Build error in Bullet3

[beomjoonkim]

I am trying to build Bullet3 by following the premake guideline in the user manual, but running into the following error:

$ make config=release64
==== Building BulletExampleBrowserLib (release64) ====
==== Building gwen (release64) ====
==== Building OpenGL_Window (release64) ====
==== Building BulletSoftBody (release64) ====
==== Building BulletInverseDynamicsUtils (release64) ====
==== Building BulletInverseDynamics (release64) ====
==== Building BulletDynamics (release64) ====
==== Building BulletCollision (release64) ====
==== Building LinearMath (release64) ====
==== Building BussIK (release64) ====
==== Building Bullet3Common (release64) ====
==== Building Bullet3OpenCL_clew (release64) ====
==== Building Bullet3Dynamics (release64) ====
==== Building Bullet3Collision (release64) ====
==== Building Bullet3Geometry (release64) ====
==== Building App_BulletExampleBrowser (release64) ====
==== Building BulletFileLoader (release64) ====
==== Building BulletWorldImporter (release64) ====
==== Building enet (release64) ====
==== Building clsocket (release64) ====
==== Building BulletRobotics (release64) ====
==== Building App_RobotSimulator (release64) ====
==== Building App_HelloBulletRobotics (release64) ====
==== Building App_HelloWorld (release64) ====
==== Building App_PhysicsServer_SharedMemory (release64) ====
==== Building App_PhysicsServer_SharedMemory_GUI (release64) ====
==== Building App_PhysicsServerSharedMemoryBridgeUDP (release64) ====
==== Building App_PhysicsServerUDP (release64) ====
==== Building App_PhysicsServerSharedMemoryBridgeTCP (release64) ====
==== Building App_PhysicsServerTCP (release64) ====
==== Building pybullet_testplugin (release64) ====
==== Building pybullet_vrSyncPlugin (release64) ====
==== Building pybullet_tinyRendererPlugin (release64) ====
==== Building pybullet_pdControlPlugin (release64) ====
==== Building pybullet_collisionFilterPlugin (release64) ====
==== Building App_SimpleOpenGL3 (release64) ====
==== Building Test_SharedMemoryPhysicsClient (release64) ====
==== Building Test_PhysicsClientUDP (release64) ====
==== Building Test_PhysicsClientTCP (release64) ====
==== Building Test_PhysicsServerLoopBack (release64) ====
==== Building Test_PhysicsServerDirect (release64) ====
==== Building Test_PhysicsServerInProcessExampleBrowser (release64) ====
==== Building Test_clsocket_EchoServer (release64) ====
==== Building Test_clsocket_QueryDayTime (release64) ====
==== Building Test_enet_nat_punchthrough_client (release64) ====
==== Building Test_enet_nat_punchthrough_server (release64) ====
==== Building Test_enet_chat_client (release64) ====
==== Building Test_enet_chat_server (release64) ====
==== Building Bullet2FileLoader (release64) ====
==== Building HACD (release64) ====
==== Building vhacd (release64) ====
==== Building test_vhacd (release64) ====
==== Building ConvexDecomposition (release64) ====
==== Building BulletXmlWorldImporter (release64) ====
==== Building App_obj2sdf (release64) ====
==== Building Test_LinearMath (release64) ====
==== Building gtest (release64) ====
==== Building Test_BulletCollision (release64) ====
Linking Test_BulletCollision
/usr/bin/ld: obj/x64/Release/Test_BulletCollision/main.o: in function (anonymous namespace)::TriangleCollector::~TriangleCollector()': main.cpp:(.text+0x3f3): undefined reference to btTriangleCallback::~btTriangleCallback()'
/usr/bin/ld: obj/x64/Release/Test_BulletCollision/main.o: in function (anonymous namespace)::BulletCollisionTest_Heightfield_ProcessAllTriangles_FiltersByUpAxis_Test::TestBody()': main.cpp:(.text+0xfda5): undefined reference to btHeightfieldTerrainShape::btHeightfieldTerrainShape(int, int, void const*, double, double, double, int, PHY_ScalarType, bool)'
/usr/bin/ld: main.cpp:(.text+0xfe59): undefined reference to btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback*, btVector3 const&, btVector3 const&) const' /usr/bin/ld: main.cpp:(.text+0xffba): undefined reference to btHeightfieldTerrainShape::processAllTriangles(btTriangleCallback*, btVector3 const&, btVector3 const&) const'
/usr/bin/ld: main.cpp:(.text+0x1009a): undefined reference to btTriangleCallback::~btTriangleCallback()' /usr/bin/ld: main.cpp:(.text+0x100b1): undefined reference to btHeightfieldTerrainShape::~btHeightfieldTerrainShape()'
/usr/bin/ld: obj/x64/Release/Test_BulletCollision/main.o: in function (anonymous namespace)::TriangleCollector::~TriangleCollector()': main.cpp:(.text+0x3cf): undefined reference to btTriangleCallback::~btTriangleCallback()'
/usr/bin/ld: obj/x64/Release/Test_BulletCollision/main.o: in function (anonymous namespace)::BulletCollisionTest_Heightfield_ProcessAllTriangles_FiltersByUpAxis_Test::TestBody() [clone .cold]': main.cpp:(.text.unlikely+0x299): undefined reference to btTriangleCallback::~btTriangleCallback()'
/usr/bin/ld: main.cpp:(.text.unlikely+0x2b0): undefined reference to btHeightfieldTerrainShape::~btHeightfieldTerrainShape()' /usr/bin/ld: obj/x64/Release/Test_BulletCollision/main.o:(.data.rel.ro+0xd0): undefined reference to typeinfo for btTriangleCallback'
collect2: error: ld returned 1 exit status
make[1]: *** [Test_BulletCollision.make:94: ../../bin/Test_BulletCollision_gmake_x64_release] Error 1
make: *** [Makefile:225: Test_BulletCollision] Error 2

I am on Ubuntu 20.04.