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Snilmerg
Joined: 29 Jan 2009
Posts: 3
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 Posted: Sat Sep 05, 2009 3:21 am Post subject: [SOLVED] Trouble using ODE |
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Hello,
I am trying LTE engine and ODE.
Before anything : I have updated my local copy of the pspsdk source code with a "svn update", than ran psptoolchain to update the installation. I than compiled ODE lib, and installed the headers in /usr/local/pspdev/psp/include, and the libode.a in /usr/local/pspdev/psp/lib.
This done, I started with a sample (06.2DGraphics) provided with the LTE source code. I added my own ODE code. Now I am getting the following errors (undifined refs to sqrtf, sinf, and various math.h function) when compiling, dispite the fact I have the right link options (-lode -lm) ... I don't get it. Note that the sample compiled and ran fine before I use ODE. Did someone already have such messages or have any idea of what the problem is.
| Code: |
regis@Voyager [04-09-09 18:58:28] ~/Desktop/pspdev/lte-slim-beta-48/LTE/examples/06.2DGraphics $ make clean all
rm -f 2DGraphics.prx 2DGraphics.elf main.o PARAM.SFO EBOOT.PBP EBOOT.PBP
psp-g++ -I../../include/ -I. -I/usr/local/pspdev/psp/sdk/include -G0 -O2 -I../../include/ -I. -I/usr/local/pspdev/psp/sdk/include -G0 -O2 -fno-exceptions -fno-rtti -D_PSP_FW_VERSION=390 -c -o main.o main.cpp
psp-gcc -I../../include/ -I. -I/usr/local/pspdev/psp/sdk/include -G0 -O2 -D_PSP_FW_VERSION=390 -L../../libs -L-L/usr/local/pspdev/psp/lib -L. -L/usr/local/pspdev/psp/sdk/lib -specs=/usr/local/pspdev/psp/sdk/lib/prxspecs -Wl,-q,-T/usr/local/pspdev/psp/sdk/lib/linkfile.prx main.o /usr/local/pspdev/psp/sdk/lib/prxexports.o -lengine -lpspwlan -lglut -lGLU -lGL -lm -lpspvfpu -lstdc++ -lpsppower -lpsprtc -lpspaudio -lode -ldrawstuff -lpspdebug -lpspsdk -lc -lpsputility -lpspuser -lpspkernel -lpspdisplay -lpspge -lpspctrl -lpspdebug -lpspdisplay -lpspge -lpspctrl -lpspsdk -lc -lpspnet -lpspnet_inet -lpspnet_apctl -lpspnet_resolver -lpsputility -lpspuser -lpspkernel -o 2DGraphics.elf
/usr/local/pspdev/lib/gcc/psp/4.3.2/../../../../psp/lib/libode.a(ode.o): In function `dWorldGetAutoDisableAngularThreshold':
ode/src/ode.cpp:1354: undefined reference to `sqrtf'
/usr/local/pspdev/lib/gcc/psp/4.3.2/../../../../psp/lib/libode.a(ode.o): In function `dWorldGetAutoDisableLinearThreshold':
ode/src/ode.cpp:1340: undefined reference to `sqrtf'
/usr/local/pspdev/lib/gcc/psp/4.3.2/../../../../psp/lib/libode.a(ode.o): In function `dBodyGetAutoDisableAngularThreshold':
ode/src/ode.cpp:798: undefined reference to `sqrtf'
/usr/local/pspdev/lib/gcc/psp/4.3.2/../../../../psp/lib/libode.a(ode.o): In function `dBodyGetAutoDisableLinearThreshold':
ode/src/ode.cpp:784: undefined reference to `sqrtf'
/usr/local/pspdev/lib/gcc/psp/4.3.2/../../../../psp/lib/libode.a(util.o): In function `sinc':
ode/src/util.cpp:85: undefined reference to `sinf'
/usr/local/pspdev/lib/gcc/psp/4.3.2/../../../../psp/lib/libode.a(util.o): In function `dxStepBody(dxBody*, float)':
ode/src/util.cpp:127: undefined reference to `sqrtf'
/usr/local/pspdev/lib/gcc/psp/4.3.2/../../../../psp/lib/libode.a(joint.o): In function `amotorComputeEulerAngles':
