Underlinking issue in BulletRobotics

[akien-mga]

• Bullet 2.87
• Mageia 6 (Linux) x86_64

Building bullet with the -Wl,--as-needed -Wl,--no-undefined linking flags (used to prevent underlinking) show that the BulletRobotics library is underlinked, which likely causes #1406 on Windows too:

[100%] Linking CXX shared library libBulletRobotics.so
cd /home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/build/Extras/BulletRobotics && /usr/bin/cmake -E cmake_link_script CMakeFiles/BulletRobotics.dir/link.txt --verbose=1
/bin/c++  -fPIC -O2 -g -pipe -Wformat -Werror=format-security -Wp,-D_FORTIFY_SOURCE=2 -fstack-protector --param=ssp-buffer-size=4 -DNDEBUG -Wl,--as-needed -Wl,--no-undefined -Wl,-z,relro -Wl,-O1 -Wl,--build-id -Wl,--enable-new-dtags -shared -Wl,-soname,libBulletRobotics.so.2.87 -o libBulletRobotics.so.2.87 CMakeFiles/BulletRobotics.dir/__/__/examples/SharedMemory/IKTrajectoryHelper.o CMakeFiles/BulletRobotics.dir/__/__/examples/SharedMemory/TinyRendererVisualShapeConverter.o CMakeFiles/BulletRobotics.dir/__/__/examples/OpenGLWindow/SimpleCamera.o CMakeFiles/BulletRobotics.dir/__/__/examples/TinyRenderer/geometry.o CMakeFiles/BulletRobotics.dir/__/__/examples/TinyRenderer/model.o CMakeFiles/BulletRobotics.dir/__/__/examples/TinyRenderer/tgaimage.o CMakeFiles/BulletRobotics.dir/__/__/examples/TinyRenderer/our_gl.o CMakeFiles/BulletRobotics.dir/__/__/examples/TinyRenderer/TinyRenderer.o CMakeFiles/BulletRobotics.dir/__/__/examples/SharedMemory/InProcessMemory.o CMakeFiles/BulletRobotics.dir/__/__/examples/SharedMemory/PhysicsClient.o CMakeFiles/BulletRobotics.dir/__/__/examples/SharedMemory/PhysicsServer.o CMakeFiles/BulletRobotics.dir/__/__/examples/SharedMemory/PhysicsServerSharedMemory.o CMakeFiles/BulletRobotics.dir/__/__/examples/SharedMemory/PhysicsDirect.o CMakeFiles/BulletRobotics.dir/__/__/examples/SharedMemory/PhysicsDirectC_API.o CMakeFiles/BulletRobotics.dir/__/__/examples/SharedMemory/PhysicsServerCommandProcessor.o CMakeFiles/BulletRobotics.dir/__/__/examples/SharedMemory/b3PluginManager.o CMakeFiles/BulletRobotics.dir/__/__/examples/SharedMemory/PhysicsClientSharedMemory.o CMakeFiles/BulletRobotics.dir/__/__/examples/SharedMemory/PhysicsClientSharedMemory_C_API.o CMakeFiles/BulletRobotics.dir/__/__/examples/SharedMemory/PhysicsClientC_API.o CMakeFiles/BulletRobotics.dir/__/__/examples/SharedMemory/Win32SharedMemory.o CMakeFiles/BulletRobotics.dir/__/__/examples/SharedMemory/PosixSharedMemory.o CMakeFiles/BulletRobotics.dir/__/__/examples/Utils/b3ResourcePath.o CMakeFiles/BulletRobotics.dir/__/__/examples/Utils/RobotLoggingUtil.o CMakeFiles/BulletRobotics.dir/__/__/examples/Utils/b3Clock.o CMakeFiles/BulletRobotics.dir/__/__/examples/Utils/ChromeTraceUtil.o CMakeFiles/BulletRobotics.dir/__/__/examples/ThirdPartyLibs/tinyxml/tinystr.o CMakeFiles/BulletRobotics.dir/__/__/examples/ThirdPartyLibs/tinyxml/tinyxml.o CMakeFiles/BulletRobotics.dir/__/__/examples/ThirdPartyLibs/tinyxml/tinyxmlerror.o CMakeFiles/BulletRobotics.dir/__/__/examples/ThirdPartyLibs/tinyxml/tinyxmlparser.o CMakeFiles/BulletRobotics.dir/__/__/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.o CMakeFiles/BulletRobotics.dir/__/__/examples/ThirdPartyLibs/stb_image/stb_image.o CMakeFiles/BulletRobotics.dir/__/__/examples/ThirdPartyLibs/BussIK/Jacobian.o CMakeFiles/BulletRobotics.dir/__/__/examples/ThirdPartyLibs/BussIK/LinearR2.o CMakeFiles/BulletRobotics.dir/__/__/examples/ThirdPartyLibs/BussIK/LinearR3.o CMakeFiles/BulletRobotics.dir/__/__/examples/ThirdPartyLibs/BussIK/LinearR4.o CMakeFiles/BulletRobotics.dir/__/__/examples/ThirdPartyLibs/BussIK/MatrixRmn.o CMakeFiles/BulletRobotics.dir/__/__/examples/ThirdPartyLibs/BussIK/Misc.o CMakeFiles/BulletRobotics.dir/__/__/examples/ThirdPartyLibs/BussIK/Node.o CMakeFiles/BulletRobotics.dir/__/__/examples/ThirdPartyLibs/BussIK/Tree.o CMakeFiles/BulletRobotics.dir/__/__/examples/ThirdPartyLibs/BussIK/VectorRn.o CMakeFiles/BulletRobotics.dir/__/__/examples/Importers/ImportColladaDemo/LoadMeshFromCollada.o CMakeFiles/BulletRobotics.dir/__/__/examples/Importers/ImportObjDemo/LoadMeshFromObj.o CMakeFiles/BulletRobotics.dir/__/__/examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.o CMakeFiles/BulletRobotics.dir/__/__/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.o CMakeFiles/BulletRobotics.dir/__/__/examples/Importers/ImportURDFDemo/BulletUrdfImporter.o CMakeFiles/BulletRobotics.dir/__/__/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.o CMakeFiles/BulletRobotics.dir/__/__/examples/Importers/ImportURDFDemo/URDF2Bullet.o CMakeFiles/BulletRobotics.dir/__/__/examples/Importers/
