedirs {
+      "../include",
+      "../ode/src"
+    }
+    
+    defines { "_MT" }
+    
+    -- apply the configuration list built above
+    configurations (configs)
+    
+    configuration { "Debug*" }
+      defines { "_DEBUG" }
+      flags   { "Symbols" }
+      
+    configuration { "Release*" }
+      defines { "NDEBUG", "dNODEBUG" }
+      flags   { "OptimizeSpeed", "NoFramePointer" }
+
+    configuration { "*Single*" }
+      defines { "dIDESINGLE", "CCD_IDESINGLE" }
+      
+    configuration { "*Double*" }
+      defines { "dIDEDOUBLE", "CCD_IDEDOUBLE" }
+    
+    configuration { "Windows" }
+      defines { "WIN32" }
+
+    configuration { "MacOSX" }
+      linkoptions { "-framework Carbon" }
+      
+    -- give each configuration a unique output directory
+    for _, name in ipairs(configurations()) do
+      configuration { name }
+        targetdir ( "../lib/" .. name )
+    end
+      
+    -- disable Visual Studio security warnings
+    configuration { "vs*" }
+      defines { "_CRT_SECURE_NO_DEPRECATE", "_SCL_SECURE_NO_WARNINGS" }
+
+    -- enable M_* macros from math.h
+    configuration { "vs*" }
+      defines { "_USE_MATH_DEFINES" }
+
+    -- don't remember why we had to do this	
+    configuration { "vs2002 or vs2003", "*Lib" }
+      flags  { "StaticRuntime" }
+
+
+
+----------------------------------------------------------------------
+-- The demo projects, automated from list above. These go first so
+-- they will be selected as the active project automatically in IDEs
+----------------------------------------------------------------------
+
+  if _OPTIONS["with-demos"] then
+    for _, name in ipairs(demos) do
+    
+      project ( "demo_" .. name )
+      
+        kind      "ConsoleApp"
+        location  ( _OPTIONS["to"] or _ACTION )
+        files     { "../ode/demo/demo_" .. name .. ".*" }
+		links     { "ode", "drawstuff" }        
+        
+        configuration { "Windows" }
+          files   { "../drawstuff/src/resources.rc" }
+          links   { "user32", "winmm", "gdi32", "opengl32", "glu32" }
+
+        configuration { "MacOSX" }
+          linkoptions { "-framework Carbon -framework OpenGL -framework AGL" }
+
+        configuration { "not Windows", "not MacOSX" }
+          links   { "GL", "GLU" }
+        
+    end
+  end
+  
+
+
+----------------------------------------------------------------------
+-- The ODE library project
+----------------------------------------------------------------------
+
+  project "ode"
+
+    -- kind     "StaticLib"
+    location ( _OPTIONS["to"] or _ACTION )
+
+    includedirs {
+      "../ode/src/joints",
+      "../OPCODE",
+      "../GIMPACT/include",
+      "../libccd/src/custom",
+      "../libccd/src"
+    }
+
+    files {
+      "../include/ode/*.h",
+      "../ode/src/joints/*.h", 
+      "../ode/src/joints/*.cpp",
+      "../ode/src/*.h", 
+      "../ode/src/*.c", 
+      "../ode/src/*.cpp",
+    }
+
+    excludes {
+      "../ode/src/collision_std.cpp",
+    }
+
+    includedirs { "../ou/include" }
+    files   { "../ou/include/**.h", "../ou/src/**.h", "../ou/src/**.cpp" }
+    defines { "_OU_NAMESPACE=odeou" }
+
+    if _OPTIONS["with-ou"] then
+      defines { "_OU_FEATURE_SET=_OU_FEATURE_SET_TLS" }
+    elseif not _OPTIONS["no-threading-intf"] then
+      defines { "_OU_FEATURE_SET=_OU_FEATURE_SET_ATOMICS" }
+    else
+      defines { "_OU_FEATURE_SET=_OU_FEATURE_SET_BASICS" }
+    end
+
+    if _OPTIONS["with-ou"] or not _OPTIONS["no-threading-intf"] then
+      if _ACTION == "gmake" then
+        if os.get() == "windows" then
+          buildoptions { "-mthreads" }
+          linkoptions { "-mthreads" }
+          defines { "HAVE_PTHREAD_ATTR_SETINHERITSCHED=1", "HAVE_PTHREAD_ATTR_SETSTACKLAZY=1" }
+        else
+          buildoptions { "-pthread" }
+          linkoptions { "-pthread" }
+        end
+      end
+    end
+
+      
+    configuration { "no-dif" }
+      excludes { "../ode/src/export-dif.cpp" }
+
+    configuration { "no-trimesh" }
+      excludes {
+        "../ode/src/collision_trimesh_colliders.h",
+        "../ode/src/gimpact_contact_export_helper.cpp",
