Bullet is now required dependency

cmake/macros/IncludeBullet.cmake

@@ -8,11 +8,6 @@
 # 
 
 macro(INCLUDE_BULLET)
-    find_package(Bullet)
-    if (BULLET_FOUND)
-        include_directories("${BULLET_INCLUDE_DIRS}")
-        if (APPLE OR UNIX)
-            set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DUSE_BULLET_PHYSICS -isystem ${BULLET_INCLUDE_DIRS}")
-        endif ()
-    endif (BULLET_FOUND)
+    find_package(Bullet REQUIRED)
+    include_directories("${BULLET_INCLUDE_DIRS}")
 endmacro(INCLUDE_BULLET)

interface/src/Application.cpp

@@ -189,9 +189,7 @@ Application::Application(int& argc, char** argv, QElapsedTimer &startup_time) :
         _frameCount(0),
         _fps(60.0f),
         _justStarted(true),
-#ifdef USE_BULLET_PHYSICS
         _physicsEngine(glm::vec3(0.0f)),
-#endif // USE_BULLET_PHYSICS
         _entities(true, this, this),
         _entityCollisionSystem(),
         _entityClipboardRenderer(false, this, this),
@@ -1726,12 +1724,10 @@ void Application::init() {
     // save settings when avatar changes
     connect(_myAvatar, &MyAvatar::transformChanged, this, &Application::bumpSettings);
 
-#ifdef USE_BULLET_PHYSICS
     EntityTree* tree = _entities.getTree();
     _physicsEngine.setEntityTree(tree);
     tree->setSimulation(&_physicsEngine);
     _physicsEngine.init(&_entityEditSender);
-#endif // USE_BULLET_PHYSICS
     // make sure our texture cache knows about window size changes
     DependencyManager::get<TextureCache>()->associateWithWidget(glCanvas.data());
 
@@ -2042,12 +2038,10 @@ void Application::update(float deltaTime) {
     updateDialogs(deltaTime); // update various stats dialogs if present
     updateCursor(deltaTime); // Handle cursor updates
 
-#ifdef USE_BULLET_PHYSICS
     {
         PerformanceTimer perfTimer("physics");
         _physicsEngine.stepSimulation();
     }
-#endif // USE_BULLET_PHYSICS
 
     if (!_aboutToQuit) {
         PerformanceTimer perfTimer("entities");
@@ -3659,7 +3653,6 @@ void Application::openUrl(const QUrl& url) {
 
 void Application::updateMyAvatarTransform() {
     bumpSettings();
-#ifdef USE_BULLET_PHYSICS
     const float SIMULATION_OFFSET_QUANTIZATION = 16.0f; // meters
     glm::vec3 avatarPosition = _myAvatar->getPosition();
     glm::vec3 physicsWorldOffset = _physicsEngine.getOriginOffset();
@@ -3673,7 +3666,6 @@ void Application::updateMyAvatarTransform() {
         // TODO: Andrew to replace this with method that actually moves existing object positions in PhysicsEngine
         _physicsEngine.setOriginOffset(newOriginOffset);
     }
-#endif // USE_BULLET_PHYSICS
 }
 
 void Application::domainSettingsReceived(const QJsonObject& domainSettingsObject) {

interface/src/Application.h

@@ -33,6 +33,7 @@
 #include <NodeList.h>
 #include <OctreeQuery.h>
 #include <PacketHeaders.h>
+#include <PhysicsEngine.h>
 #include <ScriptEngine.h>
 #include <TextureCache.h>
 #include <ViewFrustum.h>
@@ -454,9 +455,7 @@ private:
     bool _justStarted;
     Stars _stars;
 
-#ifdef USE_BULLET_PHYSICS
     PhysicsEngine _physicsEngine;
-#endif // USE_BULLET_PHYSICS
 
     EntityTreeRenderer _entities;
     EntityCollisionSystem _entityCollisionSystem;

libraries/entities/src/EntityItem.cpp

@@ -691,15 +691,7 @@ void EntityItem::simulate(const quint64& now) {
         }
     }
 
