diff options
| -rw-r--r-- | .SRCINFO | 14 | ||||
| -rw-r--r-- | PKGBUILD | 22 | ||||
| -rw-r--r-- | boost1.58.patch | 24 | ||||
| -rw-r--r-- | bullet2.83.patch | 164 |
4 files changed, 10 insertions, 214 deletions
@@ -1,7 +1,7 @@ pkgbase = gazebo pkgdesc = A multi-robot simulator for outdoor environments - pkgver = 5.0.1 - pkgrel = 4 + pkgver = 6.1.0 + pkgrel = 1 url = http://gazebosim.org/ install = gazebo.install arch = i686 @@ -22,7 +22,7 @@ pkgbase = gazebo depends = ogre depends = protobuf>=2.3.0 depends = qt4 - depends = sdformat>=2.0.1 + depends = sdformat>=3.1.1 depends = tinyxml>=2.6.2 optdepends = bullet>=2.82: Bullet support optdepends = cegui>=0.8.3: Design custom graphical interfaces @@ -33,12 +33,8 @@ pkgbase = gazebo optdepends = ruby-ronn: Generate manpages 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 + source = http://osrf-distributions.s3.amazonaws.com/gazebo/releases/gazebo-6.1.0.tar.bz2 + sha256sums = 0460f1c706f609b6ff0e61a71bdd3cac2d55d714147edc01609b5226e7fb2904 pkgname = gazebo @@ -3,8 +3,8 @@ # Contributor: Vladimir Ermakov <vooon341@gmail.com> pkgname=gazebo -pkgver=5.0.1 -pkgrel=4 +pkgver=6.1.0 +pkgrel=1 pkgdesc="A multi-robot simulator for outdoor environments" arch=('i686' 'x86_64') url="http://gazebosim.org/" @@ -12,7 +12,7 @@ license=('Apache') # See: http://www.gazebosim.org/tutorials?tut=install_from_source&cat=install depends=('boost>=1.40.0' 'curl>=4.0' 'freeglut' 'freeimage>=3.0' 'intel-tbb>=3.0' 'libccd>=1.4' 'libltdl>=2.4.2' 'libtar>=1.2' 'libxml2>=2.7.7' - 'ogre' 'protobuf>=2.3.0' 'qt4' 'sdformat>=2.0.1' + 'ogre' 'protobuf>=2.3.0' 'qt4' 'sdformat>=3.1.1' 'tinyxml>=2.6.2') optdepends=('bullet>=2.82: Bullet support' 'cegui>=0.8.3: Design custom graphical interfaces' @@ -25,12 +25,8 @@ 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}-${pkgver}.tar.bz2" - "boost1.58.patch" - "bullet2.83.patch") -sha256sums=('81773edbf709359f4191ff33b6b2e6adf395a88806022c8cfa964963e5c7099b' - 'e4bf17b4e0fbe3094a17af108e4e08627b169890b365737b42a80456c17d7bad' - '7e82c241e1179348e9040bdf87232fb655c492597d4efcb87a6c886a77fa0567') +source=("http://osrf-distributions.s3.amazonaws.com/gazebo/releases/${pkgname}-${pkgver}.tar.bz2") +sha256sums=('0460f1c706f609b6ff0e61a71bdd3cac2d55d714147edc01609b5226e7fb2904') build() { cd "${srcdir}/${pkgname}-${pkgver}" @@ -39,14 +35,6 @@ build() { 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 diff --git a/boost1.58.patch b/boost1.58.patch deleted file mode 100644 index eaf667e227d4..000000000000 --- a/boost1.58.patch +++ /dev/null @@ -1,24 +0,0 @@ -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 deleted file mode 100644 index b3f4ea70f823..000000000000 --- a/bullet2.83.patch +++ /dev/null @@ -1,164 +0,0 @@ -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; |