Building "bioloidcontrol" physics
My build environment is Fedora-centric, though these instructions should be applicable to any *NIX environment.
Also, because I"ve used "autoconf" machinery, it should be buildable on Windows (please let me know if anyone has any problems/insight into doing a Windows build).
Building "bioloidcontrol" main/bioloid
Just a quick thing : main/bioloid requires "yum install ncurses-devel"
before it can be built on Fedora.
Building "bioloidcontrol" viewer/viewer
Just a quick thing : viewer/viewer requires "yum install freeglut freeglut-devel mesa-libGLU-devel"
before it can be built on Fedora.
Building "bioloidcontrol" physics/physics
This is more involved, since the physics simulation has a dependencies on :
- ODE - physics library
- STL - Standard Template Libary (for
- Boost - C++ template library (for command-line parsing, threading, ...)
- asio - for TCP sockets (soon to be incorporated in Boost)
General installation requirements for Fedora
Fedora installation :
# yum install svn automake gcc-c++
# yum install mesa-libGLU-devel freeglut-devel libXmu-devel
# yum install boost boost-devel asio-devel
Installation of "asio" libraries - Easy way
In boost<1.35, there is no asio library (for the TCPIP sockets) so the asio-devel rpm is required from the fedora repositories :
"yum install asio-devel".
Installation of "asio" libraries - Long way
Alternatively, one can build the asio library from scratch :
curl -O http://internap.dl.sourceforge.net/sourceforge/asio/asio-1.0.0.tar.gz
tar -xzf asio-1.0.0.tar.gz
cd asio-1.0.0
./configure
Here be demons : on my x64 machine, memory usage "exploded"...
make
... It then needs installing so that it"s available to gcc generally ...
su
make install
Installation of "ODE" libraries
Although ODE version 0.9.3 is available via the repositories, and most of the development work was done with it, reading between the lines on the ODE forums implies that it"s probably preferable (stability-wise for one) to install "ODE-0.10.1" from source.
curl -O http://voxel.dl.sourceforge.net/sourceforge/opende/ode-0.10.1.tar.gz
tar -xzf ode-0.10.1.tar.gz
cd ode-0.10.1
./autogen.sh
./configure
make
To test that the build of ODE works, within the ode-0.10.1 directory :
cd drawstuff/dstest
./dstest
Then, so that the code can link in correctly (without installing ODE machine-wide), create a link in the physics directory to the ode-0.10.1 directory.
cd bioloidcontrol/physics
ln -s PATH-TO-DIRECTORY/ode-0.10.1 ode
Enabling the perl test-harness
This is only required if you want to play around with the "perl Bioloid.pl" tester in the misc/ directory - choose one of :
- yum install perl-TermReadKey
- perl -MCPAN -e "install Term::ReadKey"
- cpan Term::ReadKey
Building the bioloidcontrol Physics Simulator
To finally build the physics stuff, from within the bioldoidcontrol/physics directory, do :
./autogen.sh
./configure
# The following is then sufficient for a standard recompile & build :
make