-#ifdef USE_BULLET_PHYSICS
-    // When Bullet is available we assume that "zero velocity" means "at rest"
-    // because of collision conditions this simulation does not know about
-    // so we don't fall in for the non-zero gravity case here.
     if (hasVelocity()) {
-#else // !USE_BULLET_PHYSICS
-    if (hasVelocity() || hasGravity()) {
-#endif // USE_BULLET_PHYSICS
-
         // linear damping
         glm::vec3 velocity = getVelocity();
         if (_damping > 0.0f) {
@@ -734,12 +726,10 @@ void EntityItem::simulate(const quint64& now) {
         if (position.y <= getDistanceToBottomOfEntity()) {
             velocity = velocity * glm::vec3(1,-1,1);
 
-#ifndef USE_BULLET_PHYSICS
             // if we've slowed considerably, then just stop moving, but only if no BULLET
             if (glm::length(velocity) <= ENTITY_ITEM_EPSILON_VELOCITY_LENGTH) {
                 velocity = ENTITY_ITEM_ZERO_VEC3;
             }
-#endif // !USE_BULLET_PHYSICS
             
             position.y = getDistanceToBottomOfEntity();
         }
@@ -756,15 +746,6 @@ void EntityItem::simulate(const quint64& now) {
             }
         }
         
-#ifdef USE_BULLET_PHYSICS
-        // When Bullet is available we assume that it will tell us when velocities go to zero...
-#else // !USE_BULLET_PHYSICS
-        // ... otherwise we help things come to rest by clamping small velocities.
-        if (glm::length(velocity) <= ENTITY_ITEM_EPSILON_VELOCITY_LENGTH) {
-            velocity = ENTITY_ITEM_ZERO_VEC3;
-        }
-#endif // USE_BULLET_PHYSICS
-
         // NOTE: the simulation should NOT set any DirtyFlags on this entity
         setPosition(position); // this will automatically recalculate our collision shape
         setVelocity(velocity);
@@ -781,13 +762,7 @@ void EntityItem::simulate(const quint64& now) {
 }
 
 bool EntityItem::isMoving() const {
-#ifdef USE_BULLET_PHYSICS
-    // When Bullet is available we assume that "zero velocity" means "at rest"
-    // because of collision conditions this simulation does not know about.
     return hasVelocity() || hasAngularVelocity();
-#else // !USE_BULLET_PHYSICS
-    return hasVelocity() || (hasGravity() && !isRestingOnSurface()) || hasAngularVelocity();
-#endif //USE_BULLET_PHYSICS
 }
 
 bool EntityItem::lifetimeHasExpired() const { 

libraries/physics/src/BulletUtil.h

@@ -12,8 +12,6 @@
 #ifndef hifi_BulletUtil_h
 #define hifi_BulletUtil_h
 
-#ifdef USE_BULLET_PHYSICS
-
 #include <btBulletDynamicsCommon.h>
 #include <glm/glm.hpp>
 #include <glm/gtc/quaternion.hpp>
@@ -34,5 +32,4 @@ inline btQuaternion glmToBullet(const glm::quat& g) {
     return btQuaternion(g.x, g.y, g.z, g.w);
 }
 
-#endif // USE_BULLET_PHYSICS
 #endif // hifi_BulletUtil_h

libraries/physics/src/EntityMotionState.cpp

@@ -12,9 +12,7 @@
 #include <EntityItem.h>
 #include <EntityEditPacketSender.h>
 
-#ifdef USE_BULLET_PHYSICS
 #include "BulletUtil.h"
-#endif // USE_BULLET_PHYSICS
 #include "EntityMotionState.h"
 
 QSet<EntityItem*>* _outgoingEntityList;
@@ -49,7 +47,6 @@ MotionType EntityMotionState::computeMotionType() const {
     return _entity->getCollisionsWillMove() ? MOTION_TYPE_DYNAMIC : MOTION_TYPE_STATIC;
 }
 
-#ifdef USE_BULLET_PHYSICS
 // This callback is invoked by the physics simulation in two cases:
 // (1) when the RigidBody is first added to the world
 //     (irregardless of MotionType: STATIC, DYNAMIC, or KINEMATIC)
@@ -77,10 +74,8 @@ void EntityMotionState::setWorldTransform(const btTransform& worldTrans) {
     _outgoingPacketFlags = DIRTY_PHYSICS_FLAGS;
     EntityMotionState::enqueueOutgoingEntity(_entity);
 }
-#endif // USE_BULLET_PHYSICS
 
