one more for the gipper

1 files changed, 580 insertions, 0 deletions

diff --git a/libraries/ode-0.9/configure.in b/libraries/ode-0.9/configure.in
new file mode 100644
index 0000000..96eea67
--- /dev/null
+++ b/libraries/ode-0.9/configure.in
@@ -0,0 +1,580 @@
+dnl Initial configure.in by Rodrigo Hernandez
+dnl Modified in 26/10/2005 by Rodrigo Hernandez
+
+dnl AC_INIT does not take a macro as a version nr: set it separately! - Bram
+AC_INIT(ODE,0.9.0,ode@ode.org)
+
+dnl When upgrading version nr, also change the AC_INIT line! - Bram
+ODE_CURRENT=0
+ODE_REVISION=9
+ODE_AGE=0
+ODE_RELEASE=[$ODE_CURRENT].[$ODE_REVISION].[$ODE_AGE]
+AC_CANONICAL_HOST
+AC_CANONICAL_TARGET
+
+AM_INIT_AUTOMAKE(ODE,[$ODE_RELEASE])
+AM_CONFIG_HEADER(include/ode/config.h)
+dnl Set CFLAGS to zero, so that we avoid getting the gratis -g -O2
+CFLAGS=
+CXXFLAGS=
+AC_C_BIGENDIAN
+AC_PATH_X
+AC_PATH_XTRA
+
+ODE_SONAME=libode.so.[$ODE_CURRENT]
+
+AC_SUBST(ODE_CURRENT)
+AC_SUBST(ODE_REVISION)
+AC_SUBST(ODE_AGE)
+AC_SUBST(ODE_RELEASE)
+AC_SUBST(ODE_SONAME)
+
+dnl This is needed because we have subdirectories
+AC_PROG_MAKE_SET
+
+AC_PROG_CXX
+AC_PROG_INSTALL
+AC_CHECK_TOOLS([WINDRES], [windres])
+AC_C_CONST 
+AC_C_INLINE
+AC_C_VOLATILE
+AC_HEADER_STDBOOL
+AC_PROG_RANLIB
+AC_TYPE_SIZE_T
+
+dnl Check if using sonames is requested
+dnl THIS IS TEMPORARY!
+AC_MSG_CHECKING(if a soname should be set)
+AC_ARG_ENABLE(soname,AC_HELP_STRING([--enable-soname],
+[Configure ODE shared library to set the soname field on ELF files]),
+use_soname=$enableval,use_soname=no)
+AC_MSG_RESULT($use_soname)
+AM_CONDITIONAL(USE_SONAME, test x$use_soname = xyes)
+
+
+dnl Check if we want to build demos
+AC_MSG_CHECKING(if tests should be built)
+AC_ARG_ENABLE(demos,AC_HELP_STRING([--enable-demos], [build tests]), enable_demos=$enableval,enable_demos=yes)
+AC_MSG_RESULT($enable_demos)
+AM_CONDITIONAL(ENABLE_DEMOS, test x$enable_demos = xyes)
+
+
+AC_ARG_WITH(arch,AC_HELP_STRING([--with-arch=[arch]],
+[build for $arch, where arch is any of the -march flags passed to gcc, without the -march, for example --with-arch=pentium3]),
+arch=$withval,arch=no)
+ARCHFLAGS=""
+if test "x$arch" != xno
+then
+    ARCHFLAGS="-march=$arch"
+fi
+AC_SUBST(ARCHFLAGS)
+
+dnl Decide whether or not SSE is available
+dnl Why dont we compile and run programs like we do to find out if
+dnl this is a Pentium machine further down? simple!
+dnl this may NOT be the machine on which the code is going to run in,
+dnl so allow users to compile programs for their target machine.
+case "$arch" in
+  pentium3 | pentium4 | athlon* )
+        AC_DEFINE(HAVE_SSE,,[Use SSE Optimizations])
+    ;;
+dnl this space available for other architectures specific extensions and/or
+dnl other Intel based extensions such as 3DNow, SSE2, MMX, etc.
