include (${gazebo_cmake_dir}/GazeboUtils.cmake)

include_directories(${BULLET_INCLUDE_DIRS})

link_directories(${BULLET_LIBRARY_DIRS})

add_definitions(${BULLET_CFLAGS})

set (sources
  BulletPhysics.cc
  BulletLink.cc
  BulletCollision.cc
  BulletMotionState.cc
  BulletTrimeshShape.cc
  BulletJoint.cc
  BulletHingeJoint.cc
  BulletSliderJoint.cc
  BulletUniversalJoint.cc
  BulletBallJoint.cc
  BulletHinge2Joint.cc
  BulletScrewJoint.cc
  BulletRayShape.cc
  BulletMultiRayShape.cc
  BulletHeightmapShape.cc)

gz_add_library(gazebo_physics_bullet ${sources})
#add_definitions(mDBT_USE_DOUBLE_PRECISION -DBT_EULER_DEFAULT_ZYX)
target_link_libraries(gazebo_physics_bullet ${BULLET_LIBRARIES})

gz_install_library(gazebo_physics_bullet)