 void EntityMotionState::updateObjectEasy(uint32_t flags, uint32_t frame) {
-#ifdef USE_BULLET_PHYSICS
     if (flags & (EntityItem::DIRTY_POSITION | EntityItem::DIRTY_VELOCITY)) {
         if (flags & EntityItem::DIRTY_POSITION) {
             _sentPosition = _entity->getPositionInMeters() - ObjectMotionState::getWorldOffset();
@@ -116,11 +111,9 @@ void EntityMotionState::updateObjectEasy(uint32_t flags, uint32_t frame) {
         _body->updateInertiaTensor();
     }
     _body->activate();
-#endif // USE_BULLET_PHYSICS
 };
 
 void EntityMotionState::updateObjectVelocities() {
-#ifdef USE_BULLET_PHYSICS
     if (_body) {
         _sentVelocity = _entity->getVelocityInMeters();
         setVelocity(_sentVelocity);
@@ -134,7 +127,6 @@ void EntityMotionState::updateObjectVelocities() {
 
         _body->setActivationState(ACTIVE_TAG);
     }
-#endif // USE_BULLET_PHYSICS
 }
 
 void EntityMotionState::computeShapeInfo(ShapeInfo& shapeInfo) {
@@ -146,7 +138,6 @@ float EntityMotionState::computeMass(const ShapeInfo& shapeInfo) const {
 }
 
 void EntityMotionState::sendUpdate(OctreeEditPacketSender* packetSender, uint32_t frame) {
-#ifdef USE_BULLET_PHYSICS
     if (_outgoingPacketFlags) {
         EntityItemProperties properties = _entity->getProperties();
 
@@ -213,5 +204,4 @@ void EntityMotionState::sendUpdate(OctreeEditPacketSender* packetSender, uint32_
         _outgoingPacketFlags = DIRTY_PHYSICS_FLAGS;
         _sentFrame = frame;
     }
-#endif // USE_BULLET_PHYSICS
 }

libraries/physics/src/EntityMotionState.h

@@ -15,14 +15,6 @@
 #include <AACube.h>
 
 #include "ObjectMotionState.h"
-#ifndef USE_BULLET_PHYSICS
-// ObjectMotionState stubbery
-class ObjectMotionState {
-public:
-    // so that this stub implementation is not completely empty we give the class a data member
-    bool _stubData;
-};
-#endif // USE_BULLET_PHYSICS
 
 class EntityItem;
 
@@ -45,13 +37,11 @@ public:
     /// \return MOTION_TYPE_DYNAMIC or MOTION_TYPE_STATIC based on params set in EntityItem
     MotionType computeMotionType() const;
 
-#ifdef USE_BULLET_PHYSICS
     // this relays incoming position/rotation to the RigidBody
     void getWorldTransform(btTransform& worldTrans) const;
 
     // this relays outgoing position/rotation to the EntityItem
     void setWorldTransform(const btTransform& worldTrans);
-#endif // USE_BULLET_PHYSICS
 
     // these relay incoming values to the RigidBody
     void updateObjectEasy(uint32_t flags, uint32_t frame);

libraries/physics/src/ObjectMotionState.cpp

@@ -9,8 +9,6 @@
 //  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
 //
 
-#ifdef USE_BULLET_PHYSICS
-
 #include <math.h>
 
 #include "BulletUtil.h"
@@ -174,5 +172,3 @@ bool ObjectMotionState::shouldSendUpdate(uint32_t simulationFrame) {
     glm::quat actualRotation = bulletToGLM(worldTrans.getRotation());
     return (fabsf(glm::dot(actualRotation, _sentRotation)) < MIN_ROTATION_DOT);
 }
-
-#endif // USE_BULLET_PHYSICS

libraries/physics/src/ObjectMotionState.h

@@ -12,8 +12,13 @@
 #ifndef hifi_ObjectMotionState_h
 #define hifi_ObjectMotionState_h
 
+#include <btBulletDynamicsCommon.h>
+#include <glm/glm.hpp>
+
 #include <EntityItem.h>
 
+#include "ShapeInfo.h"
+
 enum MotionType {
     MOTION_TYPE_STATIC,     // no motion
     MOTION_TYPE_DYNAMIC,    // motion according to physical laws
@@ -33,13 +38,6 @@ const uint32_t DIRTY_PHYSICS_FLAGS = HARD_DIRTY_PHYSICS_FLAGS | EASY_DIRTY_PHYSI
 // These are the outgoing flags that the PhysicsEngine can affect:
 const uint32_t OUTGOING_DIRTY_PHYSICS_FLAGS = EntityItem::DIRTY_POSITION | EntityItem::DIRTY_VELOCITY;
 