ImportURDFDemo/UrdfParser.o CMakeFiles/BulletRobotics.dir/__/__/examples/Importers/ImportURDFDemo/urdfStringSplit.o CMakeFiles/BulletRobotics.dir/__/__/examples/Importers/ImportMeshUtility/b3ImportMeshUtility.o CMakeFiles/BulletRobotics.dir/__/__/examples/MultiThreading/b3PosixThreadSupport.o CMakeFiles/BulletRobotics.dir/__/__/examples/MultiThreading/b3Win32ThreadSupport.o CMakeFiles/BulletRobotics.dir/__/__/examples/MultiThreading/b3ThreadSupportInterface.o CMakeFiles/BulletRobotics.dir/__/__/examples/SharedMemory/PhysicsClientUDP.o CMakeFiles/BulletRobotics.dir/__/__/examples/SharedMemory/PhysicsClientUDP_C_API.o CMakeFiles/BulletRobotics.dir/__/__/examples/ThirdPartyLibs/enet/win32.o CMakeFiles/BulletRobotics.dir/__/__/examples/ThirdPartyLibs/enet/unix.o CMakeFiles/BulletRobotics.dir/__/__/examples/ThirdPartyLibs/enet/callbacks.o CMakeFiles/BulletRobotics.dir/__/__/examples/ThirdPartyLibs/enet/compress.o CMakeFiles/BulletRobotics.dir/__/__/examples/ThirdPartyLibs/enet/host.o CMakeFiles/BulletRobotics.dir/__/__/examples/ThirdPartyLibs/enet/list.o CMakeFiles/BulletRobotics.dir/__/__/examples/ThirdPartyLibs/enet/packet.o CMakeFiles/BulletRobotics.dir/__/__/examples/ThirdPartyLibs/enet/peer.o CMakeFiles/BulletRobotics.dir/__/__/examples/ThirdPartyLibs/enet/protocol.o CMakeFiles/BulletRobotics.dir/__/__/examples/SharedMemory/PhysicsClientTCP.o CMakeFiles/BulletRobotics.dir/__/__/examples/SharedMemory/PhysicsClientTCP_C_API.o CMakeFiles/BulletRobotics.dir/__/__/examples/ThirdPartyLibs/clsocket/src/SimpleSocket.o CMakeFiles/BulletRobotics.dir/__/__/examples/ThirdPartyLibs/clsocket/src/ActiveSocket.o CMakeFiles/BulletRobotics.dir/__/__/examples/ThirdPartyLibs/clsocket/src/PassiveSocket.o ../InverseDynamics/libBulletInverseDynamicsUtils.so.2.87 ../Serialize/BulletWorldImporter/libBulletWorldImporter.so.2.87 ../Serialize/BulletFileLoader/libBulletFileLoader.so.2.87 ../../src/BulletSoftBody/libBulletSoftBody.so.2.87 ../../src/BulletDynamics/libBulletDynamics.so.2.87 ../../src/BulletCollision/libBulletCollision.so.2.87 ../../src/BulletInverseDynamics/libBulletInverseDynamics.so.2.87 ../../src/LinearMath/libLinearMath.so.2.87 ../../src/Bullet3Common/libBullet3Common.so.2.87 
CMakeFiles/BulletRobotics.dir/__/__/examples/SharedMemory/b3PluginManager.o: In function `b3Plugin::clear()':
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/SharedMemory/b3PluginManager.cpp:60: undefined reference to `dlclose'
CMakeFiles/BulletRobotics.dir/__/__/examples/SharedMemory/b3PluginManager.o: In function `b3PluginManager::loadPlugin(char const*)':
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/SharedMemory/b3PluginManager.cpp:117: undefined reference to `dlopen'
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/SharedMemory/b3PluginManager.cpp:122: undefined reference to `dlsym'
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/SharedMemory/b3PluginManager.cpp:123: undefined reference to `dlsym'
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/SharedMemory/b3PluginManager.cpp:124: undefined reference to `dlsym'
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/SharedMemory/b3PluginManager.cpp:125: undefined reference to `dlsym'
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/SharedMemory/b3PluginManager.cpp:126: undefined reference to `dlsym'
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/SharedMemory/b3PluginManager.cpp:158: undefined reference to `dlclose'
CMakeFiles/BulletRobotics.dir/__/__/examples/SharedMemory/b3PluginManager.o: In function `b3Plugin::clear()':
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/SharedMemory/b3PluginManager.cpp:60: undefined reference to `dlclose'
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/SharedMemory/b3PluginManager.cpp:60: undefined reference to `dlclose'
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/SharedMemory/b3PluginManager.cpp:60: undefined reference to `dlclose'
CMakeFiles/BulletRobotics.dir/__/__/examples/MultiThreading/b3PosixThreadSupport.o: In function `threadFunction(void*)':
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:101: undefined reference to `sem_post'
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:92: undefined reference to `sem_wait'
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:92: undefined reference to `sem_wait'
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:106: undefined reference to `sem_post'
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:106: undefined reference to `sem_post'
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:101: undefined reference to `sem_post'
CMakeFiles/BulletRobotics.dir/__/__/examples/MultiThreading/b3PosixThreadSupport.o: In function `b3PosixThreadSupport::waitForResponse(int*, int*)':