+esac
+
+dnl check for required headers
+AC_CHECK_HEADERS( alloca.h ieeefp.h stdio.h stdlib.h math.h string.h stdarg.h malloc.h values.h float.h time.h sys/time.h )
+
+
+opcode=no
+gimpact=no
+AC_ARG_WITH(trimesh,AC_HELP_STRING([--with-trimesh=[opcode|gimpact|none]],
+[use the specified system for trimesh support.]),
+trimesh=$withval,trimesh=opcode
+)
+if test "$trimesh" = opcode
+then
+  opcode=yes
+fi
+if test "$trimesh" = gimpact
+then
+  gimpact=yes
+fi
+
+AM_CONDITIONAL(OPCODE,  test $opcode  = yes)
+AM_CONDITIONAL(GIMPACT, test $gimpact = yes)
+AM_CONDITIONAL(TRIMESH, test $opcode = yes -o $gimpact = yes)
+
+
+AC_MSG_CHECKING(if gyroscopic term should be used)
+AC_ARG_ENABLE(gyroscopic,AC_HELP_STRING([--disable-gyroscopic],
+[Configure ODE to work without gyroscopic term (may improve stability)]),
+gyroscopic=$enableval,gyroscopic=yes)
+AC_MSG_RESULT($gyroscopic)
+if test x"$gyroscopic" = xyes
+then
+AC_DEFINE(dGYROSCOPIC,,[Use gyroscopic terms])
+fi
+
+dnl Check Precision, define the dInfinity constant--------------------------/
+AC_MSG_CHECKING(if double precision is requested)
+AC_ARG_ENABLE(double-precision,AC_HELP_STRING([--enable-double-precision],
+[Configure ODE to work with double precision, if not specified, single precision is used]),
+precision=$enableval,precision=no)
+if test "$precision" != no
+then
+dnl DOUBLE was chosen
+AC_DEFINE(dDOUBLE,,[Use double precision])
+dnl Check from lest likelly to more likelly.
+if test "$build_os" == "$target_os"
+then
+AC_TRY_RUN([
+#define dInfinity 1e20
+int main()
+{
+if (dInfinity > 1e10 && -dInfinity < -1e10 && -dInfinity < dInfinity) 
+return 0;
+else return -1;
+}
+],dinfinity=1e20,,)
+AC_TRY_RUN([
+#define dInfinity 1.7976931348623157e+308
+int main()
+{
+if (dInfinity > 1e10 && -dInfinity < -1e10 && -dInfinity < dInfinity) 
+return 0;
+else return -1;
+}
+],dinfinity=1.7976931348623157e+308,,)
+AC_TRY_RUN([
+#include <float.h>
+#define dInfinity HUGE_VAL
+int main()
+{
+if (dInfinity > 1e10 && -dInfinity < -1e10 && -dInfinity < dInfinity) 
+return 0;
+else return -1;
+}
+],dinfinity=HUGE_VAL,,)
+AC_TRY_RUN([
+#include <float.h>
+#define dInfinity DBL_MAX
+int main()
+{
+if (dInfinity > 1e10 && -dInfinity < -1e10 && -dInfinity < dInfinity) 
+return 0;
+else return -1;
+}
+],dinfinity=DBL_MAX,,)
+else
+#cross-compiling, use a reasonable value. We should add an option for setting this.
+dinfinity=DBL_MAX
+fi
+else
+dnl default to SINGLE.
+AC_DEFINE(dSINGLE,,[Use single precision])
+dnl Check from lest likelly to more likelly.
