create BulletRoboticsGUI CMake target, pybullet links against it

fix BulletRobotics header install
2026-10-23 01:01:02 +00:00 · 2020-03-16 23:15:18 -07:00
parent d0c0c9584d
commit fde6cffecc
5 changed files with 238 additions and 168 deletions
--- a/Extras/BulletRobotics/CMakeLists.txt
+++ b/Extras/BulletRobotics/CMakeLists.txt
@@ -222,13 +222,6 @@ IF(BUILD_ENET)
 ENDIF(BUILD_ENET)

 IF(BUILD_CLSOCKET)
-  set(BulletRobotics_CLSOCKET_INCLUDES 
-    ../../examples/SharedMemory/PhysicsClientTCP.h
-    ../../examples/SharedMemory/PhysicsClientTCP_C_API.h
-    ../../examples/ThirdPartyLibs/clsocket/src/SimpleSocket.h
-    ../../examples/ThirdPartyLibs/clsocket/src/ActiveSocket.h
-    ../../examples/ThirdPartyLibs/clsocket/src/PassiveSocket.h
-  )
  set(BulletRobotics_CLSOCKET_SRCS
    ../../examples/SharedMemory/PhysicsClientTCP.cpp
    ../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp
@@ -237,13 +230,8 @@ IF(BUILD_CLSOCKET)
    ../../examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp
  )

-  set(BulletRobotics_INCLUDES
-    ${BulletRobotics_INCLUDES}
-    ${BulletRobotics_CLSOCKET_INCLUDES}
-  )
  set(BulletRobotics_SRCS
    ${BulletRobotics_SRCS}
-    ${BulletRobotics_CLSOCKET_INCLUDES}
    ${BulletRobotics_CLSOCKET_SRCS}
  )
 ENDIF()
@@ -260,25 +248,12 @@ IF (BUILD_SHARED_LIBS)
 	TARGET_LINK_LIBRARIES(BulletRobotics BulletInverseDynamicsUtils BulletWorldImporter BulletFileLoader BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamics LinearMath Bullet3Common)
 ENDIF (BUILD_SHARED_LIBS)

-IF (INSTALL_EXTRA_LIBS)
-	INSTALL(FILES
-      ../../examples/SharedMemory/PhysicsClientC_API.h
-      ../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
-      ../../examples/SharedMemory/PhysicsClientSharedMemory2_C_API.h
-      ../../examples/SharedMemory/PhysicsDirectC_API.h
-      ../../examples/SharedMemory/PhysicsClientUDP_C_API.h
-      ../../examples/SharedMemory/PhysicsClientTCP_C_API.h
-      ../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
-      ../../examples/SharedMemory/SharedMemoryPublic.h
-      ../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h
-      ../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
-		DESTINATION include/bullet
-  )
  
-  INSTALL(FILES
-    ${BulletRobotics_INCLUDES}
-    DESTINATION include/bullet_robotics
-  )
+
+INSTALL (
+    DIRECTORY ${CMAKE_SOURCE_DIR}/examples/
+    DESTINATION include/bullet
+    FILES_MATCHING PATTERN "*.h*")

 	INSTALL(TARGETS
 		BulletRobotics
@@ -301,5 +276,4 @@ IF(NOT MSVC)
      ${PKGCONFIG_INSTALL_PREFIX}
    )
 ENDIF(NOT MSVC)
-ENDIF (INSTALL_EXTRA_LIBS)

