Fix compilation errors on Mac OS X and remove the compilation of freeglut from the CMake files

CMakeLists.txt

@@ -7,8 +7,8 @@ PROJECT(REACTPHYSICS3D)
 # Where to build the library
 SET(LIBRARY_OUTPUT_PATH lib/)
 
-# Where to find the module to find special packages/libraries
+# Where to build the executables
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/")
+SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin)
 
 # Options
 OPTION(COMPILE_EXAMPLES "Select this if you want to build the examples" OFF)

cmake/FindFreeglut.cmake

@@ -0,0 +1,32 @@
+# This module is used to try to find the Freeglut library and include files
+
+IF(WIN32)
+	FIND_PATH(FREEGLUT_INCLUDE_DIR NAMES GL/freeglut.h)
+	FIND_LIBRARY(FREEGLUT_LIBRARY NAMES freeglut freeglut_static)
+                 PATHS ${OPENGL_LIBRARY_DIR})
+ELSE(WIN32)
+	
+	IF(APPLE)
+		# Do nothing, we do not want to use freeglut on Mac OS X
+	ELSE(APPLE)
+		FIND_PATH(FREEGLUT_INCLUDE_DIR GL/freeglut.h /usr/include/GL
+                  /usr/openwin/share/include
+				  /usr/openwin/include
+                  /opt/graphics/OpenGL/include
+                  /opt/graphics/OpenGL/contrib/libglut)
+
+		FIND_LIBRARY(FREEGLUT_LIBRARY NAMES freeglut freeglut_static PATHS /usr/openwin/lib)
+		FIND_LIBRARY(Xi_LIBRARY Xi /usr/openwin/lib)
+		FIND_LIBRARY(Xmu_LIBRARY Xmu /usr/openwin/lib)
+	ENDIF(APPLE)
+ENDIF(WIN32)
+
+INCLUDE(${CMAKE_CURRENT_LIST_DIR}/FindPackageHandleStandardArgs.cmake)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(FREEGLUT REQUIRED_VARS FREEGLUT_LIBRARY FREEGLUT_INCLUDE_DIR)
+
+IF(FREEGLUT_FOUND)
+	SET(FREEGLUT_LIBRARIES ${FREEGLUT_LIBRARY} ${Xi_LIBRARY} ${Xmu_LIBRARY})
+	SET(FREEGLUT_LIBRARY ${FREEGLUT_LIBRARIES})
+ENDIF(FREEGLUT_FOUND)
+
+MARK_AS_ADVANCED(FREEGLUT_INCLUDE_DIR FREEGLUT_LIBRARY Xi_LIBRARY Xmu_LIBRARY)

examples/collisionshapes/Scene.cpp

@@ -400,8 +400,8 @@ void Scene::render() {
     mPhongShader.setMatrix4x4Uniform("projectionMatrix", camera.getProjectionMatrix());
     mPhongShader.setVector3Uniform("light0PosCameraSpace", worldToCameraMatrix * mLight0.getOrigin());
     mPhongShader.setVector3Uniform("lightAmbientColor", Vector3(0.3f, 0.3f, 0.3f));
-    Color& diffColLight0 = mLight0.getDiffuseColor();
+    const Color& diffColLight0 = mLight0.getDiffuseColor();
-    Color& specColLight0 = mLight0.getSpecularColor();
+    const Color& specColLight0 = mLight0.getSpecularColor();
     mPhongShader.setVector3Uniform("light0DiffuseColor", Vector3(diffColLight0.r, diffColLight0.g, diffColLight0.b));
     mPhongShader.setVector3Uniform("light0SpecularColor", Vector3(specColLight0.r, specColLight0.g, specColLight0.b));
     mPhongShader.setFloatUniform("shininess", 200.0f);

examples/common/Box.cpp

@@ -157,11 +157,6 @@ void Box::render(openglframework::Shader& shader,
     shader.unbind();
 }
 
-// Set the color of the box
-void Box::setColor(openglframework::Color& color) {
-    mColor = color;
-}
-
 // Update the transform matrix of the box
 void Box::updateTransform() {
 

examples/common/Box.h

@@ -74,7 +74,7 @@ class Box : public openglframework::Object3D {
         /// True if the VBOs have already been created
         static bool areVBOsCreated;
 