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:202: undefined reference to `sem_wait'
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:202: undefined reference to `sem_wait'
CMakeFiles/BulletRobotics.dir/__/__/examples/MultiThreading/b3PosixThreadSupport.o: In function `destroySem(sem_t*)':
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:79: undefined reference to `sem_destroy'
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:79: undefined reference to `sem_destroy'
CMakeFiles/BulletRobotics.dir/__/__/examples/MultiThreading/b3PosixThreadSupport.o: In function `createSem(char const*) [clone .isra.0]':
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:69: undefined reference to `sem_init'
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:69: undefined reference to `sem_init'
CMakeFiles/BulletRobotics.dir/__/__/examples/MultiThreading/b3PosixThreadSupport.o: In function `b3PosixThreadSupport::isTaskCompleted(int*, int*, int)':
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:161: undefined reference to `sem_trywait'
CMakeFiles/BulletRobotics.dir/__/__/examples/MultiThreading/b3PosixThreadSupport.o: In function `b3PosixThreadSupport::runTask(int, void*, int)':
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:140: undefined reference to `sem_post'
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:140: undefined reference to `sem_post'
CMakeFiles/BulletRobotics.dir/__/__/examples/MultiThreading/b3PosixThreadSupport.o: In function `b3PosixBarrier::setMaxCount(int)':
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:361: undefined reference to `pthread_barrier_init'
CMakeFiles/BulletRobotics.dir/__/__/examples/MultiThreading/b3PosixThreadSupport.o: In function `b3PosixBarrier::~b3PosixBarrier()':
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:347: undefined reference to `pthread_barrier_destroy'
CMakeFiles/BulletRobotics.dir/__/__/examples/MultiThreading/b3PosixThreadSupport.o: In function `b3PosixThreadSupport::stopThreads()':
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:274: undefined reference to `sem_wait'
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:279: undefined reference to `pthread_join'
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:273: undefined reference to `sem_post'
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:273: undefined reference to `sem_post'
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:274: undefined reference to `sem_wait'
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:274: undefined reference to `sem_wait'
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:279: undefined reference to `pthread_join'
CMakeFiles/BulletRobotics.dir/__/__/examples/MultiThreading/b3PosixThreadSupport.o: In function `b3PosixThreadSupport::startThreads(b3PosixThreadSupport::ThreadConstructionInfo&)':
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:244: undefined reference to `pthread_create'
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:244: undefined reference to `pthread_create'
CMakeFiles/BulletRobotics.dir/__/__/examples/MultiThreading/b3PosixThreadSupport.o: In function `b3PosixBarrier::setMaxCount(int)':
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:361: undefined reference to `pthread_barrier_init'
CMakeFiles/BulletRobotics.dir/__/__/examples/MultiThreading/b3PosixThreadSupport.o: In function `b3PosixBarrier::sync()':
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:352: undefined reference to `pthread_barrier_wait'
CMakeFiles/BulletRobotics.dir/__/__/examples/MultiThreading/b3PosixThreadSupport.o: In function `b3PosixBarrier::~b3PosixBarrier()':
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:347: undefined reference to `pthread_barrier_destroy'
CMakeFiles/BulletRobotics.dir/__/__/examples/MultiThreading/b3PosixThreadSupport.o: In function `b3PosixBarrier::~b3PosixBarrier()':
/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/examples/MultiThreading/b3PosixThreadSupport.cpp:347: undefined reference to `pthread_barrier_destroy'
collect2: error: ld returned 1 exit status
Extras/BulletRobotics/CMakeFiles/BulletRobotics.dir/build.make:1874: recipe for target 'Extras/BulletRobotics/libBulletRobotics.so.2.87' failed
make[2]: *** [Extras/BulletRobotics/libBulletRobotics.so.2.87] Error 1
make[2]: Leaving directory '/home/akien/Mageia/Checkout/bullet/BUILD/bullet3-2.87/build'
CMakeFiles/Makefile2:239: recipe for target 'Extras/BulletRobotics/CMakeFiles/BulletRobotics.dir/all' failed
make[1]: *** [Extras/BulletRobotics/CMakeFiles/BulletRobotics.dir/all] Error 2
Makefile:130: recipe for target 'all' failed
make: *** [all] Error 2