--- a/Extras/BulletRoboticsGUI/CMakeLists.txt
+++ b/Extras/BulletRoboticsGUI/CMakeLists.txt
@@ -0,0 +1,208 @@
+
+INCLUDE_DIRECTORIES(
+		${BULLET_PHYSICS_SOURCE_DIR}/src
+		${BULLET_PHYSICS_SOURCE_DIR}/examples
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/SharedMemory
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
+		${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
+)
+
+SET(BulletRoboticsGUI_INCLUDES
+  ../../examples/CommonInterfaces/Common2dCanvasInterface.h
+  ../../examples/CommonInterfaces/CommonCallbacks.h
+  ../../examples/CommonInterfaces/CommonCameraInterface.h
+  ../../examples/CommonInterfaces/CommonExampleInterface.h
+  ../../examples/CommonInterfaces/CommonFileIOInterface.h
+  ../../examples/CommonInterfaces/CommonGraphicsAppInterface.h
+  ../../examples/CommonInterfaces/CommonGUIHelperInterface.h
+  ../../examples/CommonInterfaces/CommonMultiBodyBase.h
+  ../../examples/CommonInterfaces/CommonParameterInterface.h
+  ../../examples/CommonInterfaces/CommonRenderInterface.h
+  ../../examples/CommonInterfaces/CommonRigidBodyBase.h
+  ../../examples/CommonInterfaces/CommonWindowInterface.h
+
+  ../../examples/OpenGLWindow/SimpleCamera.h
+
+  ../../examples/TinyRenderer/geometry.h
+  ../../examples/TinyRenderer/model.h
+  ../../examples/TinyRenderer/tgaimage.h
+  ../../examples/TinyRenderer/our_gl.h
+  ../../examples/TinyRenderer/TinyRenderer.h
+
+  ../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.h
+  ../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
+  ../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h
+  ../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
+  ../../examples/SharedMemory/IKTrajectoryHelper.h
+  ../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h
+  ../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h
+  ../../examples/SharedMemory/InProcessMemory.h
+  ../../examples/SharedMemory/PhysicsServer.h
+  ../../examples/SharedMemory/PhysicsClient.h
+  ../../examples/SharedMemory/PhysicsServerSharedMemory.h
+  ../../examples/SharedMemory/PhysicsDirect.h
+  ../../examples/SharedMemory/PhysicsDirectC_API.h
+  ../../examples/SharedMemory/PhysicsServerCommandProcessor.h
+  ../../examples/SharedMemory/b3PluginManager.h
+  ../../examples/SharedMemory/PhysicsClientSharedMemory.h
+  ../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
+  ../../examples/SharedMemory/PhysicsClientC_API.h
+  ../../examples/SharedMemory/SharedMemoryPublic.h
+  ../../examples/SharedMemory/Win32SharedMemory.h
+  ../../examples/SharedMemory/PosixSharedMemory.h
+
+  ../../examples/Utils/b3ResourcePath.h
+  ../../examples/Utils/RobotLoggingUtil.h
+  ../../examples/Utils/b3Clock.h
+  ../../examples/Utils/b3ResourcePath.h
+  ../../examples/Utils/ChromeTraceUtil.h
+  ../../examples/Utils/b3ERPCFMHelper.hpp
+  ../../examples/Utils/b3ReferenceFrameHelper.hpp  
+
+  ../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.h
+  ../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
+  ../../examples/ThirdPartyLibs/stb_image/stb_image.h
+  ../../examples/ThirdPartyLibs/BussIK/Jacobian.h
+  ../../examples/ThirdPartyLibs/BussIK/LinearR2.h
