4 files changed, 144 insertions, 0 deletions
diff --git a/math/geometry/files/patch-bullet_CMakeLists.txt b/math/geometry/files/patch-bullet_CMakeLists.txt
new file mode 100644
index 000000000000..cba0e2802e70
--- /dev/null
+++ b/math/geometry/files/patch-bullet_CMakeLists.txt
@@ -0,0 +1,11 @@
+--- bullet/CMakeLists.txt.orig	2010-11-22 17:42:02.000000000 +0100
++++ bullet/CMakeLists.txt	2010-11-23 21:38:34.000000000 +0100
+@@ -8,7 +8,7 @@
+ MAKE_DIRECTORY(${PROJECT_SOURCE_DIR}/src/)
+ 
+ # Build Bullet
+-execute_process(COMMAND cmake -E chdir ${PROJECT_SOURCE_DIR} make -f Makefile.bullet
++execute_process(COMMAND cmake -E chdir ${PROJECT_SOURCE_DIR} gmake -f Makefile.bullet
+                 RESULT_VARIABLE _make_failed)
+ if(_make_failed)
+   message(FATAL_ERROR "Build of Bullet failed")
diff --git a/math/geometry/files/patch-bullet_Makefile.bullet b/math/geometry/files/patch-bullet_Makefile.bullet
new file mode 100644
index 000000000000..118d8f324544
--- /dev/null
+++ b/math/geometry/files/patch-bullet_Makefile.bullet
@@ -0,0 +1,70 @@
+--- bullet/Makefile.bullet.orig	2010-11-22 17:42:02.000000000 +0100
++++ bullet/Makefile.bullet	2010-11-24 14:12:05.000000000 +0100
+@@ -5,7 +5,6 @@
+ SVN_PATCH = deprecations.patch quaternion.patch demos.patch no_extras_build.patch getsetRPY.patch gimbal_lock.patch
+ SVN_REVISION=-r2038
+ 
+-include $(shell rospack find mk)/svn_checkout.mk
+ 
+ #TARBALL_NAME = bullet-svn$(SVN_REVISION)
+ TARBALL_NAME = bullet-2.76-patched2
+@@ -23,10 +22,10 @@
+ BULLET_TARGETS = LinearMath BulletCollision BulletDynamics BulletSoftBody
+ 
+ # Poor man's installation procedure setup
+-BULLET_LIBS = $(SOURCE_DIR)/src/BulletCollision/libBulletCollision.* \
+-              $(SOURCE_DIR)/src/BulletDynamics/libBulletDynamics.* \
+-              $(SOURCE_DIR)/src/LinearMath/libLinearMath.* \
+-              $(SOURCE_DIR)/src/BulletSoftBody/libBulletSoftBody.* 
++BULLET_LIBS = $(SOURCE_DIR)/src/BulletCollision/libBulletCollision.so.2.76 \
++              $(SOURCE_DIR)/src/BulletDynamics/libBulletDynamics.so.2.76 \
++              $(SOURCE_DIR)/src/LinearMath/libLinearMath.so.2.76 \
++              $(SOURCE_DIR)/src/BulletSoftBody/libBulletSoftBody.so.2.76
+ 
+ BULLET_INC_DIRS = . \
+ 				  BulletCollision/CollisionShapes \
+@@ -54,27 +53,43 @@
+ 	cd $(SOURCE_DIR) && cmake -DCMAKE_INSTALL_PREFIX=$(CURDIR) -DCMAKE_CXX_FLAGS="-fPIC -DBT_USE_DOUBLE_PRECISION" -D BUILD_SHARED_LIBS=on . 