+if test "$build_os" == "$target_os"
+then
+AC_TRY_RUN([
+#define dInfinity 1e20f
+int main()
+{
+if (dInfinity > 1e10f && -dInfinity < -1e10f && -dInfinity < dInfinity) 
+return 0;
+else return -1;
+}
+],dinfinity=1e20f,,)
+AC_TRY_RUN([
+#define dInfinity 3.402823466e+38F
+int main()
+{
+if (dInfinity > 1e10f && -dInfinity < -1e10f && -dInfinity < dInfinity) 
+return 0;
+else return -1;
+}
+],dinfinity=3.402823466e+38F,,)
+AC_TRY_RUN([
+#include <float.h>
+#define dInfinity HUGE_VALF
+int main()
+{
+if (dInfinity > 1e10f && -dInfinity < -1e10f && -dInfinity < dInfinity) 
+return 0;
+else return -1;
+}
+],dinfinity=HUGE_VALF,,)
+AC_TRY_RUN([
+#include <float.h>
+#define dInfinity FLT_MAX
+int main()
+{
+if (dInfinity > 1e10f && -dInfinity < -1e10f && -dInfinity < dInfinity) 
+return 0;
+else return -1;
+}
+],dinfinity=FLT_MAX,,)
+#cross-compiling, use a reasonable value. We should add an option for setting this.
+dinfinity=FLT_MAX
+fi
+fi
+AC_MSG_RESULT($precision)
+AC_DEFINE_UNQUOTED(dInfinity,${dinfinity},[dInfinity Constant])
+AC_MSG_CHECKING(for appropriate dInfinity constant)
+AC_MSG_RESULT($dinfinity)
+dnl --------------------------------------------------------------------------/
+
+dnl Define dEpsilon
+AC_CHECK_HEADER(float.h,[have_float_h=yes],[have_float_h=no])
+AC_MSG_CHECKING(for appropriate dEpsilon constant)
+if test "x$have_float_h" == xyes 
+then
+if test $precision == yes
+then
+dEpsilon=DBL_EPSILON
+else
+dEpsilon=FLT_EPSILON
+fi
+else
+if test $precision == yes
+then
+dEpsilon=2.2204460492503131e-16
+else
+dEpsilon=1.19209290e-07f
+fi
+fi
+AC_DEFINE_UNQUOTED(dEpsilon,${dEpsilon},[dEpsilon Constant])
+AC_MSG_RESULT($dEpsilon)
+
+
+dnl Check for PENTIUM
+if test "$build_os" == "$target_os"
+then
+AC_MSG_CHECKING(for a Pentium CPU)
+AC_TRY_RUN([
+int main() 
+{
+asm ("mov \$0,%%eax;\n"
+     "cpuid\n" : : : "%eax");
+return 0;
+};
+],pentium=yes,pentium=no,)
+else
+pentium=no
+fi
+if test "x$pentium" == xyes 
+then
+AC_DEFINE(PENTIUM,1,[is this a pentium on a gcc-based platform?])
+fi
+AC_MSG_RESULT($pentium)
+
+dnl Check for 64bit CPU
+AC_MSG_CHECKING(for a x86-64 CPU)
+if test "$build_os" == "$target_os"
+then
+AC_TRY_RUN([
+int main()
+{
+int a = 0; 
+int * pa = &a;
+asm ("mov %0,%%rax\n"
+     "movl (%%rax),%%eax\n"
+     : : "r"(pa) : "%rax");
+return 0;
+};
+],cpu64=yes,cpu64=no,)
+else
+cpu64=no
+fi
+if test "x$cpu64" == xyes 
+then
+AC_DEFINE(X86_64_SYSTEM,1,[is this a X86_64 system on a gcc-based platform?])