+  ../../examples/ThirdPartyLibs/BussIK/LinearR3.h
+  ../../examples/ThirdPartyLibs/BussIK/LinearR4.h
+  ../../examples/ThirdPartyLibs/BussIK/MatrixRmn.h
+  ../../examples/ThirdPartyLibs/BussIK/Node.h
+  ../../examples/ThirdPartyLibs/BussIK/Tree.h
+  ../../examples/ThirdPartyLibs/BussIK/VectorRn.h
+
+  ../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.h
+  ../../examples/Importers/ImportObjDemo/LoadMeshFromObj.h
+  ../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.h
+  ../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
+  ../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
+  ../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
+  ../../examples/Importers/ImportURDFDemo/URDF2Bullet.h
+  ../../examples/Importers/ImportURDFDemo/UrdfParser.h
+  ../../examples/Importers/ImportURDFDemo/urdfStringSplit.h
+  ../../examples/Importers/ImportURDFDemo/URDFImporterInterface.h
+  ../../examples/Importers/ImportURDFDemo/URDFJointTypes.h
+  ../../examples/Importers/ImportURDFDemo/SDFAudioTypes.h
+  ../../examples/Importers/ImportURDFDemo/UrdfRenderingInterface.h
+  ../../examples/Importers/ImportURDFDemo/MultiBodyCreationInterface.h
+  ../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.h
+  
+  ../../examples/MultiThreading/b3PosixThreadSupport.h
+  ../../examples/MultiThreading/b3Win32ThreadSupport.h
+  ../../examples/MultiThreading/b3ThreadSupportInterface.h
+)
+
+SET(BulletRoboticsGUI_SRCS ${BulletRoboticsGUI_INCLUDES}
+
+	../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp
+  ../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h
+  ../../examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp
+  ../../examples/SharedMemory/plugins/stablePDPlugin/Shape.h
+  ../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp
+  ../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.h
+  ../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.cpp
+  ../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.h
+  ../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.cpp
+  ../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.h
+  ../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.cpp
+  ../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.h
+  ../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp
+  ../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.h
+	../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
+	../../examples/SharedMemory/GraphicsServerExample.cpp
+	../../examples/SharedMemory/GraphicsClientExample.cpp
+	../../examples/SharedMemory/RemoteGUIHelper.cpp
+	../../examples/SharedMemory/GraphicsServerExample.h
+	../../examples/SharedMemory/GraphicsClientExample.h
+	../../examples/SharedMemory/RemoteGUIHelper.h
+	../../examples/SharedMemory/GraphicsSharedMemoryCommands.h
+	../../examples/SharedMemory/GraphicsSharedMemoryPublic.h
+	../../examples/SharedMemory/PhysicsServerExample.cpp
+	../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp
+	../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp		
+)
+
+IF(BUILD_CLSOCKET)
+ ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
+ENDIF(BUILD_CLSOCKET)
