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authorBenjamin Chr├ętien2015-07-01 12:53:31 +0900
committerBenjamin Chr├ętien2015-07-01 12:54:22 +0900
commit8bf19153ea4814e8950b33a13394fb0848bc677a (patch)
tree734c96805495b8712143e30ae16dceb044269d51
parent9306355666329b86c2cb7a8f9f4ee0a11424b378 (diff)
downloadaur-8bf19153ea4814e8950b33a13394fb0848bc677a.tar.gz
Apply patches for Boost and Bullet
-rw-r--r--.SRCINFO6
-rw-r--r--PKGBUILD21
-rw-r--r--boost1.58.patch24
-rw-r--r--bullet2.83.patch164
4 files changed, 211 insertions, 4 deletions
diff --git a/.SRCINFO b/.SRCINFO
index e7082d2dcd9..52a89c7ada0 100644
--- a/.SRCINFO
+++ b/.SRCINFO
@@ -1,7 +1,7 @@
pkgbase = gazebo
pkgdesc = A multi-robot simulator for outdoor environments
pkgver = 5.0.1
- pkgrel = 3
+ pkgrel = 4
url = http://gazebosim.org/
install = gazebo.install
arch = i686
@@ -34,7 +34,11 @@ pkgbase = gazebo
optdepends = simbody>=3.3: Simbody support
optdepends = urdfdom: Load URDF files
source = http://osrf-distributions.s3.amazonaws.com/gazebo/releases/gazebo-5.0.1.tar.bz2
+ source = boost1.58.patch
+ source = bullet2.83.patch
sha256sums = 81773edbf709359f4191ff33b6b2e6adf395a88806022c8cfa964963e5c7099b
+ sha256sums = e4bf17b4e0fbe3094a17af108e4e08627b169890b365737b42a80456c17d7bad
+ sha256sums = 7e82c241e1179348e9040bdf87232fb655c492597d4efcb87a6c886a77fa0567
pkgname = gazebo
diff --git a/PKGBUILD b/PKGBUILD
index bb99494bf09..20a84a987fb 100644
--- a/PKGBUILD
+++ b/PKGBUILD
@@ -4,7 +4,7 @@
pkgname=gazebo
pkgver=5.0.1
-pkgrel=3
+pkgrel=4
pkgdesc="A multi-robot simulator for outdoor environments"
arch=('i686' 'x86_64')
url="http://gazebosim.org/"
@@ -25,26 +25,41 @@ optdepends=('bullet>=2.82: Bullet support'
'urdfdom: Load URDF files')
makedepends=('cmake' 'doxygen' 'pkg-config>=0.26')
install="${pkgname}.install"
-source=(http://osrf-distributions.s3.amazonaws.com/gazebo/releases/${pkgname}-${pkgver}.tar.bz2)
-sha256sums=('81773edbf709359f4191ff33b6b2e6adf395a88806022c8cfa964963e5c7099b')
+source=("http://osrf-distributions.s3.amazonaws.com/gazebo/releases/${pkgname}-${pkgver}.tar.bz2"
+ "boost1.58.patch"
+ "bullet2.83.patch")
+sha256sums=('81773edbf709359f4191ff33b6b2e6adf395a88806022c8cfa964963e5c7099b'
+ 'e4bf17b4e0fbe3094a17af108e4e08627b169890b365737b42a80456c17d7bad'
+ '7e82c241e1179348e9040bdf87232fb655c492597d4efcb87a6c886a77fa0567')
build() {
cd "${srcdir}/${pkgname}-${pkgver}"
# Fix gdal includes
+ msg "Applying gdal includes fix..."
find . -type f -exec sed -i 's|include <gdal/|include <|g' {} \;
+ # Apply Boost 1.58 patch (fixed upstream)
+ msg "Applying Boost 1.58 patch..."
+ patch -p1 < ${srcdir}/boost1.58.patch
+
+ # Apply Bullet 2.83 patch (fixed upstream)
+ msg "Applying Bullet 2.83 patch..."