+        "../ode/src/gimpact_contact_export_helper.h",
+        "../ode/src/gimpact_gim_contact_accessor.h",
+        "../ode/src/gimpact_plane_contact_accessor.h",
+        "../ode/src/collision_trimesh_internal.cpp",
+        "../ode/src/collision_trimesh_opcode.cpp",
+        "../ode/src/collision_trimesh_gimpact.cpp",
+        "../ode/src/collision_trimesh_box.cpp",
+        "../ode/src/collision_trimesh_ccylinder.cpp",
+        "../ode/src/collision_cylinder_trimesh.cpp",
+        "../ode/src/collision_trimesh_ray.cpp",
+        "../ode/src/collision_trimesh_sphere.cpp",
+        "../ode/src/collision_trimesh_trimesh.cpp",
+        "../ode/src/collision_trimesh_trimesh_old.cpp",
+        "../ode/src/collision_trimesh_plane.cpp",
+        "../ode/src/collision_convex_trimesh.cpp"
+      }
+
+    configuration { "not no-trimesh", "with-gimpact or all-collis-libs" }
+      files   { "../GIMPACT/**.h", "../GIMPACT/**.cpp" }
+    
+    configuration { "not no-trimesh", "not with-gimpact" }
+      files   { "../OPCODE/**.h", "../OPCODE/**.cpp" }
+
+    configuration { "not no-trimesh", "not all-collis-libs", "with-gimpact" }
+      excludes {
+        "../ode/src/collision_trimesh_opcode.cpp"
+      }
+    
+    configuration { "not no-trimesh", "not all-collis-libs", "not with-gimpact" }
+      excludes {
+        "../ode/src/gimpact_contact_export_helper.cpp",
+        "../ode/src/gimpact_contact_export_helper.h",
+        "../ode/src/gimpact_gim_contact_accessor.h",
+        "../ode/src/gimpact_plane_contact_accessor.h",
+        "../ode/src/collision_trimesh_gimpact.cpp"
+      }
+ 
+    configuration { "with-libccd" }
+      files   { "../libccd/src/custom/ccdcustom/*.h", "../libccd/src/ccd/*.h", "../libccd/src/*.c" }
+      defines { "dLIBCCD_ENABLED", "dLIBCCD_INTERNAL", 
+        "dLIBCCD_BOX_CYL", "dLIBCCD_CYL_CYL", "dLIBCCD_CAP_CYL", "dLIBCCD_CONVEX_BOX",
+        "dLIBCCD_CONVEX_CAP", "dLIBCCD_CONVEX_CYL", "dLIBCCD_CONVEX_SPHERE", "dLIBCCD_CONVEX_CONVEX" }
+
+    configuration { "not with-libccd" }
+      excludes { "../ode/src/collision_libccd.cpp", "../ode/src/collision_libccd.h" }
+
+    configuration { "windows" }
+      links   { "user32" }
+            
+    configuration { "only-static or *Lib" }
+      kind    "StaticLib"
+      defines "ODE_LIB"
+      
+    configuration { "only-shared or *DLL" }
+      kind    "SharedLib"
+      defines "ODE_DLL"
+
+    configuration { "*DLL" }
+      defines "_DLL"
+
+    configuration { "Debug" }
+      targetname "oded"
+	  
+    configuration { "Release" }
+      targetname "ode"
+	  
+    configuration { "DebugSingle*" }
+      targetname "ode_singled"
+      
+    configuration { "ReleaseSingle*" }
+      targetname "ode_single"
+      
+    configuration { "DebugDouble*" }
+      targetname "ode_doubled"
+      
+    configuration { "ReleaseDouble*" }
+      targetname "ode_double"
+
+
+----------------------------------------------------------------------
+-- Write a custom <config.h> to build, based on the supplied flags
+----------------------------------------------------------------------
+
+  if _ACTION and _ACTION ~= "clean" then
+    local infile = io.open("config-default.h", "r")
+    local text = infile:read("*a")
+
+    if _OPTIONS["no-trimesh"] then
+      text = string.gsub(text, "#define dTRIMESH_ENABLED 1", "/* #define dTRIMESH_ENABLED 1 */")
+      text = string.gsub(text, "#define dTRIMESH_OPCODE 1", "/* #define dTRIMESH_OPCODE 1 */")
+    elseif (_OPTIONS["with-gimpact"]) then
+      text = string.gsub(text, "#define dTRIMESH_OPCODE 1", "#define dTRIMESH_GIMPACT 1")
+    end
+
+    text = string.gsub(text, "/%* #define dOU_ENABLED 1 %*/", "#define dOU_ENABLED 1")
+    if _OPTIONS["with-ou"] or not _OPTIONS["no-threading-intf"] then
+      text = string.gsub(text, "/%* #define dATOMICS_ENABLED 1 %*/", "#define dATOMICS_ENABLED 1")
+    end
+
+    if _OPTIONS["with-ou"] then
+      text = string.gsub(text, "/%* #define dTLS_ENABLED 1 %*/", "#define dTLS_ENABLED 1")
+    end
+
+    if _OPTIONS["no-threading-intf"] then
+      text = string.gsub(text, "/%* #define dTHREADING_INTF_DISABLED 1 %*/", "#define dTHREADING_INTF_DISABLED 1")