+fi
+AC_MSG_RESULT($cpu64)
+AM_CONDITIONAL(X86_64_SYSTEM, test x$cpu64 = xyes)
+
+AC_MSG_CHECKING(if building a release library)
+AC_ARG_ENABLE(release,AC_HELP_STRING([--enable-release],
+[build a release library with -fomit-frame-pointer and -ffast-math]),
+release=$enableval,release=no)
+if test "x$release" == xyes
+then
+    CFLAGS="$CFLAGS -fomit-frame-pointer -ffast-math"
+    CPPFLAGS="$CPPFLAGS -fomit-frame-pointer -ffast-math"
+    CXXFLAGS="$CXXFLAGS -fomit-frame-pointer -ffast-math"
+    AC_DEFINE(dNODEBUG,,[Disable debug output])
+fi
+AC_MSG_RESULT($release)
+
+AC_MSG_CHECKING(if building a debug library)
+AC_ARG_ENABLE(debug,AC_HELP_STRING([--enable-debug],
+[Add debug symbols to the library with -g]),
+debug=$enableval,debug=yes)
+if test "x$debug" == xyes
+then
+    CFLAGS="$CFLAGS -g"
+    CPPFLAGS="$CPPFLAGS -g"
+    CXXFLAGS="$CXXFLAGS -g"
+fi
+AC_MSG_RESULT($debug)
+
+
+dnl Check variable type sizes
+AC_CHECK_SIZEOF(char)
+AC_CHECK_SIZEOF(int)
+AC_CHECK_SIZEOF(short)
+AC_CHECK_SIZEOF(long int)
+AC_CHECK_SIZEOF(void*)
+
+dnl Set some Platform Specific Variables
+case "$host_os" in
+  cygwin* | mingw*)
+    so_ext=".dll"
+    DLLDEFINE="-DODE_DLL"
+    SHARED_LDFLAGS="-shared"
+    drawstuff="Win32" # if in a Windows enviroment
+    ;;
+  *apple* | *darwin*) # For Mac OS X
+    so_ext=".dylib"
+    DLLDEFINE=""
+    SHARED_LDFLAGS="-dynamiclib"
+    drawstuff="OSX"
+    dnl We need to use C++ compilation and linking for ode on Mac
+    dnl Might as well do it for all code.
+    CC="$CXX"
+    LINK="$CXXLINK"
+    ;;
+  *)
+   drawstuff="X11" # if anything else default to X11
+    if test x$use_soname = xyes; then
+      so_ext=".so.$ODE_RELEASE"
+    else
+      so_ext=".so"
+    fi
+    DLLDEFINE=""
+    SHARED_LDFLAGS="-shared"
+    ;;
+esac
+dnl Set Conditionals
+AM_CONDITIONAL(WIN32, test x$drawstuff = xWin32)
+AM_CONDITIONAL(X11, test x$drawstuff = xX11)
+AM_CONDITIONAL(OSX, test x$drawstuff = xOSX)
+dnl Set Drawstuff variables
+AC_MSG_CHECKING(which drawstuff lib to build)
+AC_MSG_RESULT($drawstuff)
+AC_SUBST(DRAWSTUFF)
+dnl Set shared library variables
+AC_MSG_CHECKING(for the suffix of shared libraries)
+AC_MSG_RESULT($so_ext)
+AC_DEFINE_UNQUOTED(SO_EXT,"$so_ext",[The extension for shared libraries.])
+AC_SUBST(so_ext)
+AC_SUBST(SHARED_LDFLAGS)
+
+dnl Check for AC_PATH_X variables
+if test "X$x_includes" != "XNONE"; then
+        CFLAGS="$CFLAGS -I$x_includes"
+        CXXFLAGS="$CXXFLAGS -I$x_includes"
+fi
+if test "X$x_libraries" != "XNONE"; then
+        CFLAGS="$CFLAGS -L$x_libraries"
+        CXXFLAGS="$CXXFLAGS -L$x_libraries"
+fi
+
+dnl Check for OpenGL
+if test "x$drawstuff" = "xOSX"; then
+  AC_DEFINE([HAVE_APPLE_OPENGL_FRAMEWORK], [1],
+            [Use the Apple OpenGL framework.])