-        // TODO : REMOVE THIS
+        /// Main color of the box
         openglframework::Color mColor;
 
         // -------------------- Methods -------------------- //
@@ -103,7 +103,7 @@ class Box : public openglframework::Object3D {
         void render(openglframework::Shader& shader, const openglframework::Matrix4& worldToCameraMatrix);
 
         /// Set the color of the box
-        void setColor(openglframework::Color& color);
+        void setColor(const openglframework::Color& color);
 };
 
 // Return a pointer to the rigid body of the box
@@ -111,4 +111,9 @@ inline rp3d::RigidBody* Box::getRigidBody() {
     return mRigidBody;
 }
 
+// Set the color of the box
+inline void Box::setColor(const openglframework::Color& color) {
+    mColor = color;
+}
+
 #endif

examples/common/opengl-framework/CMakeLists.txt

@@ -8,7 +8,7 @@ PROJECT(OPENGLFRAMEWORK)
 OPTION(USE_JPEG_TEXTURES "Select this if you want to use jpeg textures (libjpeg required)" OFF)
 
 # Where to find the module to find special packages/libraries
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/")
+set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/")
 
 # Find OpenGL
 FIND_PACKAGE(OpenGL REQUIRED)
@@ -26,6 +26,30 @@ else()
    MESSAGE("GLEW not found")
 endif()
 
+# Find the GLUT/FREEGLUT library
+IF(APPLE)
+	
+	# Find the GLUT library
+	FIND_PACKAGE(GLUT REQUIRED)
+	IF(GLUT_FOUND)
+   		MESSAGE("GLUT found")
+	ELSE(GLUT_FOUND)
+   		MESSAGE(SEND_ERROR "GLUT not found")
+    ENDIF(GLUT_FOUND)
+
+ELSE(APPLE)
+
+ 	# Find the FREEGLUT library
+	FIND_PACKAGE(FREEGLUT REQUIRED)
+	IF(FREEGLUT_FOUND)
+   		MESSAGE("FREEGLUT found")
+		ADD_DEFINITIONS(-DUSE_FREEGLUT)
+	ELSE(FREEGLUT_FOUND)
+   		MESSAGE(SEND_ERROR "FREEGLUT not found")
+    ENDIF(FREEGLUT_FOUND)
+
+ENDIF(APPLE)
+
 # If the user wants to use JPEG textures
 if(USE_JPEG_TEXTURES)
 
@@ -38,11 +62,8 @@ if(USE_JPEG_TEXTURES)
     endif()
 endif()
 
-# Freeglut
-add_subdirectory(freeglut)
-
 # Headers
-INCLUDE_DIRECTORIES(src freeglut ${JPEG_INCLUDE_DIR})
+INCLUDE_DIRECTORIES(src ${OPENGL_INCLUDE_DIR} ${GLEW_INCLUDE_PATH} ${FREEGLUT_INCLUDE_DIR} ${GLUT_INCLUDE_DIR} ${JPEG_INCLUDE_DIR})
 
 if(USE_JPEG_TEXTURES)
     add_definitions(-DUSE_JPEG_TEXTURE)
@@ -62,4 +83,4 @@ ADD_LIBRARY (
    ${OPENGLFRAMEWORK_SOURCES_FILES}
 )
 
-TARGET_LINK_LIBRARIES(openglframework ${GLEW_LIBRARIES} ${OPENGL_LIBRARY} freeglut_static)
+TARGET_LINK_LIBRARIES(openglframework ${GLEW_LIBRARIES} ${OPENGL_LIBRARY} ${FREEGLUT_LIBRARY} ${GLUT_LIBRARY})