+
+IF(WIN32)
+	IF(BUILD_ENET)
+		ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
+	ENDIF(BUILD_ENET)
+	IF(BUILD_CLSOCKET)
+		ADD_DEFINITIONS(-DWIN32)
+	ENDIF(BUILD_CLSOCKET)
+
+ELSE(WIN32)
+	IF(BUILD_ENET)
+		ADD_DEFINITIONS(-DHAS_SOCKLEN_T -DBT_ENABLE_ENET)
+	ENDIF(BUILD_ENET)
+
+	IF(BUILD_CLSOCKET)	
+		ADD_DEFINITIONS(${OSDEF})
+	ENDIF(BUILD_CLSOCKET)
+		
+	IF(NOT APPLE)
+		LINK_LIBRARIES(  pthread ${DL} )
+	ENDIF(NOT APPLE)
+ENDIF(WIN32)
+
+IF(BUILD_ENET)
+  set(BulletRoboticsGUI_ENET_INCLUDES 
+    ../../examples/SharedMemory/PhysicsClientUDP.h		
+    ../../examples/SharedMemory/PhysicsClientUDP_C_API.h
+    ../../examples/ThirdPartyLibs/enet/include/enet/win32.h
+		../../examples/ThirdPartyLibs/enet/include/enet/unix.h
+		../../examples/ThirdPartyLibs/enet/include/enet/callbacks.h
+		../../examples/ThirdPartyLibs/enet/include/enet/list.h
+		../../examples/ThirdPartyLibs/enet/include/enet/protocol.h
+  )
+
+  set(BulletRoboticsGUI_INCLUDES
+    ${BulletRoboticsGUI_INCLUDES}
+    ${BulletRoboticsGUI_ENET_INCLUDES}
+	)
+
+
+
+ENDIF(BUILD_ENET)
+
+
+ADD_DEFINITIONS(-DPHYSICS_SERVER_DIRECT)
+
+
+ADD_LIBRARY(BulletRoboticsGUI ${BulletRoboticsGUI_SRCS})
+
+SET_TARGET_PROPERTIES(BulletRoboticsGUI PROPERTIES VERSION ${BULLET_VERSION})
+SET_TARGET_PROPERTIES(BulletRoboticsGUI PROPERTIES SOVERSION ${BULLET_VERSION})
+
+IF (BUILD_SHARED_LIBS)
+	TARGET_LINK_LIBRARIES(BulletRoboticsGUI  BulletRobotics  BulletInverseDynamicsUtils BulletWorldImporter BulletFileLoader BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamics LinearMath Bullet3Common)
+ENDIF (BUILD_SHARED_LIBS)
+
+  
+
+	INSTALL(TARGETS
+		BulletRoboticsGUI
+		LIBRARY DESTINATION lib${LIB_SUFFIX}
+		ARCHIVE DESTINATION lib${LIB_SUFFIX}
+	)
+		
+  IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
+    SET_TARGET_PROPERTIES(BulletRobotics  PROPERTIES FRAMEWORK true)
+    SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES PUBLIC_HEADER "PhysicsClientC_API.h" )
+  ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)	
+
+IF(NOT MSVC)
+    CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/bullet_robotics_gui.pc.cmake
+                   ${CMAKE_CURRENT_BINARY_DIR}/bullet_robotics_gui.pc @ONLY)
+  	INSTALL(
+      FILES
+      ${CMAKE_CURRENT_BINARY_DIR}/bullet_robotics_gui.pc
+      DESTINATION
+      ${PKGCONFIG_INSTALL_PREFIX}
+    )
+ENDIF(NOT MSVC)
+
--- a/Extras/BulletRoboticsGUI/bullet_robotics_gui.pc.cmake
+++ b/Extras/BulletRoboticsGUI/bullet_robotics_gui.pc.cmake
@@ -0,0 +1,6 @@
+Name: bullet_robotics_gui
+Description: Bullet GUI extras for robotics
+Requires: bullet
+Version: @BULLET_VERSION@
+Libs: -L@CMAKE_INSTALL_PREFIX@/@LIB_DESTINATION@ -lBulletRoboticsGUI
+Cflags: @BULLET_DOUBLE_DEF@ -I@CMAKE_INSTALL_PREFIX@/@INCLUDE_INSTALL_DIR@ -I@CMAKE_INSTALL_PREFIX@/include/bullet_robotics_gui
--- a/Extras/CMakeLists.txt
+++ b/Extras/CMakeLists.txt
@@ -1,4 +1,4 @@
-SUBDIRS( InverseDynamics BulletRobotics obj2sdf Serialize ConvexDecomposition HACD GIMPACTUtils )
+SUBDIRS( InverseDynamics BulletRoboticsGUI BulletRobotics obj2sdf Serialize ConvexDecomposition HACD GIMPACTUtils )