Build options:

CFLAGS="${CFLAGS:--O2 -g -pipe -Wformat -Werror=format-security -Wp,-D_FORTIFY_SOURCE=2 -fstack-protector --param=ssp-buffer-size=4}" ; export CFLAGS ; 
CXXFLAGS="${CXXFLAGS:--O2 -g -pipe -Wformat -Werror=format-security -Wp,-D_FORTIFY_SOURCE=2 -fstack-protector --param=ssp-buffer-size=4}" ; export CXXFLAGS ; 
LDFLAGS="${LDFLAGS:- -Wl,--as-needed -Wl,--no-undefined -Wl,-z,relro -Wl,-O1 -Wl,--build-id -Wl,--enable-new-dtags}" ; export LDFLAGS
cmake \
    -DBUILD_BULLET2_DEMOS=OFF \
    -DBUILD_CPU_DEMOS=OFF \
    -DBUILD_EXTRAS=ON \
    -DBUILD_OPENGL3_DEMOS=OFF \
    -DBUILD_UNIT_TESTS=OFF \
    -DINSTALL_EXTRA_LIBS=ON \
    -DINCLUDE_INSTALL_DIR=/usr/include/bullet

Moreover, it's a bit strange that BulletRobotics takes all its code from examples (which are turned off in the above config).

[erwincoumans]

BulletRobotics indeed relies on example code, so don't switch it off. We should add some check that if example code is turned off, BulletRobotics is also turned off.

The issue #1406 is different, it requires adding a few Windows specific libraries (winmm.lib and Ws2_32.lib)