SAR-Boids

Build Requirements

• Windows (Can be changed by modifying the osqp_wrapper.c file)
• Unity
• OSQP
• MSYS2 MinGW64

Build

1. Clone the OSQP repository.
2. Make sure that there is a osqp.dll file in the Assets/Plugins folder and make sure it is up to date.
3. Open the MSYS2 MinGW64 terminal in the osqp folder and run the following commands:
   • mkdir build
   • cd build
   • cmake -G “MinGW MakeFiles” ..
   • mingw32-make
4. Build the dll wrapper file by running the following command in a MSYS2 MinGW64 terminal in the Assets/Plugins folder:
   • gcc -shared -o osqp_wrapper.dll osqp_wrapper.c -I../osqp/include/public -I../osqp/build_api/include/public ../osqp/build_api/out/libosqpstatic.a
5. Open Unity and play the scene.