--- a/examples/pybullet/CMakeLists.txt
+++ b/examples/pybullet/CMakeLists.txt
@@ -15,159 +15,41 @@ ENDIF()

 ADD_DEFINITIONS(-DSTATIC_LINK_SPD_PLUGIN)

+SET(pybullet3_SRCS
+	pybullet.c
+	)
+	
 SET(pybullet_SRCS
 	pybullet.c
-	../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.cpp
-        ../../examples/SharedMemory/plugins/stablePDPlugin/SpAlg.h
-        ../../examples/SharedMemory/plugins/stablePDPlugin/Shape.cpp
-        ../../examples/SharedMemory/plugins/stablePDPlugin/Shape.h
-        ../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp
-        ../../examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.h
-        ../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.cpp
-        ../../examples/SharedMemory/plugins/stablePDPlugin/RBDModel.h
-        ../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.cpp
-        ../../examples/SharedMemory/plugins/stablePDPlugin/MathUtil.h
-        ../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.cpp
-        ../../examples/SharedMemory/plugins/stablePDPlugin/KinTree.h
-        ../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.cpp
-        ../../examples/SharedMemory/plugins/stablePDPlugin/BulletConversion.h
-		../../examples/SharedMemory/plugins/collisionFilterPlugin/collisionFilterPlugin.cpp
-		../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp
-		../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h
-		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
-		../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
-		../../examples/SharedMemory/IKTrajectoryHelper.cpp
-		../../examples/SharedMemory/IKTrajectoryHelper.h
-		../../examples/ExampleBrowser/InProcessExampleBrowser.cpp
-		../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp
-		../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h
-		../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
-		../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h
-		../../examples/OpenGLWindow/SimpleCamera.cpp
-		../../examples/OpenGLWindow/SimpleCamera.h
-		../../examples/TinyRenderer/geometry.cpp
-		../../examples/TinyRenderer/model.cpp
-		../../examples/TinyRenderer/tgaimage.cpp
-		../../examples/TinyRenderer/our_gl.cpp
-		../../examples/TinyRenderer/TinyRenderer.cpp
-		../../examples/SharedMemory/InProcessMemory.cpp
-		../../examples/SharedMemory/PhysicsClient.cpp
-		../../examples/SharedMemory/PhysicsClient.h
-		../../examples/SharedMemory/PhysicsServer.cpp
-		../../examples/SharedMemory/PhysicsServer.h
-		../SharedMemory/GraphicsServerExample.cpp
-		../SharedMemory/GraphicsClientExample.cpp
-		../SharedMemory/RemoteGUIHelper.cpp
-		../SharedMemory/GraphicsServerExample.h
-		../SharedMemory/GraphicsClientExample.h
-		../SharedMemory/RemoteGUIHelper.h
-		../SharedMemory/GraphicsSharedMemoryCommands.h
-		../SharedMemory/GraphicsSharedMemoryPublic.h
-		../../examples/SharedMemory/PhysicsServerExample.cpp
-		../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp
-		../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
-		../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
-		../../examples/SharedMemory/PhysicsServerSharedMemory.h
-		../../examples/SharedMemory/PhysicsDirect.cpp
-		../../examples/SharedMemory/PhysicsDirect.h
-		../../examples/SharedMemory/PhysicsDirectC_API.cpp
-		../../examples/SharedMemory/PhysicsDirectC_API.h
-		../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
-		../../examples/SharedMemory/PhysicsServerCommandProcessor.h
-		../../examples/SharedMemory/b3PluginManager.cpp
-		../../examples/SharedMemory/b3PluginManager.h
-		
-		../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
-		../../examples/SharedMemory/PhysicsClientSharedMemory.h
-		../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
-		../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h

-		../../examples/SharedMemory/PhysicsClientC_API.cpp
-		../../examples/SharedMemory/PhysicsClientC_API.h
-		../../examples/SharedMemory/Win32SharedMemory.cpp
-		../../examples/SharedMemory/Win32SharedMemory.h
-		../../examples/SharedMemory/PosixSharedMemory.cpp
-		../../examples/SharedMemory/PosixSharedMemory.h
-		../../examples/Utils/b3ResourcePath.cpp
-		../../examples/Utils/b3ResourcePath.h
-		../../examples/Utils/RobotLoggingUtil.cpp
-		../../examples/Utils/RobotLoggingUtil.h
-		
-		../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp
-		../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
-		../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
-		../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
-		../../examples/ThirdPartyLibs/stb_image/stb_image_write.cpp
-		../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
-		../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
-		../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
-		../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
-		../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
-		../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
-		../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
-		../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
-		../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
-		../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp 
-		../../examples/MultiThreading/b3PosixThreadSupport.cpp
-		../../examples/MultiThreading/b3Win32ThreadSupport.cpp
-		../../examples/MultiThreading/b3ThreadSupportInterface.cpp
-		
 )
-IF(BUILD_PYBULLET_CLSOCKET)
+
+IF(BUILD_CLSOCKET)
 ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
-ENDIF(BUILD_PYBULLET_CLSOCKET)
+ENDIF()