examples/common/opengl-framework/cmake/FindFREEGLUT.cmake

@@ -0,0 +1,32 @@
+# This module is used to try to find the Freeglut library and include files
+
+IF(WIN32)
+	FIND_PATH(FREEGLUT_INCLUDE_DIR NAMES GL/freeglut.h)
+	FIND_LIBRARY(FREEGLUT_LIBRARY NAMES freeglut freeglut_static
+                 PATHS ${OPENGL_LIBRARY_DIR})
+ELSE(WIN32)
+	
+	IF(APPLE)
+		# Do nothing, we do not want to use freeglut on Mac OS X
+	ELSE(APPLE)
+		FIND_PATH(FREEGLUT_INCLUDE_DIR GL/freeglut.h /usr/include/GL
+                  /usr/openwin/share/include
+				  /usr/openwin/include
+                  /opt/graphics/OpenGL/include
+                  /opt/graphics/OpenGL/contrib/libglut)
+
+		FIND_LIBRARY(FREEGLUT_LIBRARY NAMES glut freeglut freeglut_static PATHS /usr/openwin/lib)
+		FIND_LIBRARY(Xi_LIBRARY Xi /usr/openwin/lib)
+		FIND_LIBRARY(Xmu_LIBRARY Xmu /usr/openwin/lib)
+	ENDIF(APPLE)
+ENDIF(WIN32)
+
+INCLUDE(FindPackageHandleStandardArgs)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(FREEGLUT REQUIRED_VARS FREEGLUT_LIBRARY FREEGLUT_INCLUDE_DIR)
+
+IF(FREEGLUT_FOUND)
+	SET(FREEGLUT_LIBRARIES ${FREEGLUT_LIBRARY} ${Xi_LIBRARY} ${Xmu_LIBRARY})
+	SET(FREEGLUT_LIBRARY ${FREEGLUT_LIBRARIES})
+ENDIF(FREEGLUT_FOUND)
+
+MARK_AS_ADVANCED(FREEGLUT_INCLUDE_DIR FREEGLUT_LIBRARY Xi_LIBRARY Xmu_LIBRARY)

examples/common/opengl-framework/cmake/FindGLEW.cmake

@@ -0,0 +1,65 @@
+#
+# Try to find GLEW library and include path.
+# Once done this will define
+#
+# GLEW_FOUND
+# GLEW_INCLUDE_PATH
+# GLEW_LIBRARY
+#
+
+IF (WIN32)
+FIND_PATH( GLEW_INCLUDE_PATH GL/glew.h
+$ENV{PROGRAMFILES}/GLEW/include
+${GLEW_ROOT_DIR}/include
+DOC "The directory where GL/glew.h resides")
+
+IF (NV_SYSTEM_PROCESSOR STREQUAL "AMD64")
+FIND_LIBRARY( GLEW_LIBRARY
+NAMES glew64 glew64s
+PATHS
+$ENV{PROGRAMFILES}/GLEW/lib
+${PROJECT_SOURCE_DIR}/src/nvgl/glew/bin
+${PROJECT_SOURCE_DIR}/src/nvgl/glew/lib
+DOC "The GLEW library (64-bit)"
+)
+ELSE(NV_SYSTEM_PROCESSOR STREQUAL "AMD64")
+FIND_LIBRARY( GLEW_LIBRARY
+NAMES glew GLEW glew32 glew32s
+PATHS
+$ENV{PROGRAMFILES}/GLEW/lib
+${PROJECT_SOURCE_DIR}/src/nvgl/glew/bin
+${PROJECT_SOURCE_DIR}/src/nvgl/glew/lib
+DOC "The GLEW library"
+)
+ENDIF(NV_SYSTEM_PROCESSOR STREQUAL "AMD64")
+ELSE (WIN32)
+FIND_PATH( GLEW_INCLUDE_PATH GL/glew.h
+/usr/include
+/usr/local/include
+/sw/include
+/opt/local/include
+${GLEW_ROOT_DIR}/include
+DOC "The directory where GL/glew.h resides")
+
+FIND_LIBRARY( GLEW_LIBRARY
+NAMES GLEW glew
+PATHS
+/usr/lib64
+/usr/lib
+/usr/local/lib64
+/usr/local/lib
+/sw/lib
+/opt/local/lib
+${GLEW_ROOT_DIR}/lib
+DOC "The GLEW library")
+ENDIF (WIN32)
+
+SET(GLEW_FOUND "NO")
+IF (GLEW_INCLUDE_PATH AND GLEW_LIBRARY)
+SET(GLEW_LIBRARIES ${GLEW_LIBRARY})
+SET(GLEW_FOUND "YES")
+ENDIF (GLEW_INCLUDE_PATH AND GLEW_LIBRARY)
+
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(GLEW DEFAULT_MSG GLEW_LIBRARY GLEW_INCLUDE_PATH)

examples/cubes/Scene.cpp

@@ -71,7 +71,6 @@ Scene::Scene(GlutViewer* viewer) : mViewer(viewer), mLight0(0),
         Box* cube = new Box(BOX_SIZE, position , BOX_MASS, mDynamicsWorld);
 
         cube->getRigidBody()->setIsMotionEnabled(true);
-        mMapBodyToBox.insert(std::make_pair<rp3d::RigidBody*, Box*>(cube->getRigidBody(), cube));
 
