update HAVE_BULLET logic, check with comple, for cross compile environment

Author: k-okada

irteus/Makefile

@@ -48,16 +48,7 @@ INSTALLOBJDIR=$(IRTEUSDIR)/$(ARCHDIR)/obj
 INSTALLLIBDIR=$(IRTEUSDIR)/$(ARCHDIR)/lib
 
 # check bullet version
-BULLET_VER_MAJOR:=$(shell pkg-config bullet --modversion --silence-errors | cut -f1 -d.)
-BULLET_VER_MINOR:=$(shell pkg-config bullet --modversion --silence-errors | cut -f2 -d.)
-ifneq ($(and $(BULLET_VER_MAJOR),$(BULLET_VER_MINOR)),)
-  BULLET_GE_2_83=$(shell [ $(BULLET_VER_MAJOR) -gt 2 -o \( $(BULLET_VER_MAJOR) -eq 2 -a $(BULLET_VER_MINOR) -ge 83 \) ] && echo true)
-endif
-ifeq ($(BULLET_GE_2_83), true)
-    HAVE_BULLET=1
-else
-    HAVE_BULLET=0
-endif
+HAVE_BULLET=$(shell echo "\#include <btBulletCollisionCommon.h>\n\#include <BulletCollision/NarrowPhaseCollision/btGjkCollisionDescription.h>\nint main(){}" > test-bullet.c; $(CXX) -I/usr/include/bullet $(pkg-config bullet --cflags) test-bullet.c -lBulletCollision -lLinearMath $(pkg-config bullet --libs) > /dev/null 2>&1 && echo 1 || echo 0)
 $(info "--      HAVE_BULLET = ${HAVE_BULLET}")
 
 ifneq ($(wildcard PQP/*),)

irteus/test/irteus-demo.l

@@ -95,6 +95,7 @@
    (not (some #'null (mapcar #'(lambda (x) (cadr (memq :angle-vector x)))
                              (crawl-walk-motion-for-sample-robot :go-backward-over nil))))))
 
+#+:cross-environment-can-not-load-libeusgl?
 (deftest test-walk-motion-for-robots
   (assert
    (every #'identity