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Table of Contents

Installation Guide for Debian/Ubuntu (32bit)
Installation Guide for Debian/Ubuntu (64bit)
Test
If you have a trouble...

Installation Guide for Debian/Ubuntu (32bit) †

1. Install Octave, Boost, and ODE †

Install the packages, octave3.0 and octave3.0-headers.

 $ sudo apt-get -f install octave3.0 octave3.0-headers

Note: octave3.2 is not supported now.
Note: You may need to create a symbolic link of libatlas.so, as follows:

 $ cd /usr/lib
 $ sudo ln -s libatlas.so.3gf libatlas.so

Boost C++ Libraries

Install libboost1.40-all-dev.

 $ sudo apt-get -f install libboost1.40-all-dev

Open Dynamics Engine (ODE)

Since the binary package of ODE does not provide libdrawstuff, we compile ODE from the source code. First of all, we need to install OpenGL:

 $ sudo apt-get -f install libglut3 libglut3-dev

Then, download the source code (e.g. ode-0.11.1.zip) and extract it:

 $ cd ~/lib
 $ unzip ode-0.11.1.zip
 $ cd ode-0.11.1/

Here, we put ODE on ~/lib/ode-0.11.1, but any location is possible. Execute ./configure (maybe you need to install the other packages):

 $ ./configure --enable-double-precision

Here, --enable-double-precision is required for the SkyAI's benchmark. If the configure succeeded, execute the make command:

 $ make

That's it. You need NOT to execute 'make install'.

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2. Download the source code †

You can choose two ways:

(1) Get the files from the Git repository (recommended)

You need the Git program. If you do not have Git, install:

 $ sudo apt-get -f install git-core

Download SkyAI from sourceforge:

 $ cd ~/proj
 $ git clone git://skyai.git.sourceforge.net/gitroot/skyai/skyai

Here, we put SkyAI on ~/proj/skyai, but any location is OK.

(2) Download the archive (easy)

Download an archive from SkyAI File List, then extract it. Here, we assume the extracted directory is ~/proj/skyai, but any location is OK.

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3. Setup the makefiles †

Create the following files at the SkyAI directory (e.g. ~/proj/skyai).

Makefile_preconf

 include $(BASE_REL_DIR)/Makefile_preconf.sample
 SKYAI_BASE := $(wildcard ~/proj/skyai)

Here, we assume that SkyAI is put on ~/proj/skyai. If not, modify SKYAI_BASE.

Makefile_libconf

 ## for Octave
 ifeq ($(USING_OCTAVE),true)
   OCTAVE_VER:=3.0.5
   LIBS += -I/usr/include/octave-$(OCTAVE_VER)
   LDLIBS += -L/usr/lib/octave-$(OCTAVE_VER) -loctave -lcruft -Wl,-rpath /usr/lib/octave-$(OCTAVE_VER)
   LDLIBS += -ldl -lfftw3 -L/usr/lib/atlas -latlas -llapack -lblas
 endif
 
 ## for ODE
 ifeq ($(USING_ODE),true)
   LIBODE := $(wildcard ~/lib/ode-0.11.1)
   LIBS += -I$(LIBODE)/include
   LIBS += -DODE_MINOR_VERSION=11 -DdDOUBLE
   LDLIBS += $(LIBODE)/ode/src/.libs/libode.a
   LDLIBS += $(LIBODE)/drawstuff/src/.libs/libdrawstuff.a
   LDLIBS += -lSM -lICE -lGL -L/usr/X11R6/lib -lXext -lX11 -ldl -lGLU -lpthread
 endif

Here, we assume that (1) the octave version is 3.0.5, and (2) ODE is version 0.11.1 and put on ~/lib/ode-0.11.1. If you are using a difference configuration, modify OCTAVE_VER and LIBODE.

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4. Build †

In the skyai directory, execute:

 $ make

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Installation Guide for Debian/Ubuntu (64bit) †

In the procedure of Debian/Ubuntu (32bit), change the setup of Makefile_preconf as follows:

 include $(BASE_REL_DIR)/Makefile_preconf.sample
 SKYAI_BASE := $(wildcard ~/proj/skyai)
 
 ifeq ($(DEBUG),true)
   CXXFLAGS := -g -Wall -rdynamic
 else
   CXXFLAGS := -g -Wall -rdynamic -O3
 endif
 LDFLAGS  := $(CXXFLAGS)

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Test †

To test your installation, please see Running Demos.

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If you have a trouble... †

Please do not hesitate to contact us. Any comments are welcome!