+ patch -p1 < ${srcdir}/bullet2.83.patch
+
# Create build directory
mkdir -p build && cd build
# Run CMake
# Note: we skip unit tests (else set to TRUE)
+ msg "Preparing Makefiles..."
cmake .. -DCMAKE_BUILD_TYPE="Release" \
-DCMAKE_INSTALL_PREFIX="/usr" \
-DCMAKE_INSTALL_LIBDIR="lib" \
-DENABLE_TESTS_COMPILATION:BOOL=False
# Compile Gazebo
+ msg "Compiling..."
make
}
diff --git a/boost1.58.patch b/boost1.58.patch
new file mode 100644
index 00000000000..eaf667e227d
--- /dev/null
+++ b/boost1.58.patch
@@ -0,0 +1,24 @@
+diff --git a/gazebo/gui/TimePanel.cc b/gazebo/gui/TimePanel.cc
+--- a/gazebo/gui/TimePanel.cc
++++ b/gazebo/gui/TimePanel.cc
+@@ -178,7 +178,7 @@
+ }
+
+ /////////////////////////////////////////////////
+-void TimePanel::OnFullScreen(bool & /*_value*/)
++void TimePanel::OnFullScreen(bool /*_value*/)
+ {
+ /*if (_value)
+ this->hide();
+diff --git a/gazebo/gui/TimePanel.hh b/gazebo/gui/TimePanel.hh
+--- a/gazebo/gui/TimePanel.hh
++++ b/gazebo/gui/TimePanel.hh
+@@ -66,7 +66,7 @@
+ /// \brief Called when the GUI enters/leaves full-screen mode.
+ /// \param[in] _value True when entering full screen, false when
+ /// leaving.
+- private: void OnFullScreen(bool &_value);
++ private: void OnFullScreen(bool _value);
+
+ /// \brief Called when a world stats message is received.
+ /// \param[in] _msg World statistics message.
diff --git a/bullet2.83.patch b/bullet2.83.patch
new file mode 100644
index 00000000000..b3f4ea70f82
--- /dev/null
+++ b/bullet2.83.patch
@@ -0,0 +1,164 @@
+diff -r 59fe735eb3442e86d6277dfbd984103939405dca -r 48cbb03cc128623f8c1aaad8746bf8bf5f08b1f9 cmake/SearchForStuff.cmake
+--- a/cmake/SearchForStuff.cmake
++++ b/cmake/SearchForStuff.cmake
+@@ -122,7 +122,7 @@
+ set(SimTK_INSTALL_DIR ${SimTK_INSTALL_PREFIX})
+ #list(APPEND CMAKE_MODULE_PATH ${SimTK_INSTALL_PREFIX}/share/cmake)
+ find_package(Simbody)
+- if (SIMBODY_FOUND)
++ if (Simbody_FOUND)
+ set (HAVE_SIMBODY TRUE)
+ else()
+ BUILD_WARNING ("Simbody not found, for simbody physics engine option, please install libsimbody-dev.")
+@@ -379,6 +379,10 @@
+ add_definitions( -DLIBBULLET_VERSION=0.0 )
+ BUILD_WARNING ("Bullet > 2.82 not found, for bullet physics engine option, please install libbullet2.82-dev.")
+ endif()
++
++ if (BULLET_VERSION VERSION_GREATER 2.82)
++ add_definitions( -DLIBBULLET_VERSION_GT_282 )
++ endif()
+
+ else (PKG_CONFIG_FOUND)
+ set (BUILD_GAZEBO OFF CACHE INTERNAL "Build Gazebo" FORCE)
+diff -r 59fe735eb3442e86d6277dfbd984103939405dca -r 48cbb03cc128623f8c1aaad8746bf8bf5f08b1f9 gazebo/physics/bullet/BulletHinge2Joint.cc
+--- a/gazebo/physics/bullet/BulletHinge2Joint.cc
++++ b/gazebo/physics/bullet/BulletHinge2Joint.cc
+@@ -211,8 +211,12 @@
+ return math::Angle();
+ }
+
+- btRotationalLimitMotor *motor =
+- this->bulletHinge2->getRotationalLimitMotor(_index);
++#ifndef LIBBULLET_VERSION_GT_282
++ btRotationalLimitMotor *motor;
++#else
++ btRotationalLimitMotor2 *motor;
++#endif
++ motor = this->bulletHinge2->getRotationalLimitMotor(_index);
+ if (motor)
+ return motor->m_hiLimit;
+
+@@ -229,8 +233,12 @@
+ return math::Angle(0.0);
+ }
+
+- btRotationalLimitMotor *motor =
+- this->bulletHinge2->getRotationalLimitMotor(_index);
++#ifndef LIBBULLET_VERSION_GT_282
++ btRotationalLimitMotor *motor;
++#else
++ btRotationalLimitMotor2 *motor;
++#endif
++ motor = this->bulletHinge2->getRotationalLimitMotor(_index);
+ if (motor)
+ return motor->m_loLimit;
+
+diff -r 59fe735eb3442e86d6277dfbd984103939405dca -r 48cbb03cc128623f8c1aaad8746bf8bf5f08b1f9 gazebo/physics/bullet/BulletHingeJoint.cc
+--- a/gazebo/physics/bullet/BulletHingeJoint.cc
++++ b/gazebo/physics/bullet/BulletHingeJoint.cc
+@@ -104,7 +104,11 @@
+ // If both links exist, then create a joint between the two links.