-#ifdef USE_BULLET_PHYSICS
-
-#include <btBulletDynamicsCommon.h>
-#include <glm/glm.hpp>
-#include <EntityItem.h> // for EntityItem::DIRTY_FOO bitmasks
-
-#include "ShapeInfo.h"
 
 class OctreeEditPacketSender;
 
@@ -112,5 +110,4 @@ protected:
     glm::vec3 _sentAcceleration;
 };
 
-#endif // USE_BULLET_PHYSICS
 #endif // hifi_ObjectMotionState_h

libraries/physics/src/PhysicsEngine.cpp

@@ -10,7 +10,6 @@
 //
 
 #include "PhysicsEngine.h"
-#ifdef USE_BULLET_PHYSICS
 
 #include "ShapeInfoUtil.h"
 #include "ThreadSafeDynamicsWorld.h"
@@ -400,5 +399,3 @@ void PhysicsEngine::updateObjectHard(btRigidBody* body, ObjectMotionState* motio
 
     body->activate();
 }
-
-#endif // USE_BULLET_PHYSICS

libraries/physics/src/PhysicsEngine.h

@@ -14,8 +14,6 @@
 
 typedef unsigned int uint32_t;
 
-#ifdef USE_BULLET_PHYSICS
-
 #include <QSet>
 #include <btBulletDynamicsCommon.h>
 
@@ -94,11 +92,7 @@ private:
     EntityEditPacketSender* _entityPacketSender;
 
     uint32_t _frameCount;
+    btScalar _infinity = BT_INFINITY; // HACK: eliminates unused variable warning from Bullet headers
 };
 
-#else // USE_BULLET_PHYSICS
-// PhysicsEngine stubbery until Bullet is required
-class PhysicsEngine {
-};
-#endif // USE_BULLET_PHYSICS
 #endif // hifi_PhysicsEngine_h

libraries/physics/src/PhysicsEntity.h

@@ -21,10 +21,6 @@
 #include <CollisionInfo.h>
 #include <RayIntersectionInfo.h>
 
-#ifdef USE_BULLET_PHYSICS
-#include "PhysicsEngine.h"
-#endif // USE_BULLET_PHYSICS
-
 class Shape;
 class PhysicsSimulation;
 

libraries/physics/src/ShapeInfoUtil.cpp

@@ -15,9 +15,6 @@
 #include "ShapeInfoUtil.h"
 #include "BulletUtil.h"
 
-#ifdef USE_BULLET_PHYSICS
-
-
 int ShapeInfoUtil::toBulletShapeType(int shapeInfoType) {
     int bulletShapeType = INVALID_SHAPE_PROXYTYPE;
     switch(shapeInfoType) {
@@ -168,5 +165,3 @@ DoubleHashKey ShapeInfoUtil::computeHash(const ShapeInfo& info) {
     key._hash2 = (int)hash;
     return key;
 }
-
-#endif // USE_BULLET_PHYSICS

libraries/physics/src/ShapeInfoUtil.h

@@ -12,8 +12,6 @@
 #ifndef hifi_ShapeInfoUtil_h
 #define hifi_ShapeInfoUtil_h
 
-#ifdef USE_BULLET_PHYSICS
-
 #include <btBulletDynamicsCommon.h>
 #include <glm/glm.hpp>
 
@@ -35,5 +33,4 @@ namespace ShapeInfoUtil {
     int fromBulletShapeType(int bulletShapeType);
 };
 
-#endif // USE_BULLET_PHYSICS
 #endif // hifi_ShapeInfoUtil_h

libraries/physics/src/ShapeManager.cpp

@@ -9,8 +9,6 @@
 //  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
 //
 
-#ifdef USE_BULLET_PHYSICS
-
 #include <glm/gtx/norm.hpp>
 
 #include "ShapeInfoUtil.h"
@@ -104,6 +102,3 @@ int ShapeManager::getNumReferences(const ShapeInfo& info) const {
     }
     return -1;
 }
-
-
-#endif // USE_BULLET_PHYSICS

libraries/physics/src/ShapeManager.h

@@ -12,8 +12,6 @@
 #ifndef hifi_ShapeManager_h
 #define hifi_ShapeManager_h
 
-#ifdef USE_BULLET_PHYSICS
-
 #include <btBulletDynamicsCommon.h>
 #include <LinearMath/btHashMap.h>
 
