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BUILD_INSTRUCTIONS.md

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How to build this project

Windows

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Installing the required tools and dependencies

CMake

  • You will need CMake version 3.17.3 or newer to generate the files that you can use to build this project.
  • You can download CMake from here.

GLFW

  • You will need GLFW version 3.3 or newer, since that library is used for the window of the simulator viewer.
  • You can download GLFW from here.

Qt

  • You will need Qt version 5.15.0 or newer (although older versions should work too), since that library is used for the UI of the simulation controller.
  • You can download the Qt Online Installer from here. Use it to install Qt for open source development.
  • In the Select Components page of the Qt Online Installer, select the option that corresponds to the compiler that you will be using that's under 5.15.0 and don't change anything else. In my case I'm using Visual Studio 2019, so I chose the MSVC 2019 64-bit option:

FFmpeg

  • You will need FFmpeg, since that executable is used to generate GIFs when you record simulations.
  • You can download FFmpeg from here.
  • Make sure to add the path of the directory that contains ffmpeg.exe to your PATH environment variable, since this project expects to be able to invoke it globally.

Using CMake to generate the files that you can use to build this project

  • Launch CMake.
  • In the Where is the source code: field, enter the path to the root of this repository, that is, the path to the directory that contains the CMakeLists.txt file.
  • In the Where to build the binaries: field, enter the path to the directory where you want the project to be built. Make sure this directory is outside of the repository.
  • Click on the Configure button. You will be asked which generator you would like to use. In my case I would like to build the project using Visual Studio 2019, so I chose the Visual Studio 16 2019 option:

  • After selecting the generator, you might see an error that says Error in configuration process, project files may be invalid. The logs at the bottom give more details:
Could not find a package configuration file provided by "Qt5" with any of the following names:

  Qt5Config.cmake
  qt5-config.cmake
  • To fix it, enter the path to the following directory of your Qt installation in the Qt5_DIR-NOTFOUND field: \Qt\5.15.0\msvc2019_64\lib\cmake\Qt5. In my case, the full path is C:\Qt\5.15.0\msvc2019_64\lib\cmake\Qt5, but this might change depending on where you installed Qt and what compiler you are using.

  • Click on the Configure button again. You might see the same error again, but this time the logs will say this:
Could not find a package configuration file provided by "glfw3" (requested version 3.3) with any of the following names:

  glfw3Config.cmake
  glfw3-config.cmake
  • To fix it, enter the path to the following directory of your GLFW installation in the glfw3_DIR-NOTFOUND field: \GLFW\lib\cmake\glfw3. In my case, the full path is C:\Program Files (x86)\GLFW\lib\cmake\glfw3, but this might change depending on where you installed GLFW.

  • Click on the Configure button again. The configuration should succeed.
  • Click on the Generate button. The generation should succeed.
  • You should now be able to build the project using the files generated by CMake. Since I selected Visual Studio 2019 as my generator, CMake created a Visual Studio 2019 solution called Dyna-Kinematics.sln for me.

Before launching Dyna-Kinematics

  • Copy the resources folder, which is at the root of this repository, to the directory that contains the Dyna-Kinematics executable. This is necessary because the resources folder contains a series of shaders that are compiled at runtime.
  • Copy the DLLs listed below from the following directory of your Qt installation to the directory that contains the Dyna-Kinematics executable: \Qt\5.15.0\msvc2019_64\bin. In my case, the full path is C:\Qt\5.15.0\msvc2019_64\bin, but this might change depending on where you installed Qt and what compiler you are using.
    • Qt5Core.dll
    • Qt5Gui.dll
    • Qt5Widgets.dll
  • Note that if you built the project in Debug mode, you should copy the debug DLLs instead:
    • Qt5Cored.dll
    • Qt5Guid.dll
    • Qt5Widgetsd.dll
  • You should now be able to launch Dyna-Kinematics.

macOS

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Installing the required tools and dependencies

CMake

  • You will need CMake version 3.17.3 or newer to generate the files that you can use to build this project.
  • You can download CMake from here or using this command:
$ brew install cmake

GLFW

  • You will need GLFW version 3.3 or newer, since that library is used for the window of the simulator viewer.
  • You can download GLFW from here or using this command:
$ brew install glfw

Qt

  • You will need Qt version 5.15.0 or newer (although older versions should work too), since that library is used for the UI of the simulation controller.
  • You can download the Qt Online Installer from here. Use it to install Qt for open source development.
  • If you don't have Xcode installed, you will see a warning that says You need to install Xcode and set up Xcode command line tools.... You can ignore it.
  • In the Select Components page of the Qt Online Installer, select the macOS option that's under 5.15.0 and don't change anything else.

  • Alternatively, you can also install Qt using the command below, although I have never done it this way so I don't know which components it installs.
$ brew install qt

FFmpeg

  • You will need FFmpeg, since that application is used to generate GIFs when you record simulations.
  • You can download FFmpeg from here or using this command:
$ brew install ffmpeg
  • If you download FFmpeg manually from the FFmpeg website, make sure to place it in a directory that's part of your PATH environment variable, since this project expects to be able to invoke it globally.

Using CMake to generate the files that you can use to build this project

  • Launch CMake.
  • In the Where is the source code: field, enter the path to the root of this repository, that is, the path to the directory that contains the CMakeLists.txt file.
  • In the Where to build the binaries: field, enter the path to the directory where you want the project to be built. Make sure this directory is outside of the repository.
  • Click on the Configure button. You will be asked which generator you would like to use. In my case I would like to build the project using an Unix Makefile, so I chose the Unix Makefiles option:

  • After selecting the generator, you might see an error that says Error in configuration process, project files may be invalid. The logs at the bottom give more details:
Could not find a package configuration file provided by "Qt5" with any of the following names:

  Qt5Config.cmake
  qt5-config.cmake
  • To fix it, enter the path to the following directory of your Qt installation in the Qt5_DIR-NOTFOUND field: /Qt/5.15.0/clang_64/cmake/qt5. In my case, the full path is /Users/diegomacario/Qt/5.15.0/clang_64/cmake/qt5, but this might change depending on where you installed Qt and what compiler you are using.

  • Click on the Configure button again. You might see the same error again, but this time the logs will say this:
Could not find a package configuration file provided by "glfw3" (requested version 3.3) with any of the following names:

  glfw3Config.cmake
  glfw3-config.cmake
  • To fix it, enter the path to the following directory of your GLFW installation in the glfw3_DIR-NOTFOUND field: /cmake/glfw3. In my case, the full path is /usr/local/lib/cmake/glfw3, but this might change depending on where you installed GLFW.
  • Click on the Configure button again. The configuration should succeed.
  • Click on the Generate button. The generation should succeed.
  • You should now be able to build the project by executing the following command in the directory that you entered for the Where to build the binaries: field:
$ make

Before launching Dyna-Kinematics

  • Copy the resources folder, which is at the root of this repository, to the directory that contains the Dyna-Kinematics executable. This is necessary because the resources folder contains a series of shaders that are compiled at runtime.
  • You should now be able to launch Dyna-Kinematics by executing the following command in the directory that contains the Dyna-Kinematics executable:
$ ./Dyna-Kinematics

Linux

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Summary

I have not tried building this project on a Linux machine because I don't have access to one, but it should be possible to do so by following steps that are very similar to the ones listed in the "macOS" section of this document.