         // Change the material properties of the rigid body
         rp3d::Material& material = cube->getRigidBody()->getMaterial();
@@ -88,8 +87,6 @@ Scene::Scene(GlutViewer* viewer) : mViewer(viewer), mLight0(0),
     // The floor must be a non-moving rigid body
     mFloor->getRigidBody()->setIsMotionEnabled(false);
 
-    mMapBodyToBox.insert(std::make_pair<rp3d::RigidBody*, Box*>(mFloor->getRigidBody(), mFloor));
-
     // Change the material properties of the floor rigid body
     rp3d::Material& material = mFloor->getRigidBody()->getMaterial();
     material.setBounciness(rp3d::decimal(0.3));
@@ -175,8 +172,8 @@ void Scene::render() {
     mPhongShader.setMatrix4x4Uniform("projectionMatrix", camera.getProjectionMatrix());
     mPhongShader.setVector3Uniform("light0PosCameraSpace",worldToCameraMatrix * mLight0.getOrigin());
     mPhongShader.setVector3Uniform("lightAmbientColor", Vector3(0.3f, 0.3f, 0.3f));
-    Color& diffCol = mLight0.getDiffuseColor();
+    const Color& diffCol = mLight0.getDiffuseColor();
-    Color& specCol = mLight0.getSpecularColor();
+    const Color& specCol = mLight0.getSpecularColor();
     mPhongShader.setVector3Uniform("light0DiffuseColor", Vector3(diffCol.r, diffCol.g, diffCol.b));
     mPhongShader.setVector3Uniform("light0SpecularColor", Vector3(specCol.r, specCol.g, specCol.b));
     mPhongShader.setFloatUniform("shininess", 60.0f);

examples/cubes/Scene.h

@@ -66,9 +66,6 @@ class Scene {
         /// True if the physics simulation is running
         bool mIsRunning;
 
-        // TODO : REMOVE THIS
-        std::map<rp3d::RigidBody*, Box*> mMapBodyToBox;
-
     public:
 
         // -------------------- Methods -------------------- //

examples/joints/Scene.cpp

@@ -166,8 +166,8 @@ void Scene::render() {
     mPhongShader.setVector3Uniform("light0PosCameraSpace",worldToCameraMatrix * mLight0.getOrigin());
     mPhongShader.setMatrix4x4Uniform("projectionMatrix", camera.getProjectionMatrix());
     mPhongShader.setVector3Uniform("lightAmbientColor", Vector3(0.3f, 0.3f, 0.3f));
-    Color& diffCol = mLight0.getDiffuseColor();
+    const Color& diffCol = mLight0.getDiffuseColor();
-    Color& specCol = mLight0.getSpecularColor();
+    const Color& specCol = mLight0.getSpecularColor();
     mPhongShader.setVector3Uniform("light0DiffuseColor", Vector3(diffCol.r, diffCol.g, diffCol.b));
     mPhongShader.setVector3Uniform("light0SpecularColor", Vector3(specCol.r, specCol.g, specCol.b));
     mPhongShader.setFloatUniform("shininess", 60.0f);

src/collision/shapes/CollisionShape.h

@@ -28,6 +28,7 @@
 
 // Libraries
 #include <cassert>
+#include <typeinfo>
 #include "../../mathematics/Vector3.h"
 #include "../../mathematics/Matrix3x3.h"
 #include "AABB.h"

src/memory/MemoryAllocator.h

@@ -27,6 +27,7 @@
 #define REACTPHYSICS3D_MEMORY_ALLOCATOR_H
 
 // Libraries
+#include <cstring>
 #include "../configuration.h"
 
 /// ReactPhysics3D namespace