 IF(WIN32)
 	LINK_LIBRARIES(
 		${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
 	)
-	IF(BUILD_PYBULLET_ENET)
+	IF(BUILD_ENET)
 		ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
-	ENDIF(BUILD_PYBULLET_ENET)
-	IF(BUILD_PYBULLET_CLSOCKET)
+	ENDIF()
+	IF(BUILD_CLSOCKET)
 		ADD_DEFINITIONS(-DWIN32)
-	ENDIF(BUILD_PYBULLET_CLSOCKET)
+	ENDIF()

 ELSE(WIN32)
-	IF(BUILD_PYBULLET_ENET)
+	IF(BUILD_ENET)
 		ADD_DEFINITIONS(-DHAS_SOCKLEN_T -DBT_ENABLE_ENET)
-	ENDIF(BUILD_PYBULLET_ENET)
+	ENDIF()

-	IF(BUILD_PYBULLET_CLSOCKET)	
+	IF(BUILD_CLSOCKET)	
 		ADD_DEFINITIONS(${OSDEF})
-	ENDIF(BUILD_PYBULLET_CLSOCKET)
+	ENDIF()
 ENDIF(WIN32)


-IF(BUILD_PYBULLET_ENET)
-	set(pybullet_SRCS ${pybullet_SRCS} 
-		../../examples/SharedMemory/PhysicsClientUDP.cpp
-		../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp
-		../../examples/SharedMemory/PhysicsClientUDP.h		
-		../../examples/SharedMemory/PhysicsClientUDP_C_API.h
-		../../examples/ThirdPartyLibs/enet/win32.c
-		../../examples/ThirdPartyLibs/enet/unix.c
-		../../examples/ThirdPartyLibs/enet/callbacks.c
-		../../examples/ThirdPartyLibs/enet/compress.c
-		../../examples/ThirdPartyLibs/enet/host.c
-		../../examples/ThirdPartyLibs/enet/list.c
-		../../examples/ThirdPartyLibs/enet/packet.c
-		../../examples/ThirdPartyLibs/enet/peer.c
-		../../examples/ThirdPartyLibs/enet/protocol.c
-	)
-ENDIF(BUILD_PYBULLET_ENET)
-
-IF(BUILD_PYBULLET_CLSOCKET)
-	set(pybullet_SRCS ${pybullet_SRCS}
-		 ../../examples/SharedMemory/PhysicsClientTCP.cpp
-                 ../../examples/SharedMemory/PhysicsClientTCP.h
-                 ../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp
-                 ../../examples/SharedMemory/PhysicsClientTCP_C_API.h
-		 ../../examples/ThirdPartyLibs/clsocket/src/SimpleSocket.cpp
-		 ../../examples/ThirdPartyLibs/clsocket/src/ActiveSocket.cpp
-		 ../../examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp
-	)
-ENDIF()

 ADD_LIBRARY(pybullet SHARED ${pybullet_SRCS})

@@ -180,9 +62,9 @@ SET_TARGET_PROPERTIES(pybullet PROPERTIES DEBUG_POSTFIX "_d")


 IF(WIN32)
-	IF(BUILD_PYBULLET_ENET OR BUILD_PYBULLET_CLSOCKET)
+	IF(BUILD_ENET OR BUILD_CLSOCKET)
 		TARGET_LINK_LIBRARIES(pybullet ws2_32 )
-	ENDIF(BUILD_PYBULLET_ENET OR BUILD_PYBULLET_CLSOCKET)
+	ENDIF()

 	SET_TARGET_PROPERTIES(pybullet PROPERTIES SUFFIX ".pyd" )
 ENDIF(WIN32)
@@ -193,7 +75,7 @@ ENDIF()



-TARGET_LINK_LIBRARIES(pybullet BulletExampleBrowserLib BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK Bullet3Common)
+TARGET_LINK_LIBRARIES(pybullet BulletRoboticsGUI BulletExampleBrowserLib BulletRobotics BulletFileLoader BulletWorldImporter BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamicsUtils BulletInverseDynamics LinearMath OpenGLWindow gwen BussIK Bullet3Common)

 IF (WIN32)
  TARGET_LINK_LIBRARIES(pybullet ${PYTHON_LIBRARIES})