+  GL_LIBS="-framework OpenGL -framework Carbon -framework AGL"
+else
+  AC_CHECK_HEADERS(GL/gl.h GL/glu.h GL/glext.h,,,
+       [[#if HAVE_GL_GL_H
+         #include <GL/gl.h>
+         #endif
+           #if HAVE_GL_GLU_H
+         #include <GL/glu.h>
+         #endif
+       ]])
+  AC_CHECK_LIB(GL, main,[GL_LIBS="$GL_LIBS -lGL"])
+  TEMP_LDFLAGS="$LDFLAGS"
+  LDFLAGS="$LDFLAGS $GL_LIBS"
+  AC_CHECK_LIB(GLU, main,[GL_LIBS="$GL_LIBS -lGLU"])
+  LDFLAGS="$TEMP_LDFLAGS"
+  AC_CHECK_LIB(opengl32, main,[GL_LIBS="$GL_LIBS -lopengl32"])
+  AC_CHECK_LIB(glu32, main,[GL_LIBS="$GL_LIBS -lglu32"])
+  AC_CHECK_LIB(Xmu, main,[GL_LIBS="$GL_LIBS -lXmu"])
+  AC_CHECK_LIB(Xi, main,[GL_LIBS="$GL_LIBS -lXi"])
+  AC_CHECK_LIB(X, main,[GL_LIBS="$GL_LIBS -lX"])
+  AC_CHECK_LIB(X11, main,[GL_LIBS="$GL_LIBS -lX11"])
+fi
+AC_SUBST(GL_LIBS)
+
+dnl Add some Windows libraries if found
+AC_CHECK_LIB(comctl32,main,[LIBS="$LIBS -lcomctl32"])
+AC_CHECK_LIB(kernel32,main,[LIBS="$LIBS -lkernel32"])
+AC_CHECK_LIB(user32,main,[LIBS="$LIBS -luser32"])
+AC_CHECK_LIB(gdi32,main,[LIBS="$LIBS -lgdi32"])
+AC_CHECK_LIB(winmm,main,[LIBS="$LIBS -lwinmm"])
+
+dnl Add math and standard c++ lib just in case
+AC_CHECK_LIB(stdc++,main,[LIBS="$LIBS -lstdc++"])
+AC_CHECK_LIB(m,main,[LIBS="$LIBS -lm"])
+AC_CHECK_LIB(pthread,main,[LIBS="$LIBS -lpthread"])
+
+
+TOPDIR=`cd $srcdir;pwd`
+AC_SUBST(TOPDIR)
+
+dnl Check if the user wants to profile ODE using gprof
+AC_MSG_CHECKING(for gprof)
+AC_ARG_ENABLE(gprof,
+AC_HELP_STRING([--enable-gprof],[enable profiling with gprof]),
+gprof=$enableval,gprof=no)
+if test "$gprof" != no
+then
+    CFLAGS="-pg $CFLAGS"
+    CPPFLAGS="-pg $CPPFLAGS"
+    CXXFLAGS="-pg $CXXFLAGS"
+    AC_CHECK_LIB(gmon, main,[LIBS="$LIBS -lgmon"])
+    AC_MSG_RESULT(enabled)
+else
+    AC_MSG_RESULT(no)
+fi
+
+dnl Check for autoscan sugested functions
+AC_CHECK_FUNCS([floor memmove memset select sqrt sqrtf sinf cosf fabsf atan2f fmodf copysignf copysign snprintf vsnprintf gettimeofday isnan isnanf _isnan _isnanf __isnan __isnanf])
+if test "$build_os" == "$target_os"
+then
+AC_FUNC_ALLOCA 
+AC_FUNC_MALLOC
+AC_FUNC_OBSTACK 
+AC_FUNC_REALLOC
+AC_FUNC_SELECT_ARGTYPES
+AC_FUNC_VPRINTF
+fi
+
+dnl include found system headers into config.h
+AH_TOP([
+#ifndef ODE_CONFIG_H
+#define ODE_CONFIG_H
+])
+AH_BOTTOM([
+
+#ifdef HAVE_ALLOCA_H
+#include <alloca.h>
+#endif
+#if defined(HAVE_IEEEFP_H) && !defined(__CYGWIN__)
+// This header creates conflicts with math.h in Cygwin.