+ if (bulletChildLink && bulletParentLink)
+ {
++#ifdef LIBBULLET_VERSION_GT_282
++ this->bulletHinge = new btHingeAccumulatedAngleConstraint(
++#else
+ this->bulletHinge = new btHingeConstraint(
++#endif
+ *(bulletChildLink->GetBulletLink()),
+ *(bulletParentLink->GetBulletLink()),
+ BulletTypes::ConvertVector3(pivotChild),
+@@ -116,7 +120,11 @@
+ // and the world.
+ else if (bulletChildLink)
+ {
++#ifdef LIBBULLET_VERSION_GT_282
++ this->bulletHinge = new btHingeAccumulatedAngleConstraint(
++#else
+ this->bulletHinge = new btHingeConstraint(
++#endif
+ *(bulletChildLink->GetBulletLink()),
+ BulletTypes::ConvertVector3(pivotChild),
+ BulletTypes::ConvertVector3(axisChild));
+@@ -125,7 +133,11 @@
+ // and the world.
+ else if (bulletParentLink)
+ {
++#ifdef LIBBULLET_VERSION_GT_282
++ this->bulletHinge = new btHingeAccumulatedAngleConstraint(
++#else
+ this->bulletHinge = new btHingeConstraint(
++#endif
+ *(bulletParentLink->GetBulletLink()),
+ BulletTypes::ConvertVector3(pivotParent),
+ BulletTypes::ConvertVector3(axisParent));
+@@ -148,7 +160,7 @@
+
+ // Set angleOffset based on hinge angle at joint creation.
+ // GetAngleImpl will report angles relative to this offset.
+- this->angleOffset = this->bulletHinge->getHingeAngle();
++ this->angleOffset = this->GetAngleImpl(0).Radian();
+
+ // Apply joint angle limits here.
+ // TODO: velocity and effort limits.
+@@ -209,7 +221,21 @@
+ {
+ math::Angle result;
+ if (this->bulletHinge)
+- result = this->bulletHinge->getHingeAngle() - this->angleOffset;
++ {
++#ifdef LIBBULLET_VERSION_GT_282
++ btHingeAccumulatedAngleConstraint* hinge =
++ static_cast<btHingeAccumulatedAngleConstraint*>(this->bulletHinge);
++ if (hinge)
++ {
++ result = hinge->getAccumulatedHingeAngle();
++ }
++ else
++#endif
++ {
++ result = this->bulletHinge->getHingeAngle();
++ }
++ result -= this->angleOffset;
++ }
+ return result;
+ }
+
+diff -r 59fe735eb3442e86d6277dfbd984103939405dca -r 48cbb03cc128623f8c1aaad8746bf8bf5f08b1f9 test/integration/joint_revolute.cc
+--- a/test/integration/joint_revolute.cc
++++ b/test/integration/joint_revolute.cc
+@@ -16,6 +16,7 @@
+ */
+
+ #include "ServerFixture.hh"
++#include "gazebo/gazebo_config.h"
+ #include "gazebo/physics/physics.hh"
+ #include "SimplePendulumIntegrator.hh"
+ #include "helper_physics_generator.hh"
+@@ -99,12 +100,15 @@
+ ////////////////////////////////////////////////////////////
+ void JointTestRevolute::WrapAngle(const std::string &_physicsEngine)
+ {
+- /// \TODO: bullet hinge angles are wrapped (#1074)
++#ifndef LIBBULLET_VERSION_GT_282
++ /// bullet hinge angles are wrapped for 2.82 and less
+ if (_physicsEngine == "bullet")
+ {
+- gzerr << "Aborting test for bullet, see issues #1074.\n";
++ gzerr << "Aborting test for bullet, angle wrapping requires bullet 2.83"
++ << std::endl;
+ return;
+ }
++#endif
+
+ // Load an empty world
+ Load("worlds/empty.world", true, _physicsEngine);
+@@ -127,6 +131,7 @@
+ ASSERT_TRUE(joint != NULL);
+
+ // set velocity to 2 pi rad/s and step forward 1.5 seconds.
++ // angle should reach 3 pi rad.
+ double vel = 2*M_PI;
+ unsigned int stepSize = 50;
+ unsigned int stepCount = 30;