ode/src/joint.cpp:2348: undefined reference to `atan2f'
ode/src/joint.cpp:2352: undefined reference to `atan2f'
ode/src/joint.cpp:2356: undefined reference to `atan2f'
/usr/local/pspdev/lib/gcc/psp/4.3.2/../../../../psp/lib/libode.a(joint.o): In function `measureHinge2Angle':
ode/src/joint.cpp:1462: undefined reference to `atan2f'
/usr/local/pspdev/lib/gcc/psp/4.3.2/../../../../psp/lib/libode.a(joint.o): In function `dJointSetHinge2Axis2':
ode/src/joint.cpp:1657: undefined reference to `sqrtf'
/usr/local/pspdev/lib/gcc/psp/4.3.2/../../../../psp/lib/libode.a(joint.o): In function `dJointSetHinge2Axis1':
ode/src/joint.cpp:1634: undefined reference to `sqrtf'
/usr/local/pspdev/lib/gcc/psp/4.3.2/../../../../psp/lib/libode.a(joint.o): In function `getHingeAngleFromRelativeQuat':
ode/src/joint.cpp:334: undefined reference to `sqrtf'
ode/src/joint.cpp:337: undefined reference to `atan2f'
ode/src/joint.cpp:337: undefined reference to `atan2f'
/usr/local/pspdev/lib/gcc/psp/4.3.2/../../../../psp/lib/libode.a(joint.o): In function `hinge2GetInfo2':
ode/src/joint.cpp:1532: undefined reference to `sqrtf'
/usr/local/pspdev/lib/gcc/psp/4.3.2/../../../../psp/lib/libode.a(collision_std.o): In function `make_sure_plane_normal_has_unit_length':
ode/src/collision_std.cpp:339: undefined reference to `sqrtf'
/usr/local/pspdev/lib/gcc/psp/4.3.2/../../../../psp/lib/libode.a(collision_std.o): In function `dGeomCCylinderPointDepth':
ode/src/collision_std.cpp:329: undefined reference to `sqrtf'
/usr/local/pspdev/lib/gcc/psp/4.3.2/../../../../psp/lib/libode.a(collision_std.o): In function `dGeomSpherePointDepth':
ode/src/collision_std.cpp:132: undefined reference to `sqrtf'
/usr/local/pspdev/lib/gcc/psp/4.3.2/../../../../psp/lib/libode.a(collision_std.o): In function `ray_sphere_helper':
ode/src/collision_std.cpp:1604: undefined reference to `sqrtf'
/usr/local/pspdev/lib/gcc/psp/4.3.2/../../../../psp/lib/libode.a(collision_std.o):ode/src/collision_std.cpp:1804: more undefined references to `sqrtf' follow
/usr/local/pspdev/lib/gcc/psp/4.3.2/../../../../psp/lib/libode.a(collision_std.o): In function `cullPoints(int, float*, int, int, int*)':
ode/src/collision_std.cpp:666: undefined reference to `atan2f'
/usr/local/pspdev/lib/gcc/psp/4.3.2/../../../../psp/lib/libode.a(collision_std.o): In function `dBoxBox(float const*, float const*, float const*, float const*, float const*, float const*, float*, float*, int*, int, dContactGeom*, int)':
ode/src/collision_std.cpp:805: undefined reference to `sqrtf'
ode/src/collision_std.cpp:806: undefined reference to `sqrtf'
ode/src/collision_std.cpp:807: undefined reference to `sqrtf'
ode/src/collision_std.cpp:810: undefined reference to `sqrtf'
ode/src/collision_std.cpp:811: undefined reference to `sqrtf'
/usr/local/pspdev/lib/gcc/psp/4.3.2/../../../../psp/lib/libode.a(collision_std.o):ode/src/collision_std.cpp:812: more undefined references to `sqrtf' follow
/usr/local/pspdev/lib/gcc/psp/4.3.2/../../../../psp/lib/libode.a(rotation.o): In function `dQFromAxisAndAngle':
ode/src/rotation.cpp:167: undefined reference to `sinf'
ode/src/rotation.cpp:167: undefined reference to `sqrtf'
/usr/local/pspdev/lib/gcc/psp/4.3.2/../../../../psp/lib/libode.a(rotation.o): In function `dRFromEulerAngles':
ode/src/rotation.cpp:72: undefined reference to `sinf'