+#include <ieeefp.h>
+#endif
+#ifdef HAVE_STDIO_H
+#include <stdio.h>
+#endif
+#ifdef HAVE_STDLIB_H
+#include <stdlib.h>
+#endif
+#ifdef HAVE_MATH_H
+#include <math.h>
+#endif
+#ifdef HAVE_STRING_H
+#include <string.h>
+#endif
+#ifdef HAVE_STDARG_H
+#include <stdarg.h>
+#endif
+#ifdef HAVE_MALLOC_H
+#include <malloc.h>
+#endif
+#ifdef HAVE_VALUES_H
+#include <values.h>
+#endif
+#ifdef HAVE_FLOAT_H
+#include <float.h>
+#endif
+#if SIZEOF_CHAR == 1
+typedef char int8;
+typedef unsigned char uint8;
+#else
+#error "expecting sizeof(char) == 1"
+#endif
+#if SIZEOF_SHORT == 2
+typedef short int16;
+typedef unsigned short uint16;
+#else
+#error "can not find 2 byte integer type"
+#endif
+/* integer types (we assume int >= 32 bits) */
+#if SIZEOF_INT == 4
+typedef short int32;
+typedef unsigned short uint32;
+#else
+#error "can not find 4 byte integer type"
+#endif
+/* an integer type that we can safely cast a pointer to and
+ * from without loss of bits.
+ */
+#if SIZEOF_SHORT == SIZEOF_VOIDP
+typedef unsigned short intP;
+#elif SIZEOF_INT == SIZEOF_VOIDP
+typedef unsigned int intP;
+#elif SIZEOF_LONG_INT == SIZEOF_VOIDP
+typedef unsigned long int intP;
+#endif
+
+/* 
+Handle Windows DLL odities
+Its easier to export all symbols using the -shared flag
+for MinGW than differentiating with declspec,
+so only do it for MSVC
+*/
+#if defined(ODE_DLL) && defined(WIN32) && defined(_MSC_VER)
+#define ODE_API __declspec( dllexport )
+#elif !defined(ODE_DLL) && defined(WIN32) && defined(MSC_VER)
+#define ODE_API __declspec( dllimport )
+#else
+#define ODE_API
+#endif
+
+#endif /* #define ODE_CONFIG_H */
+])
+
+
+dnl Finally write our Makefiles
+AC_OUTPUT([
+ Makefile
+ include/Makefile
+ include/ode/Makefile
+ ode/Makefile
+ ode/src/Makefile
+ drawstuff/Makefile
+ drawstuff/src/Makefile
+ drawstuff/dstest/Makefile
+ ode/demo/Makefile
+ tests/Makefile
+ tests/CppTestHarness/Makefile
+ ode-config
+ ])
+
+chmod +x ode-config
+
+dnl Print some useful information
+echo "Configuration:"
+echo "  Target system type:      $target"
+echo "  Build  system type:      $build"
+echo "  Host   system type:      $host"
+echo "  Use double precision:    $precision"
+echo "  Use OPCODE:              $opcode"
+echo "  Use GIMPACT:             $gimpact"
+echo "  Use gyroscopic term:     $gyroscopic"
+echo "  Is this a Pentium:       $pentium"
+echo "  Is the CPU x86-64:       $cpu64"
+echo "  Is this a release build: $release"
+echo "  Adding debug symbols:    $debug"
+echo "  Using SONAME:            $use_soname"
+echo "  Headers will be installed in $prefix/include/ode"
+echo "  Libraries will be installed in $prefix/lib"
+
+if test $gimpact = yes -a $precision = yes
+then
+  echo "WARNING! Double precision not yet supported for GIMPACT"
+fi
+