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collision: fix Bullet double-precision includes (6.16) #2334

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collision: fix Bullet double-precision includes (6.16) #2334

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cc666ca
collision: include Bullet headers via BulletInclude
jslee02 Dec 18, 2025
938197d
tests: avoid Raycast segfault when no hits
jslee02 Dec 18, 2025
a3962f5
Add system ODE/Bullet toggles and source fetch
jslee02 Dec 20, 2025
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2 changes: 2 additions & 0 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -97,6 +97,8 @@ dart_option(DART_FAST_DEBUG "Add -O1 option for DEBUG mode build" OFF)
# See: https://medium.com/@alasher/colored-c-compiler-output-with-ninja-clang-gcc-10bfe7f2b949
dart_option(DART_FORCE_COLORED_OUTPUT
"Always produce ANSI-colored output (GNU/Clang only)." OFF)
dart_option(DART_USE_SYSTEM_ODE "Use system ODE" ON)
dart_option(DART_USE_SYSTEM_BULLET "Use system Bullet" ON)
dart_option(DART_USE_SYSTEM_IMGUI "Use system ImGui" OFF)
dart_option(DART_USE_SYSTEM_GOOGLEBENCHMARK "Use system GoogleBenchmark" OFF)
dart_option(DART_USE_SYSTEM_GOOGLETEST "Use system GoogleTest" OFF)
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25 changes: 25 additions & 0 deletions cmake/DARTFindBullet.cmake
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Expand Up @@ -9,6 +9,31 @@
# Bullet. Force MODULE mode to use the FindBullet.cmake file distributed with
# CMake. Otherwise, we may end up using the BulletConfig.cmake file distributed
# with Bullet, which uses relative paths and may break transitive dependencies.
if(NOT DART_USE_SYSTEM_BULLET)
if(TARGET BulletCollision AND TARGET LinearMath)
if(DEFINED DART_BULLET_SOURCE_DIR)
set(_bullet_include_dir "${DART_BULLET_SOURCE_DIR}/src")
elseif(DEFINED BULLET_PHYSICS_SOURCE_DIR)
set(_bullet_include_dir "${BULLET_PHYSICS_SOURCE_DIR}/src")
endif()
if(_bullet_include_dir)
set(BULLET_INCLUDE_DIRS "${_bullet_include_dir}")
endif()
set(BULLET_LIBRARIES BulletCollision LinearMath)
set(BULLET_FOUND TRUE)
set(Bullet_FOUND TRUE)
if(NOT TARGET Bullet)
add_library(Bullet INTERFACE IMPORTED)
if(BULLET_INCLUDE_DIRS)
target_include_directories(Bullet INTERFACE ${BULLET_INCLUDE_DIRS})
endif()
target_link_libraries(Bullet INTERFACE ${BULLET_LIBRARIES})
endif()
unset(_bullet_include_dir)
return()
endif()
endif()

find_package(Bullet COMPONENTS BulletMath BulletCollision MODULE QUIET)

if((BULLET_FOUND OR Bullet_FOUND) AND NOT TARGET Bullet)
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57 changes: 56 additions & 1 deletion cmake/DARTFindDependencies.cmake
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Expand Up @@ -136,11 +136,66 @@ option(DART_SKIP_spdlog "If ON, do not use spdlog even if it is found." OFF)
mark_as_advanced(DART_SKIP_spdlog)
dart_find_package(spdlog)

if(NOT DART_USE_SYSTEM_ODE OR NOT DART_USE_SYSTEM_BULLET)
include(FetchContent)
endif()

if(NOT DART_USE_SYSTEM_ODE)
# Match Ubuntu/conda-forge libode settings (libccd enabled, box-cylinder disabled).
set(_dart_build_shared_libs "${BUILD_SHARED_LIBS}")
set(BUILD_SHARED_LIBS ON CACHE BOOL "" FORCE)

set(ODE_WITH_LIBCCD ON CACHE BOOL "" FORCE)
set(ODE_WITH_LIBCCD_SYSTEM ON CACHE BOOL "" FORCE)
set(ODE_WITH_LIBCCD_BOX_CYL OFF CACHE BOOL "" FORCE)
set(ODE_WITH_DEMOS OFF CACHE BOOL "" FORCE)
set(ODE_WITH_TESTS OFF CACHE BOOL "" FORCE)
FetchContent_Declare(ode
URL https://bitbucket.org/odedevs/ode/downloads/ode-0.16.6.tar.gz
URL_HASH SHA256=c91a28c6ff2650284784a79c726a380d6afec87ecf7a35c32a6be0c5b74513e8
)
FetchContent_MakeAvailable(ode)
set(DART_ODE_SOURCE_DIR "${ode_SOURCE_DIR}" CACHE INTERNAL "ODE source dir.")
set(DART_ODE_BINARY_DIR "${ode_BINARY_DIR}" CACHE INTERNAL "ODE binary dir.")