ode/src/rotation.cpp:74: undefined reference to `sinf'
ode/src/rotation.cpp:76: undefined reference to `sinf'
/usr/local/pspdev/lib/gcc/psp/4.3.2/../../../../psp/lib/libode.a(rotation.o): In function `dRFrom2Axes':
ode/src/rotation.cpp:95: undefined reference to `sqrtf'
ode/src/rotation.cpp:108: undefined reference to `sqrtf'
/usr/local/pspdev/lib/gcc/psp/4.3.2/../../../../psp/lib/libode.a(collision_util.o): In function `dDISTANCE(float const*, float const*)':
include/ode/odemath.h:126: undefined reference to `sqrtf'
/usr/local/pspdev/lib/gcc/psp/4.3.2/../../../../psp/lib/libode.a(OPC_LSSCollider.o):OPCODE/OPC_LSSCollider.cpp:244: undefined reference to `sqrtf'
/usr/local/pspdev/lib/gcc/psp/4.3.2/../../../../psp/lib/libode.a(IcePoint.o): In function `Normalize':
OPCODE/Ice/IcePoint.h:274: undefined reference to `sqrtf'
/usr/local/pspdev/lib/gcc/psp/4.3.2/../../../../psp/lib/libode.a(IcePoint.o):OPCODE/Ice/IcePoint.h:274: more undefined references to `sqrtf' follow
collect2: ld returned 1 exit status
make: *** [2DGraphics.elf] Error 1
regis@Voyager [04-09-09 18:59:46] ~/Desktop/pspdev/lte-slim-beta-48/LTE/examples/06.2DGraphics $
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Obiously the "libm.a" is well found by the linker, but it can't found the functions sqrtf and others in it. In ODE source code, I found this, which looks fine to me :
| Code: |
#define REAL(x) (x ## f) /* form a constant */
#define dRecip(x) ((float)(1.0f/(x))) /* reciprocal */
#define dSqrt(x) ((float)sqrtf(float(x))) /* square root */
#define dRecipSqrt(x) ((float)(1.0f/sqrtf(float(x)))) /* reciprocal square root */
#define dSin(x) ((float)sinf(float(x))) /* sine */
#define dCos(x) ((float)cosf(float(x))) /* cosine */
#define dFabs(x) ((float)fabsf(float(x))) /* absolute value */
#define dAtan2(y,x) ((float)atan2f(float(y),float(x))) /* arc tangent with 2 args */
#define dFMod(a,b) ((float)fmodf(float(a),float(b))) /* modulo */
#define dCopySign(a,b) ((float)copysignf(float(a),float(b)))
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Last edited by Snilmerg on Sat Sep 05, 2009 8:47 pm; edited 1 time in total |
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Dariusc123456
Joined: 12 Aug 2008
Posts: 394
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| Posted: Sat Sep 05, 2009 6:23 am Post subject: |
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What does your makefile look like? Maybe you download an out-of-date version.
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Snilmerg
Joined: 29 Jan 2009
Posts: 3
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| Posted: Sat Sep 05, 2009 11:31 am Post subject: |
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Thanks for answering.
Indeed, the LTE version I use is not the latest from ltestudio, but examples do compile and work on my PSP. It is just a problem of compiling with ODE. Also, I try to simply use the "sqrt" function in the unmodified original version of the sample program provided with my source code of LTE (so basicly I just added somthing like "double test = sqrt (double blabla);") and it compiled and ran fine. So I guess I just have a problem in linking with ODE using those math function, I just don't know where the problem is.
