Install in Linux:

1. Clone hfabapi as a sibling folder to this folder
2. Install dependencies: sudo apt install libasound2-dev libxcursor-dev libxrandr-dev libxinerama-dev build-essential libgl1-mesa-dev libglu1-mesa-dev libusb-1.0-0-dev
3. cmake .
4. make -j5

Run: cd bin/lin-x86_64 ./01-mydevice

Building a module (BULLET, GEL, ...) and its examples

Modules live under modules/<NAME> and build in-source too, against the chai3d tree built above. Their CMakeLists.txt needs to find chai3d (and, for the GLFW-based examples, GLFW) via CMAKE_PREFIX_PATH — pass absolute paths:

cd modules/BULLET   # or modules/GEL
cmake . -DCMAKE_PREFIX_PATH="$(cd ../..; pwd);$(cd ../../extras/GLFW; pwd)"
make -j$(nproc)

This produces libchai3d-<NAME>.a in the module directory and the module's example executables under modules/<NAME>/bin/lin-x86_64/.