set(BUILD_SHARED_LIBS "${_dart_build_shared_libs}" CACHE BOOL "" FORCE)
unset(_dart_build_shared_libs)
endif()

if(NOT DART_USE_SYSTEM_BULLET)
# Match conda-forge Bullet float64 build flags.
set(_dart_build_shared_libs "${BUILD_SHARED_LIBS}")
set(BUILD_SHARED_LIBS ON CACHE BOOL "" FORCE)

set(USE_DOUBLE_PRECISION ON CACHE BOOL "" FORCE)
set(BULLET2_MULTITHREADING ON CACHE BOOL "" FORCE)
set(BUILD_BULLET_ROBOTICS_GUI_EXTRA OFF CACHE BOOL "" FORCE)
set(BUILD_BULLET_ROBOTICS_EXTRA OFF CACHE BOOL "" FORCE)
set(BUILD_GIMPACTUTILS_EXTRA OFF CACHE BOOL "" FORCE)
set(BUILD_CPU_DEMOS OFF CACHE BOOL "" FORCE)
set(BUILD_BULLET2_DEMOS OFF CACHE BOOL "" FORCE)
set(BUILD_UNIT_TESTS OFF CACHE BOOL "" FORCE)
set(BUILD_OPENGL3_DEMOS OFF CACHE BOOL "" FORCE)
set(BUILD_PYBULLET OFF CACHE BOOL "" FORCE)
set(BUILD_PYBULLET_NUMPY OFF CACHE BOOL "" FORCE)
set(INSTALL_LIBS ON CACHE BOOL "" FORCE)
set(INSTALL_EXTRA_LIBS ON CACHE BOOL "" FORCE)
FetchContent_Declare(bullet
URL https://github.com/bulletphysics/bullet3/archive/refs/tags/3.25.tar.gz
URL_HASH SHA256=c45afb6399e3f68036ddb641c6bf6f552bf332d5ab6be62f7e6c54eda05ceb77
)
FetchContent_MakeAvailable(bullet)
set(DART_BULLET_SOURCE_DIR "${bullet_SOURCE_DIR}" CACHE INTERNAL "Bullet source dir.")
set(DART_BULLET_BINARY_DIR "${bullet_BINARY_DIR}" CACHE INTERNAL "Bullet binary dir.")

set(BUILD_SHARED_LIBS "${_dart_build_shared_libs}" CACHE BOOL "" FORCE)
unset(_dart_build_shared_libs)
endif()

#--------------------
# Misc. dependencies
#--------------------

# Doxygen
find_package(Doxygen QUIET)
dart_check_optional_package(DOXYGEN "generating API documentation" "doxygen")

11 changes: 11 additions & 0 deletions cmake/DARTFindODE.cmake
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Expand Up @@ -6,6 +6,17 @@
#
# This file is provided under the "BSD-style" License

if(NOT DART_USE_SYSTEM_ODE)
if(TARGET ODE)
if(NOT TARGET ODE::ODE)
add_library(ODE::ODE ALIAS ODE)
endif()
set(ODE_FOUND TRUE)
set(ode_FOUND TRUE)
return()
endif()
endif()

find_package(ODE QUIET CONFIG NAMES ODE ode)

if(NOT ODE_FOUND AND NOT ode_FOUND)
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3 changes: 2 additions & 1 deletion dart/collision/bullet/BulletTypes.hpp
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Expand Up @@ -33,8 +33,9 @@
#ifndef DART_COLLISION_BULLET_BULLETTYPES_HPP_
#define DART_COLLISION_BULLET_BULLETTYPES_HPP_