| Code: | regis@Voyager [05-09-09 03:22:27] ~/Desktop/pspdev/lte-slim-beta-48/LTE/examples/06.2DGraphics $ more Makefile
TARGET = 2DGraphics
OBJS = main.o
INCDIR = ../../include/
CFLAGS = -G0 -O2
CXXFLAGS = $(CFLAGS) -fno-exceptions -fno-rtti
ASFLAGS = $(CFLAGS)
BUILD_PRX = 1
PSP_FW_VERSION = 390
PSP_LARGE_MEMORY = 1
LIBDIR = ../../libs
LDFLAGS =
LIBS= -lengine -lpspwlan -lglut -lGLU -lGL -lm -lpspvfpu -lstdc++ -lpsppower -lpsprtc -lpspaudio -lode -ldrawstuff -lpspdebug -lpspsdk -lc -lpsputility -lpspuser -lpspkernel -lpspdisplay -lpspge -lpspctrl
EXTRA_TARGETS = EBOOT.PBP
PSP_EBOOT_TITLE = LTE GE Example - 2DGraphics
PSPSDK=$(shell psp-config --pspsdk-path)
include $(PSPSDK)/lib/build.mak
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"psp-config --pspsdk-path" gives :
| Code: | | /usr/local/pspdev/psp/sdk |
and "$(PSPSDK)/lib/build.mak" is "/usr/local/pspdev/psp/sdk/lib/build.mak" and contains :
| Code: | # PSP Software Development Kit - http://www.pspdev.org
# -----------------------------------------------------------------------
# Licensed under the BSD license, see LICENSE in PSPSDK root for details.
#
# build.mak - Base makefile for projects using PSPSDK.
#
# Copyright (c) 2005 Marcus R. Brown <mrbrown@ocgnet.org>
# Copyright (c) 2005 James Forshaw <tyranid@gmail.com>
# Copyright (c) 2005 John Kelley <ps2dev@kelley.ca>
#
# $Id: build.mak 2333 2007-10-31 19:37:40Z tyranid $
# Note: The PSPSDK make variable must be defined before this file is included.
ifeq ($(PSPSDK),)
$(error $$(PSPSDK) is undefined. Use "PSPSDK := $$(shell psp-config --pspsdk-path)" in your Makefile)
endif
CC = psp-gcc
CXX = psp-g++
AS = psp-gcc
LD = psp-gcc
AR = psp-ar
RANLIB = psp-ranlib
STRIP = psp-strip
MKSFO = mksfo
PACK_PBP = pack-pbp
FIXUP = psp-fixup-imports
# Add in PSPSDK includes and libraries.
INCDIR := $(INCDIR) . $(PSPSDK)/include
LIBDIR := $(LIBDIR) . $(PSPSDK)/lib
CFLAGS := $(addprefix -I,$(INCDIR)) $(CFLAGS)
CXXFLAGS := $(CFLAGS) $(CXXFLAGS)
ASFLAGS := $(CFLAGS) $(ASFLAGS)
ifeq ($(PSP_LARGE_MEMORY),1)
MKSFO = mksfoex -d MEMSIZE=1
endif
ifeq ($(PSP_FW_VERSION),)
PSP_FW_VERSION=150
endif
CFLAGS += -D_PSP_FW_VERSION=$(PSP_FW_VERSION)
CXXFLAGS += -D_PSP_FW_VERSION=$(PSP_FW_VERSION)
ifeq ($(BUILD_PRX),1)
LDFLAGS := $(addprefix -L,$(LIBDIR)) -specs=$(PSPSDK)/lib/prxspecs -Wl,-q,-T$(PSPSDK)/lib/linkfile.prx $(LDFLAGS)
EXTRA_CLEAN += $(TARGET).elf
# Setup default exports if needed
ifdef PRX_EXPORTS
EXPORT_OBJ=$(patsubst %.exp,%.o,$(PRX_EXPORTS))
EXTRA_CLEAN += $(EXPORT_OBJ)
else
EXPORT_OBJ=$(PSPSDK)/lib/prxexports.o
endif
else
LDFLAGS := $(addprefix -L,$(LIBDIR)) $(LDFLAGS)
endif
# Library selection. By default we link with Newlib's libc. Allow the
# user to link with PSPSDK's libc if USE_PSPSDK_LIBC is set to 1.
ifeq ($(USE_KERNEL_LIBC),1)
# Use the PSP's kernel libc
PSPSDK_LIBC_LIB =
CFLAGS := -I$(PSPSDK)/include/libc $(CFLAGS)
else
ifeq ($(USE_PSPSDK_LIBC),1)
# Use the pspsdk libc
PSPSDK_LIBC_LIB = -lpsplibc
CFLAGS := -I$(PSPSDK)/include/libc $(CFLAGS)