+ 	# Bullet appears not be parallel-make safe
+ 	#cd $(SOURCE_DIR) && make $(PARALLEL_JOBS) 
++ifneq ($(MAKE),)
++	cd $(SOURCE_DIR) && $(MAKE) $(BULLET_TARGETS) 
++else
+ 	cd $(SOURCE_DIR) && make $(BULLET_TARGETS) 
++endif
+ 	# The 'install' target only works with cmake 2.6 for some reason
+ 	#cd $(SOURCE_DIR) && make $(PARALLEL_JOBS) install
+ 	mkdir -p lib
+ 	cp $(BULLET_LIBS) lib
++	cd lib && ln -s libBulletCollision.so.2.76 libBulletCollision.so
++	cd lib && ln -s libBulletDynamics.so.2.76 libBulletDynamics.so
++	cd lib && ln -s libBulletSoftBody.so.2.76 libBulletSoftBody.so
++	cd lib && ln -s libLinearMath.so.2.76 libLinearMath.so
+ 	mkdir -p include
+ 	$(foreach d,$(BULLET_INC_DIRS), mkdir -p include/$(d) && cp $(SOURCE_DIR)/src/$(d)/*.h include/$(d);)
+ 	touch installed
+ 
+ wiped: Makefile.bullet
++ifneq ($(MAKE),)
++	$(MAKE) -f Makefile.bullet wipe
++else
+ 	make -f Makefile.bullet wipe
++endif
+ 	touch wiped
+ 
+ clean:
+ 	rm -f installed
+ 	rm -fr lib include
++ifneq ($(MAKE),)
++	-$(MAKE) -C $(SVN_DIR) clean
++	-cd $(SOURCE_DIR) && $(MAKE) clean
++else
+ 	-make -C $(SVN_DIR) clean
+ 	-cd $(SOURCE_DIR) && make clean
++endif
+ 
+ wipe: clean
+ 	-rm -f patched
+ 	-rm -rf bullet_svn
+-	-rm -rf build
+ 
diff --git a/math/geometry/files/patch-kdl_Makefile b/math/geometry/files/patch-kdl_Makefile
new file mode 100644
index 000000000000..f0a8b8e0812e
--- /dev/null
+++ b/math/geometry/files/patch-kdl_Makefile
@@ -0,0 +1,49 @@
+--- kdl/Makefile.orig	2010-11-22 19:18:28.000000000 +0100
++++ kdl/Makefile	2010-11-22 22:36:47.000000000 +0100
+@@ -14,7 +14,6 @@
+ BOOST_INCLUDE =$(shell rosboost-cfg --include_dirs)
+ EIGEN2_INCLUDE_DIR=`rospack cflags-only-I eigen| cut -d ' ' -f 1`
+ EIGEN2_DEFINE=`rospack cflags-only-other eigen`
+-TINYXML_INCLUDE_DIR=`rospack cflags-only-I tinyxml| cut -d ' ' -f 1`
+ CMAKE_ARGS = -DCMAKE_INSTALL_PREFIX=$(INSTALL_DIR)/ \
+ 		-DPYTHON_BINDINGS=ON \
+                 -DCMAKE_CXX_FLAGS=$(EIGEN2_DEFINE) \
+@@ -22,7 +21,6 @@
+ 		-DBUILD_MODELS=OFF \
+ 		-DBOOST:STRING=$(BOOST_INCLUDE)\
+ 		-DEIGEN2_INCLUDE_DIR=$(EIGEN2_INCLUDE_DIR)\
+-		-DTINYXML_INCLUDE_DIR=$(TINYXML_INCLUDE_DIR)\
+ 		-DCMAKE_BUILD_TYPE="Release"
+ 
+ 
+@@ -30,7 +28,11 @@
+ 	cd $(SOURCE_DIR) && patch -p0 < ../../$(PATCH)
+ 	mkdir -p $(SOURCE_DIR)/build
+ 	cd $(SOURCE_DIR)/build && $(CMAKE) $(CMAKE_ARGS) ..
++ifneq ($(MAKE),)
++	cd $(SOURCE_DIR)/build && $(MAKE) $(ROS_PARALLEL_JOBS) && touch src/orocos-kdl.pc && make install
++else
+ 	cd $(SOURCE_DIR)/build && make $(ROS_PARALLEL_JOBS) && touch src/orocos-kdl.pc && make install
++endif
+ 	if [ `uname` = Darwin ]; then \
+ 		install_name_tool -id `rospack find kdl`/kdl/lib/liborocos-kdl.1.0.dylib kdl/lib/liborocos-kdl.1.0.dylib; \
+ 	fi
+@@ -42,14 +44,17 @@
+ 	ln -s $(SOURCE_DIR)/build/doc doc
+ 
+ wiped: Makefile $(PATCH) kdl-31715.tar.gz.md5sum
++ifneq ($(MAKE),)
++	$(MAKE) wipe
++else
+ 	make wipe
++endif
+ 	touch wiped
+ 
+ clean:
+ 	rm -rf lib
+ 	rm -rf include
+ 	rm -rf share
+-	rm -rf build
+ 	rm -rf installed
+ 
+ wipe: 	clean
diff --git a/math/geometry/files/patch-rosdep.yaml b/math/geometry/files/patch-rosdep.yaml
new file mode 100644
index 000000000000..79e9c2f4f796
--- /dev/null
+++ b/math/geometry/files/patch-rosdep.yaml
@@ -0,0 +1,14 @@
+--- rosdep.yaml.orig	2010-11-22 17:42:02.000000000 +0100
++++ rosdep.yaml	2010-11-24 10:46:44.000000000 +0100
+@@ -4,9 +4,11 @@
+   fedora: freeglut-devel
+   arch: freeglut
+   gentoo: freeglut
++  freebsd: libglut
+ python-sip4:
+   ubuntu: python-sip4-dev sip4
+   debian: python-sip4-dev sip4
+   macports: py25-sip
+   gentoo: dev-python/sip
+   arch: sip
++  freebsd: py26-sip