#include <dart/collision/bullet/BulletInclude.hpp>

#include <Eigen/Dense>
#include <btBulletCollisionCommon.h>

namespace dart {
namespace collision {
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3 changes: 3 additions & 0 deletions dart/collision/bullet/CMakeLists.txt
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Expand Up @@ -55,6 +55,9 @@ set(component_name collision-bullet)
# Add target
dart_add_library(${target_name} ${hdrs} ${srcs} ${detail_hdrs} ${detail_srcs})
target_link_libraries(${target_name} PUBLIC dart Bullet)
if(BT_USE_DOUBLE_PRECISION)
target_compile_definitions(${target_name} PUBLIC BT_USE_DOUBLE_PRECISION)
endif()

# Component
add_component(${PROJECT_NAME} ${component_name})
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20 changes: 10 additions & 10 deletions tests/integration/test_Raycast.cpp
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Expand Up @@ -102,8 +102,8 @@ void testBasicInterface(const std::shared_ptr<CollisionDetector>& cd)
Eigen::Vector3d(2, 0, 0),
option,
&result);
EXPECT_TRUE(result.hasHit());
EXPECT_EQ(result.mRayHits.size(), 1u);
ASSERT_TRUE(result.hasHit());
ASSERT_EQ(result.mRayHits.size(), 1u);
rayHit = result.mRayHits[0];
EXPECT_TRUE(equals(rayHit.mPoint, Eigen::Vector3d(-1, 0, 0)));
EXPECT_TRUE(equals(rayHit.mNormal, Eigen::Vector3d(-1, 0, 0)));
Expand All @@ -118,8 +118,8 @@ void testBasicInterface(const std::shared_ptr<CollisionDetector>& cd)
Eigen::Vector3d(-2, 0, 0),
option,
&result);
EXPECT_TRUE(result.hasHit());
EXPECT_EQ(result.mRayHits.size(), 1u);
ASSERT_TRUE(result.hasHit());
ASSERT_EQ(result.mRayHits.size(), 1u);
rayHit = result.mRayHits[0];
EXPECT_TRUE(equals(rayHit.mPoint, Eigen::Vector3d(1, 0, 0)));
EXPECT_TRUE(equals(rayHit.mNormal, Eigen::Vector3d(1, 0, 0)));
Expand All @@ -133,8 +133,8 @@ void testBasicInterface(const std::shared_ptr<CollisionDetector>& cd)
Eigen::Vector3d(2, 0, 0),
option,
&result);
EXPECT_TRUE(result.hasHit());
EXPECT_EQ(result.mRayHits.size(), 1u);
ASSERT_TRUE(result.hasHit());
ASSERT_EQ(result.mRayHits.size(), 1u);
rayHit = result.mRayHits[0];
EXPECT_TRUE(equals(rayHit.mPoint, Eigen::Vector3d(0, 0, 0)));
EXPECT_TRUE(equals(rayHit.mNormal, Eigen::Vector3d(-1, 0, 0)));
Expand Down Expand Up @@ -194,8 +194,8 @@ void testOptions(const std::shared_ptr<CollisionDetector>& cd)
Eigen::Vector3d(5, 0, 0),
option,
&result);
EXPECT_TRUE(result.hasHit());
EXPECT_EQ(result.mRayHits.size(), 1u);
ASSERT_TRUE(result.hasHit());
ASSERT_EQ(result.mRayHits.size(), 1u);
rayHit = result.mRayHits[0];
EXPECT_TRUE(equals(rayHit.mPoint, Eigen::Vector3d(-3, 0, 0)));
EXPECT_TRUE(equals(rayHit.mNormal, Eigen::Vector3d(-1, 0, 0)));
Expand All @@ -212,8 +212,8 @@ void testOptions(const std::shared_ptr<CollisionDetector>& cd)
Eigen::Vector3d(5, 0, 0),
option,
&result);
EXPECT_TRUE(result.hasHit());
EXPECT_EQ(result.mRayHits.size(), 2u);
ASSERT_TRUE(result.hasHit());
ASSERT_EQ(result.mRayHits.size(), 2u);
rayHit = result.mRayHits[0];
EXPECT_TRUE(equals(rayHit.mPoint, Eigen::Vector3d(-3, 0, 0)));
EXPECT_TRUE(equals(rayHit.mNormal, Eigen::Vector3d(-1, 0, 0)));
Expand Down
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