else
# Use newlib (urgh)
PSPSDK_LIBC_LIB = -lc
endif
endif
# Link with following default libraries. Other libraries should be specified in the $(LIBS) variable.
# TODO: This library list needs to be generated at configure time.
#
ifeq ($(USE_KERNEL_LIBS),1)
PSPSDK_LIBS = -lpspdebug -lpspdisplay_driver -lpspctrl_driver -lpspsdk
LIBS := $(LIBS) $(PSPSDK_LIBS) $(PSPSDK_LIBC_LIB) -lpspkernel
else
ifeq ($(USE_USER_LIBS),1)
PSPSDK_LIBS = -lpspdebug -lpspdisplay -lpspge -lpspctrl -lpspsdk
LIBS := $(LIBS) $(PSPSDK_LIBS) $(PSPSDK_LIBC_LIB) -lpspnet \
-lpspnet_inet -lpspnet_apctl -lpspnet_resolver -lpsputility \
-lpspuser
else
PSPSDK_LIBS = -lpspdebug -lpspdisplay -lpspge -lpspctrl -lpspsdk
LIBS := $(LIBS) $(PSPSDK_LIBS) $(PSPSDK_LIBC_LIB) -lpspnet \
-lpspnet_inet -lpspnet_apctl -lpspnet_resolver -lpsputility \
-lpspuser -lpspkernel
endif
endif
# Define the overridable parameters for EBOOT.PBP
ifndef PSP_EBOOT_TITLE
PSP_EBOOT_TITLE = $(TARGET)
endif
ifndef PSP_EBOOT_SFO
PSP_EBOOT_SFO = PARAM.SFO
endif
ifndef PSP_EBOOT_ICON
PSP_EBOOT_ICON = NULL
endif
ifndef PSP_EBOOT_ICON1
PSP_EBOOT_ICON1 = NULL
endif
ifndef PSP_EBOOT_UNKPNG
PSP_EBOOT_UNKPNG = NULL
endif
ifndef PSP_EBOOT_PIC1
PSP_EBOOT_PIC1 = NULL
endif
ifndef PSP_EBOOT_SND0
PSP_EBOOT_SND0 = NULL
endif
ifndef PSP_EBOOT_PSAR
PSP_EBOOT_PSAR = NULL
endif
ifndef PSP_EBOOT
PSP_EBOOT = EBOOT.PBP
endif
ifeq ($(BUILD_PRX),1)
ifneq ($(TARGET_LIB),)
$(error TARGET_LIB should not be defined when building a prx)
else
FINAL_TARGET = $(TARGET).prx
endif
else
ifneq ($(TARGET_LIB),)
FINAL_TARGET = $(TARGET_LIB)
else
FINAL_TARGET = $(TARGET).elf
endif
endif
all: $(EXTRA_TARGETS) $(FINAL_TARGET)
kxploit: $(TARGET).elf $(PSP_EBOOT_SFO)
mkdir -p "$(TARGET)"
$(STRIP) $(TARGET).elf -o $(TARGET)/$(PSP_EBOOT)
mkdir -p "$(TARGET)%"
$(PACK_PBP) "$(TARGET)%/$(PSP_EBOOT)" $(PSP_EBOOT_SFO) $(PSP_EBOOT_ICON) \
$(PSP_EBOOT_ICON1) $(PSP_EBOOT_UNKPNG) $(PSP_EBOOT_PIC1) \
$(PSP_EBOOT_SND0) NULL $(PSP_EBOOT_PSAR)
SCEkxploit: $(TARGET).elf $(PSP_EBOOT_SFO)
mkdir -p "__SCE__$(TARGET)"
$(STRIP) $(TARGET).elf -o __SCE__$(TARGET)/$(PSP_EBOOT)
mkdir -p "%__SCE__$(TARGET)"
$(PACK_PBP) "%__SCE__$(TARGET)/$(PSP_EBOOT)" $(PSP_EBOOT_SFO) $(PSP_EBOOT_ICON) \
$(PSP_EBOOT_ICON1) $(PSP_EBOOT_UNKPNG) $(PSP_EBOOT_PIC1) \
$(PSP_EBOOT_SND0) NULL $(PSP_EBOOT_PSAR)
$(TARGET).elf: $(OBJS) $(EXPORT_OBJ)
$(LINK.c) $^ $(LIBS) -o $@
$(FIXUP) $@
$(TARGET_LIB): $(OBJS)
$(AR) cru $@ $(OBJS)
$(RANLIB) $@
$(PSP_EBOOT_SFO):
$(MKSFO) '$(PSP_EBOOT_TITLE)' $@
ifeq ($(BUILD_PRX),1)
$(PSP_EBOOT): $(TARGET).prx $(PSP_EBOOT_SFO)
$(PACK_PBP) $(PSP_EBOOT) $(PSP_EBOOT_SFO) $(PSP_EBOOT_ICON) \
