CC=gcc 
CFLAGS=-O3
XLIBS = -L/usr/X11R6/lib -L/usr/X11/lib -L/usr/lib/X11R6 -L/usr/lib/X11 -lX11 -lGL -lGLU

BIPED2 = dynamics.o sdfast/b1g_dyn.o sdfast/b1g_sar.o sdfast/b1glib.o
BIPED2C = dynamics-constraints.o sdfast/b1c_dyn.o sdfast/b1c_sar.o sdfast/b1clib.o
BIPED2I = dynamics-impact.o sdfast/b1ss_dyn.o sdfast/b1ss_sar.o sdfast/b1sslib.o sdfast/b1ds_dyn.o sdfast/b1ds_sar.o sdfast/b1dslib.o sdfast/b1c_dyn.o sdfast/b1c_sar.o sdfast/b1clib.o sdfast/b1g_dyn.o sdfast/b1g_sar.o sdfast/b1glib.o

all: simulate display

simulate: simulate.o parameters.o controller.o data.o $(BIPED2) ../useful/trajectory/trajectory.o ../useful/mrdplot/mrdplot.o
	$(CC) $(CFLAGS) -o $@ simulate.o parameters.o controller.o data.o $(BIPED2) ../useful/trajectory/trajectory.o ../useful/mrdplot/mrdplot.o $(XLIBS) -lm

display.o: display.c main.h
	$(CC) -c $(CFLAGS) -Wall -fno-exceptions -fomit-frame-pointer -ffast-math -I../useful/drawstuff -DdNODEBUG -o display.o display.c

display: display.o parameters.o ../useful/mrdplot/mrdplot.o $(GRAPHICS_X11)
	$(CC) $(CFLAGS) -o $@ display.o parameters.o ../useful/mrdplot/mrdplot.o ../useful/drawstuff/libdrawstuff.a $(GRAPHICS_X11) $(XLIBS) -lm

controller.o:	main.h
data.o:	main.h
dynamics.o:	main.h
dynamics-constraints.o:	main.h
dynamics-impact.o:	main.h
parameters.o:	main.h parameters.h
simulate.o:	main.h  parameters.h