+    elseif not _OPTIONS["no-builtin-threading-impl"] then
+      text = string.gsub(text, "/%* #define dBUILTIN_THREADING_IMPL_ENABLED 1 %*/", "#define dBUILTIN_THREADING_IMPL_ENABLED 1")
+    end
+
+    if _OPTIONS["16bit-indices"] then
+      text = string.gsub(text, "#define dTRIMESH_16BIT_INDICES 0", "#define dTRIMESH_16BIT_INDICES 1")
+    end
+  
+    if _OPTIONS["old-trimesh"] then
+      text = string.gsub(text, "#define dTRIMESH_OPCODE_USE_OLD_TRIMESH_TRIMESH_COLLIDER 0", "#define dTRIMESH_OPCODE_USE_OLD_TRIMESH_TRIMESH_COLLIDER 1")
+    end
+    
+    local outfile = io.open("../ode/src/config.h", "w")
+    outfile:write(text)
+    outfile:close()
+  end
+
+----------------------------
+-- Write precision headers
+----------------------------
+  if _ACTION and _ACTION ~= "clean" then
+    function generateheader(headerfile, placeholder, precstr)
+      local outfile = io.open(headerfile, "w")
+      for i in io.lines(headerfile .. ".in")
+      do
+        local j,_ = string.gsub(i, placeholder, precstr)
+        --print("writing " .. j .. " into " .. headerfile)
+        outfile:write(j .. "\n")
+      end
+      outfile:close()
+    end
+    
+    function generate(precstr)
+      generateheader("../include/ode/precision.h", "@ODE_PRECISION@", "d" .. precstr)
+      generateheader("../libccd/src/ccd/precision.h", "@CCD_PRECISION@", "CCD_" .. precstr)
+    end
+    
+    if _OPTIONS["only-single"] then
+      generate("SINGLE")
+    elseif _OPTIONS["only-double"] then
+      generate("DOUBLE")
+    else 
+      generate("UNDEFINEDPRECISION")
+    end
+
+    generateheader("../include/ode/version.h", "@ODE_VERSION@", ode_version)
+
+  end
+
+
+----------------------------------------------------------------------
+-- The DrawStuff library project
+----------------------------------------------------------------------
+
+  if _OPTIONS["with-demos"] then
+
+    project "drawstuff"
+
+      location ( _OPTIONS["to"] or _ACTION )
+
+      files {
+        "../include/drawstuff/*.h",
+        "../drawstuff/src/internal.h",
+        "../drawstuff/src/drawstuff.cpp"
+      }
+      
+      configuration { "Debug*" }
+        targetname "drawstuffd"
+            
+      configuration { "only-static or *Lib" }
+        kind    "StaticLib"
+        defines { "DS_LIB" }
+      
+      configuration { "only-shared or *DLL" }
+        kind    "SharedLib"
+        defines { "DS_DLL", "USRDLL" }
+      
+      configuration { "Windows" }
+        files   { "../drawstuff/src/resource.h", "../drawstuff/src/resources.rc", "../drawstuff/src/windows.cpp" }
+        links   { "user32", "opengl32", "glu32", "winmm", "gdi32" }
+
+      configuration { "MacOSX" }
+	    defines     { "HAVE_APPLE_OPENGL_FRAMEWORK" }
+        files       { "../drawstuff/src/osx.cpp" }
+        linkoptions { "-framework Carbon -framework OpenGL -framework AGL" }
+
+      configuration { "not Windows", "not MacOSX" }
+        files   { "../drawstuff/src/x11.cpp" }
+        links   { "X11", "GL", "GLU" }
+
+  end
+
+
+----------------------------------------------------------------------
+-- The automated test application
+----------------------------------------------------------------------
+
+
+  if _OPTIONS["with-tests"] then
+  
+    project "tests"
+  
+      kind     "ConsoleApp"
+      location ( _OPTIONS["to"] or _ACTION )
+
+      includedirs { 
+        "../tests/UnitTest++/src" 
+      }
+    
+      files { 
+        "../tests/*.cpp", 
+        "../tests/joints/*.cpp", 
+        "../tests/UnitTest++/src/*" 
+      }
+
+      links { "ode" }
+    
+      configuration { "Windows" }
+        files { "../tests/UnitTest++/src/Win32/*" }
+      
+      configuration { "not Windows" }
+        files { "../tests/UnitTest++/src/Posix/*" }
+
+      -- add post-build step to automatically run test executable
+      local path_to_lib = path.getrelative(location(), "../lib")
+      local command = path.translate(path.join(path_to_lib, "%s/tests"))
+      
+      for _, name in ipairs(configurations()) do
+        configuration { name }
+          postbuildcommands { command:format(name) }
+      end
+
+  end
+