Support for Bullet built with double precision.

Bullet requires a pre-processor variable to be set before including any headers to determine whether the library was built with single or double precision. Failing to do so may result in a linking error. This commit: 1. Forces CMake to use CONFIG mode (BulletConfig.cmake shipped with bullet) instead of MODULE mode (FindBullet.cmake shipped with CMake by default) in find_package(Bullet). 2. Updates references to BULLET_INCLUDE_DIRS and BULLET_LIBRARIES accordingly 3. Test whether Bullet was built using double precision floating point numbers by attempting to compile code that produces a linking error when the necessary preprocessor definition is missing. 4. Set the necessary preprocessor definition in config.h. combined with commits that Reverted to using Bullet MODULE mode. and Minor output message update for consistency Backport of #660 to release-5.1 branch. Closes #776.
dartsim · Oct 4, 2016 · c6d5b2d · c6d5b2d
1 parent 1c1f458
commit c6d5b2d
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Showing 9 changed files with 25 additions and 19 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -158,6 +158,8 @@ 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})
 
@@ -393,7 +395,7 @@ if(BULLET_FOUND)
 
   set(HAVE_BULLET_COLLISION TRUE)
 else()
-  message(STATUS "Looking for Bullet - NOT found, to use BulletCollisionDetector, please install libbullet-dev")
+  message(STATUS "Looking for Bullet - NOT found, please install libbullet-dev")
   set(HAVE_BULLET_COLLISION FALSE)
 endif()
 
@@ -449,7 +451,6 @@ 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)
@@ -483,9 +484,6 @@ endif()
 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
@@ -59,4 +59,8 @@
 // BULLET_DEFINITIONS or generate a #cmakedefine header.
 #cmakedefine BT_USE_DOUBLE_PRECISION
 
+// 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_