$(PSP_EBOOT_ICON1) $(PSP_EBOOT_UNKPNG) $(PSP_EBOOT_PIC1) \
$(PSP_EBOOT_SND0) $(TARGET).prx $(PSP_EBOOT_PSAR)
else
$(PSP_EBOOT): $(TARGET).elf $(PSP_EBOOT_SFO)
$(STRIP) $(TARGET).elf -o $(TARGET)_strip.elf
$(PACK_PBP) $(PSP_EBOOT) $(PSP_EBOOT_SFO) $(PSP_EBOOT_ICON) \
$(PSP_EBOOT_ICON1) $(PSP_EBOOT_UNKPNG) $(PSP_EBOOT_PIC1) \
$(PSP_EBOOT_SND0) $(TARGET)_strip.elf $(PSP_EBOOT_PSAR)
-rm -f $(TARGET)_strip.elf
endif
%.prx: %.elf
psp-prxgen $< $@
%.c: %.exp
psp-build-exports -b $< > $@
clean:
-rm -f $(FINAL_TARGET) $(EXTRA_CLEAN) $(OBJS) $(PSP_EBOOT_SFO) $(PSP_EBOOT) $(EXTRA_TARGETS)
rebuild: clean all |
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J.F.
Joined: 22 Feb 2004
Posts: 2906
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| Posted: Sat Sep 05, 2009 2:09 pm Post subject: |
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| You have -lm BEFORE -lode instead of after it. Remember, put dependencies AFTER the dependent library. |
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Snilmerg
Joined: 29 Jan 2009
Posts: 3
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| Posted: Sat Sep 05, 2009 8:46 pm Post subject: |
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The solution is so simple. Thanks for solving this. Now that you say it I remember the importance of the dependencies order.
Thanks again.
| Code: | regis@Voyager [05-09-09 12:45:23] ~/Desktop/pspdev/lte-slim-beta-48/LTE/examples/06.2DGraphics $ make
psp-gcc -I../../include/ -I. -I/usr/local/pspdev/psp/sdk/include -G0 -O2 -D_PSP_FW_VERSION=390 -L../../libs -L. -L/usr/local/pspdev/psp/sdk/lib -specs=/usr/local/pspdev/psp/sdk/lib/prxspecs -Wl,-q,-T/usr/local/pspdev/psp/sdk/lib/linkfile.prx main.o /usr/local/pspdev/psp/sdk/lib/prxexports.o -lengine -lpspwlan -lglut -lGLU -lGL -lpspvfpu -lstdc++ -lpsppower -lpsprtc -lpspaudio -lode -ldrawstuff -lpspdebug -lpspsdk -lc -lpsputility -lpspuser -lpspkernel -lpspdisplay -lpspge -lpspctrl -lm -lpspdebug -lpspdisplay -lpspge -lpspctrl -lpspsdk -lc -lpspnet -lpspnet_inet -lpspnet_apctl -lpspnet_resolver -lpsputility -lpspuser -lpspkernel -o 2DGraphics.elf
psp-fixup-imports 2DGraphics.elf
psp-prxgen 2DGraphics.elf 2DGraphics.prx
mksfoex -d MEMSIZE=1 'LTE GE Example - 2DGraphics' PARAM.SFO
pack-pbp EBOOT.PBP PARAM.SFO NULL \
NULL NULL NULL \
NULL 2DGraphics.prx NULL
[0] 332 bytes | PARAM.SFO
[1] 0 bytes | NULL
[2] 0 bytes | NULL
[3] 0 bytes | NULL
[4] 0 bytes | NULL
[5] 0 bytes | NULL
[6] 3111798 bytes | 2DGraphics.prx
[7] 0 bytes | NULL
regis@Voyager [05-09-09 12:45:29] ~/Desktop/pspdev/lte-slim-beta-48/LTE/examples/06.2DGraphics $
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