@@ -52,5 +50,4 @@ private:
     btAlignedObjectArray<DoubleHashKey> _pendingGarbage;
 };
 
-#endif // USE_BULLET_PHYSICS
 #endif // hifi_ShapeManager_h

libraries/physics/src/ThreadSafeDynamicsWorld.cpp

@@ -17,7 +17,6 @@
 
 #include "ThreadSafeDynamicsWorld.h"
 
-#ifdef USE_BULLET_PHYSICS
 ThreadSafeDynamicsWorld::ThreadSafeDynamicsWorld(
         btDispatcher* dispatcher,
         btBroadphaseInterface* pairCache,
@@ -82,4 +81,3 @@ int	ThreadSafeDynamicsWorld::stepSimulation( btScalar timeStep, int maxSubSteps,
 
     return subSteps;
 }
-#endif // USE_BULLET_PHYSICS

libraries/physics/src/ThreadSafeDynamicsWorld.h

@@ -18,7 +18,6 @@
 #ifndef hifi_ThreadSafeDynamicsWorld_h
 #define hifi_ThreadSafeDynamicsWorld_h
 
-#ifdef USE_BULLET_PHYSICS
 #include <BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h>
 
 ATTRIBUTE_ALIGNED16(class) ThreadSafeDynamicsWorld : public btDiscreteDynamicsWorld {
@@ -40,13 +39,4 @@ public:
     float getLocalTimeAccumulation() const { return m_localTime; }
 };
 
-#else // USE_BULLET_PHYSICS
-// stubbery for ThreadSafeDynamicsWorld when Bullet not available
-class ThreadSafeDynamicsWorld {
-public:
-    ThreadSafeDynamicsWorld() {}
-};
-
-#endif // USE_BULLET_PHYSICS
-
 #endif // hifi_ThreadSafeDynamicsWorld_h

tests/physics/src/BulletUtilTests.cpp

@@ -16,7 +16,6 @@
 
 #include "BulletUtilTests.h"
 
-#ifdef USE_BULLET_PHYSICS
 void BulletUtilTests::fromBulletToGLM() {
     btVector3 bV(1.23f, 4.56f, 7.89f);
     glm::vec3 gV = bulletToGLM(bV);
@@ -101,14 +100,3 @@ void BulletUtilTests::runAllTests() {
     fromBulletToGLM();
     fromGLMToBullet();
 }
-
-#else // USE_BULLET_PHYSICS
-void BulletUtilTests::fromBulletToGLM() {
-}
-
-void BulletUtilTests::fromGLMToBullet() {
-}
-
-void BulletUtilTests::runAllTests() {
-}
-#endif // USE_BULLET_PHYSICS

tests/physics/src/ShapeInfoTests.cpp

@@ -11,10 +11,8 @@
 
 #include <iostream>
 
-#ifdef USE_BULLET_PHYSICS
 #include <btBulletDynamicsCommon.h>
 #include <LinearMath/btHashMap.h>
-#endif // USE_BULLET_PHYSICS
 
 #include <DoubleHashKey.h>
 #include <ShapeInfo.h>
@@ -24,7 +22,6 @@
 #include "ShapeInfoTests.h"
 
 void ShapeInfoTests::testHashFunctions() {
-#ifdef USE_BULLET_PHYSICS
     int maxTests = 10000000;
     ShapeInfo info;
     btHashMap<btHashInt, int> hashes;
@@ -135,11 +132,9 @@ void ShapeInfoTests::testHashFunctions() {
     for (int i = 0; i < 32; ++i) {
         std::cout << "bit 0x" << std::hex << masks[i] << std::dec << " = " << bits[i] << std::endl;
     }
-#endif // USE_BULLET_PHYSICS
 }
 
 void ShapeInfoTests::testBoxShape() {
-#ifdef USE_BULLET_PHYSICS
     ShapeInfo info;
     glm::vec3 halfExtents(1.23f, 4.56f, 7.89f);
     info.setBox(halfExtents);
@@ -165,11 +160,9 @@ void ShapeInfoTests::testBoxShape() {
     }
 
     delete shape;
-#endif // USE_BULLET_PHYSICS
 }
 
 void ShapeInfoTests::testSphereShape() {
-#ifdef USE_BULLET_PHYSICS
     ShapeInfo info;
     float radius = 1.23f;
     info.setSphere(radius);
@@ -191,11 +184,9 @@ void ShapeInfoTests::testSphereShape() {
     }
 
