Merge pull request #660 from personalrobotics/bugfix/BulletDoublePrec…

…ision Support for Bullet built with double precision
dartsim · Apr 11, 2016 · 1854915 · 1854915
2 parents 7c04754 + dcc9b4e
commit 1854915
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Showing 9 changed files with 57 additions and 25 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -163,6 +163,8 @@ if(ASSIMP_FOUND)
 
   # Check for missing symbols in ASSIMP (see #451)
   include(CheckCXXSourceCompiles)
+  set(CMAKE_REQUIRED_DEFINITIONS "")
+  set(CMAKE_REQUIRED_FLAGS "")
   set(CMAKE_REQUIRED_INCLUDES ${ASSIMP_INCLUDE_DIRS})
   set(CMAKE_REQUIRED_LIBRARIES ${ASSIMP_LIBRARIES})
 
@@ -340,15 +342,43 @@ else()
   set(HAVE_SHARK FALSE)
 endif()
 
-# BulletCollision
-find_package(Bullet COMPONENTS BulletMath BulletCollision QUIET)
+# Bullet. Force MODULE mode to use the FindBullet.cmake file distributed with
+# CMake. Otherwise, we may end up using the BulletConfig.cmake file distributed
+# with Bullet, which uses relative paths and may break transitive dependencies.
+find_package(Bullet COMPONENTS BulletMath BulletCollision MODULE QUIET)
 
 if(BULLET_FOUND)
-  message(STATUS "Looking for BulletCollision - ${BULLET_VERSION} found")
+  # Test whether Bullet was built with double precision. If so, we need to
+  # define the BT_USE_DOUBLE_PRECISION pre-processor directive before including
+  # any Bullet headers. This is a workaround for the fact that Bullet does not
+  # add the definition to BULLET_DEFINITIONS or generate a #cmakedefine header.
+  include(CheckCXXSourceCompiles)
+  set(CMAKE_REQUIRED_FLAGS "")
+  set(CMAKE_REQUIRED_DEFINITIONS "-DBT_USE_DOUBLE_PRECISION")
+  set(CMAKE_REQUIRED_INCLUDES "${BULLET_INCLUDE_DIRS}")
+  set(CMAKE_REQUIRED_LIBRARIES "${BULLET_LIBRARIES}")
+  check_cxx_source_compiles(
+    "
+    #include <btBulletCollisionCommon.h>
+    int main()
+    {
+      btVector3 v(0., 0., 1.);
+      btStaticPlaneShape planeShape(v, 0.);
+      return 0;
+    }
+    "
+    BT_USE_DOUBLE_PRECISION
+  )
+
+  if(BT_USE_DOUBLE_PRECISION)
+    message(STATUS "Looking for Bullet - found (double precision)")
+  else()
+    message(STATUS "Looking for Bullet - found (single precision)")
+  endif()
+
   set(HAVE_BULLET_COLLISION TRUE)
-  add_definitions(-DHAVE_BULLET_COLLISION)
 else()
-  message(STATUS "Looking for BulletCollision - NOT found, please install libbullet-dev")
+  message(STATUS "Looking for Bullet - NOT found, please install libbullet-dev")
   set(HAVE_BULLET_COLLISION FALSE)
 endif()
 
@@ -403,7 +433,6 @@ include_directories(SYSTEM ${OPENGL_INCLUDE_DIR})
 include_directories(SYSTEM ${GLUT_INCLUDE_DIR})
 if(HAVE_BULLET_COLLISION)
   include_directories(SYSTEM ${BULLET_INCLUDE_DIRS})
-  add_definitions(${BULLET_CFLAGS})
 endif()
 
 if(NOT BUILD_CORE_ONLY)
@@ -430,9 +459,6 @@ include_directories("${CMAKE_BINARY_DIR}")
 link_directories("${CMAKE_BINARY_DIR}/lib")
 link_directories("${CMAKE_INSTALL_PREFIX}/lib")
 link_directories(${Boost_LIBRARY_DIRS})
-if(HAVE_BULLET_COLLISION)
-  link_directories("${BULLET_LIBRARY_DIRS}")
-endif()
 
 #===============================================================================
 # Check for non-case-sensitive filesystems

diff --git a/cmake/config.h.in b/cmake/config.h.in
diff --git a/dart/collision/bullet/BulletCollisionDetector.cpp b/dart/collision/bullet/BulletCollisionDetector.cpp
@@ -34,6 +34,9 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
+// Must be included before any Bullet headers.
+#include "dart/config.h"
+
 #include "dart/collision/bullet/BulletCollisionDetector.h"
 
 #include <vector>

diff --git a/dart/collision/bullet/BulletCollisionDetector.h b/dart/collision/bullet/BulletCollisionDetector.h
@@ -37,6 +37,9 @@
 #ifndef DART_COLLISION_BULLET_BULLETCOLLISIONDETECTOR_H_
 #define DART_COLLISION_BULLET_BULLETCOLLISIONDETECTOR_H_
 
+// Must be included before any Bullet headers.
+#include "dart/config.h"
+
 #include <vector>
 #include <map>
 

diff --git a/dart/collision/bullet/BulletCollisionNode.cpp b/dart/collision/bullet/BulletCollisionNode.cpp
@@ -34,6 +34,9 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
+// Must be included before any Bullet headers.
+#include "dart/config.h"
+
 #include "dart/collision/bullet/BulletCollisionNode.h"
 
 #include <iostream>

diff --git a/dart/collision/bullet/BulletCollisionNode.h b/dart/collision/bullet/BulletCollisionNode.h
@@ -37,6 +37,9 @@
 #ifndef DART_COLLISION_BULLET_BULLETCOLLISIONNODE_H_
 #define DART_COLLISION_BULLET_BULLETCOLLISIONNODE_H_
 
+// Must be included before any Bullet headers.
+#include "dart/config.h"
+
 #include <vector>
 
 #include <assimp/scene.h>

diff --git a/dart/collision/bullet/BulletTypes.cpp b/dart/collision/bullet/BulletTypes.cpp
@@ -34,6 +34,9 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
+// Must be included before any Bullet headers.
+#include "dart/config.h"
+
 #include "dart/collision/bullet/BulletTypes.h"
 
 namespace dart {

diff --git a/dart/collision/bullet/BulletTypes.h b/dart/collision/bullet/BulletTypes.h
@@ -37,6 +37,9 @@
 #ifndef DART_COLLISION_BULLET_BULLETTYPES_H_
 #define DART_COLLISION_BULLET_BULLETTYPES_H_
 
+// Must be included before any Bullet headers.
+#include "dart/config.h"
+
 #include <Eigen/Dense>
 #include <btBulletCollisionCommon.h>
 

diff --git a/dart/config.h.in b/dart/config.h.in
@@ -56,4 +56,8 @@
 #cmakedefine01 ASSIMP_AISCENE_CTOR_DTOR_DEFINED
 #cmakedefine01 ASSIMP_AIMATERIAL_CTOR_DTOR_DEFINED
 
+// Workaround for the fact that Bullet does not add the definition to
+// BULLET_DEFINITIONS or generate a #cmakedefine header.
+#cmakedefine BT_USE_DOUBLE_PRECISION
+
 #endif // #ifndef DART_CONFIG_H_