overhauled physics engine

2023-01-21 18:43:21 +01:00
parent 3c7346cf7b
commit 2208ab438a
164 changed files with 22606 additions and 928 deletions
@@ -0,0 +1,131 @@
+#
+# SDPA-M: $Revision: 7.3 $
+#
+# For Matlab
+# $  make
+# For Octave
+# $ make COMPILE_ENVIRONMENT=octave
+
+# after "make install", you can find
+# 'make.inc' in 'share/sdpa' sub-directory under the installed directory
+# For example
+# make MAKE_INCLUDE_DIR=/usr/share/sdpa
+#  or 
+# make MAKE_INCLUDE_DIR=/usr/local/share/sdpa
+# In addition, for Octave, you should try
+# make MAKE_INCLUDE_DIR=/usr/local/share/sdpa COMPILE_ENVIRONMENT=octave
+
+
+# To compile with mingw, the following command is a sample.
+# Your need to modify directory names and compiler names.
+# make MEX="i586-mingw32msvc-g++ -shared" COMPILE_ENVIRONMENT=octave \
+# PRINTF_INT_STYLE=-DPRINTF_INT_STYLE=\\\"%zd\\\" \
+# OUTPUT_FORMAT="-o \$@.mexw32" \
+# MATLAB_INCLUDE="-Imatlab-extern/include" \
+# MATLAB_LIBS="-I/matlab-extern/microsoft/libmx.lib -I/matlab-extern/microsoft/libmex.lib" \
+
+
+# for only SDPA-Project members
+# set DEVELOPEMENT_STAGE=1 to compile without 'make install'
+# For example
+# make MAKE_INCLUDE_DIR=../etc DEVELOPEMENT_STAGE=1 
+# In addition, for Octave, you should try
+# make MAKE_INCLUDE_DIR=../etc DEVELOPEMENT_STAGE=1 COMPILE_ENVIRONMENT=octave
+
+# This file is a component of SDPA
+# Copyright (C) 2004-2013 SDPA Project
+
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 2 of the License, or
+# (at your option) any later version.
+
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307 USA
+
+MAKE_INCLUDE_DIR=..
+-include ${MAKE_INCLUDE_DIR}/make.inc
+# after "make install", you can find
+# 'make.inc' in 'share/sdpa' sub-directory under the installed directory
+# For example
+# make MAKE_INCLUDE_DIR=/usr/share/sdpa
+#  or 
+# make MAKE_INCLUDE_DIR=/usr/local/share/sdpa
+
+MEX = mex
+DEF_FPIC = -fPIC
+
+CXXFLAGSOPTIONS = CXXFLAGS="-Wall -fPIC" -O -DNDEBUG CC=${CC} CXX=${CXX}
+LARGEARRAYOPTION = -largeArrayDims
+
+SDPA_INCLUDE = -I${SDPA_DIR}/include
+ifeq ($(DEVELOPEMENT_STAGE),1)
+	SDPA_INCLUDE = -I..
+	SDPA_LIB = ../libsdpa-c.a
+endif
+
+PRINTF_INT_STYLE = -DPRINTF_INT_STYLE=\\\"%zd\\\"
+# Output format is usually automatically set by mex command.
+OUTPUT_FORMAT =
+
+ifeq ($(COMPILE_ENVIRONMENT),octave)
+        MEX = CC=${CC} CXX=${CXX} mkoctfile --mex
+        CXXFLAGSOPTIONS = 
+        LARGEARRAYOPTION =
+	PRINTF_INT_STYLE = -DPRINTF_INT_STYLE=\\\"%d\\\"
+endif
+
+ALL_OPTION = ${CXXFLAGSOPTIONS} ${LARGEARRAYOPTION} ${PRINTF_INT_STYLE}
+
+all: mexsdpaC mexSedumiWrapC
+# all: mexSedumiWrap
+
+mexBinaryCheck:
+	@echo "---------------------------------------------"
+	@echo "Mex Compilation Start                        "
+	@echo "---------------------------------------------"
+	@if [ -f $(MEX) ]; then \
+	echo "---------------------------------------------" ;\
+	echo " We use                                      " ;\
+	echo "   " $(MEX) ;\
+	echo "   for Mex compilaton                        " ;\
+	echo "---------------------------------------------" ;\
+	else \
+	echo "---------------------------------------------" ;\
+	echo "Automatic search is failed,                  " ;\
+	echo " Set the full path for mex command mannually " ;\
+	echo " in "`pwd`"/Makekefile" ;\
+	echo " and try 'make' in `pwd`                     " ;\
+	echo "---------------------------------------------" ;\
+	false ;\
+	fi
+
+mexsdpaC:
+	${MEX} ${ALL_OPTION} \
+	  ${OUTPUT_FORMAT} \
+	  ${SDPA_INCLUDE} ${sdpac_all_include} \
+	  mexsdpaC.cpp mexFprintf.c \
+	  ${SDPA_LIB} ${sdpac_all_lib}
+
+mexSedumiWrapC:
+	${MEX} ${ALL_OPTION} \
+	  ${OUTPUT_FORMAT} \
+	  ${SDPA_INCLUDE} ${sdpac_all_include} \
+	  mexSedumiWrapC.cpp mexFprintf.c \
+	  ${SDPA_LIB} ${sdpac_all_lib}
+
+# clean all generated files
+clean:
+	rm -f *~ *.o
+dist-clean: clean
+	rm -f mexsdpaC.mex* mexSedumiWrapC.mex*
+
+#
+# End of File
+#