     delete shape;
-#endif // USE_BULLET_PHYSICS
 }
 
 void ShapeInfoTests::testCylinderShape() {
-#ifdef USE_BULLET_PHYSICS
     ShapeInfo info;
     float radius = 1.23f;
     float height = 4.56f;
@@ -218,11 +209,9 @@ void ShapeInfoTests::testCylinderShape() {
     }
 
     delete shape;
-#endif // USE_BULLET_PHYSICS
 }
 
 void ShapeInfoTests::testCapsuleShape() {
-#ifdef USE_BULLET_PHYSICS
     ShapeInfo info;
     float radius = 1.23f;
     float height = 4.56f;
@@ -245,7 +234,6 @@ void ShapeInfoTests::testCapsuleShape() {
     }
 
     delete shape;
-#endif // USE_BULLET_PHYSICS
 }
 
 void ShapeInfoTests::runAllTests() {

tests/physics/src/ShapeManagerTests.cpp

@@ -17,7 +17,6 @@
 #include "ShapeManagerTests.h"
 
 void ShapeManagerTests::testShapeAccounting() {
-#ifdef USE_BULLET_PHYSICS
     ShapeManager shapeManager;
     ShapeInfo info;
     info.setBox(glm::vec3(1.0f, 1.0f, 1.0f));
@@ -118,11 +117,9 @@ void ShapeManagerTests::testShapeAccounting() {
         std::cout << __FILE__ << ":" << __LINE__
             << " ERROR: expected refcount = 1 for shape but found refcount = " << numReferences << std::endl;
     }
-#endif // USE_BULLET_PHYSICS
 }
 
 void ShapeManagerTests::addManyShapes() {
-#ifdef USE_BULLET_PHYSICS
     ShapeManager shapeManager;
 
     int numSizes = 100;
@@ -152,11 +149,9 @@ void ShapeManagerTests::addManyShapes() {
         std::cout << __FILE__ << ":" << __LINE__
             << " ERROR: expected numShapes = " << numSizes << " but found numShapes = " << numShapes << std::endl;
     }
-#endif // USE_BULLET_PHYSICS
 }
 
 void ShapeManagerTests::addBoxShape() {
-#ifdef USE_BULLET_PHYSICS
     ShapeInfo info;
     glm::vec3 halfExtents(1.23f, 4.56f, 7.89f);
     info.setBox(halfExtents);
@@ -172,11 +167,9 @@ void ShapeManagerTests::addBoxShape() {
         std::cout << __FILE__ << ":" << __LINE__
             << " ERROR: Box ShapeInfo --> shape --> ShapeInfo --> shape did not work" << std::endl;
     }
-#endif // USE_BULLET_PHYSICS
 }
 
 void ShapeManagerTests::addSphereShape() {
-#ifdef USE_BULLET_PHYSICS
     ShapeInfo info;
     float radius = 1.23f;
     info.setSphere(radius);
@@ -192,11 +185,9 @@ void ShapeManagerTests::addSphereShape() {
         std::cout << __FILE__ << ":" << __LINE__
             << " ERROR: Sphere ShapeInfo --> shape --> ShapeInfo --> shape did not work" << std::endl;
     }
-#endif // USE_BULLET_PHYSICS
 }
 
 void ShapeManagerTests::addCylinderShape() {
-#ifdef USE_BULLET_PHYSICS
     ShapeInfo info;
     float radius = 1.23f;
     float height = 4.56f;
@@ -213,11 +204,9 @@ void ShapeManagerTests::addCylinderShape() {
         std::cout << __FILE__ << ":" << __LINE__
             << " ERROR: Cylinder ShapeInfo --> shape --> ShapeInfo --> shape did not work" << std::endl;
     }
-#endif // USE_BULLET_PHYSICS
 }
 
 void ShapeManagerTests::addCapsuleShape() {
-#ifdef USE_BULLET_PHYSICS
     ShapeInfo info;
     float radius = 1.23f;
     float height = 4.56f;
@@ -234,7 +223,6 @@ void ShapeManagerTests::addCapsuleShape() {
         std::cout << __FILE__ << ":" << __LINE__
             << " ERROR: Capsule ShapeInfo --> shape --> ShapeInfo --> shape did not work" << std::endl;
     }
-#endif // USE_BULLET_PHYSICS
 }
 
 void ShapeManagerTests::runAllTests() {