CMakeLists.txt 7.46 KB
Newer Older
1
2
3
#
# Software License Agreement (BSD License)
#
4
#  Copyright (c) 2014, 2020 CNRS-LAAS
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
#  Author: Florent Lamiraux
#  All rights reserved.
#
#  Redistribution and use in source and binary forms, with or without
#  modification, are permitted provided that the following conditions
#  are met:
#
#   * Redistributions of source code must retain the above copyright
#     notice, this list of conditions and the following disclaimer.
#   * Redistributions in binary form must reproduce the above
#     copyright notice, this list of conditions and the following
#     disclaimer in the documentation and/or other materials provided
#     with the distribution.
#   * Neither the name of CNRS-LAAS. nor the names of its
#     contributors may be used to endorse or promote products derived
#     from this software without specific prior written permission.
#
#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
#  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
#  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
#  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
#  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
#  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
#  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
#  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
#  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
#  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
#  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
#  POSSIBILITY OF SUCH DAMAGE.
isucan's avatar
isucan committed
34

35
36
37
38
39
40
set(LIBRARY_NAME ${PROJECT_NAME})
set(${LIBRARY_NAME}_SOURCES
  collision.cpp
  distance_func_matrix.cpp
  collision_data.cpp
  collision_node.cpp
41
  collision_object.cpp
42
43
44
45
46
47
48
49
  BV/RSS.cpp
  BV/AABB.cpp
  BV/kIOS.cpp
  BV/kDOP.cpp
  BV/OBBRSS.cpp
  BV/OBB.cpp
  narrowphase/narrowphase.cpp
  narrowphase/gjk.cpp
50
  narrowphase/details.h
51
  shape/convex.cpp
52
53
  shape/geometric_shapes.cpp
  shape/geometric_shapes_utility.cpp
54
  distance_box_halfspace.cpp
55
  distance_box_plane.cpp
56
  distance_box_sphere.cpp
57
  distance_capsule_capsule.cpp
58
  distance_capsule_halfspace.cpp
59
  distance_capsule_plane.cpp
60
61
  distance_cone_halfspace.cpp
  distance_cone_plane.cpp
62
  distance_cylinder_halfspace.cpp
63
  distance_cylinder_plane.cpp
64
  distance_sphere_sphere.cpp
65
  distance_sphere_cylinder.cpp
66
  distance_sphere_halfspace.cpp
67
  distance_sphere_plane.cpp
68
69
70
71
72
73
74
75
76
77
  intersect.cpp
  math/transform.cpp
  traversal/traversal_recurse.cpp
  profile.cpp
  distance.cpp
  BVH/BVH_utility.cpp
  BVH/BV_fitter.cpp
  BVH/BVH_model.cpp
  BVH/BV_splitter.cpp
  collision_func_matrix.cpp
78
  collision_utility.cpp
79
  mesh_loader/assimp.cpp
80
  mesh_loader/loader.cpp
81
  )
isucan's avatar
isucan committed
82

83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
if(HPP_FCL_HAS_QHULL)
  set(
    libqhullcpp_HEADERS
    ${Qhullcpp_PREFIX}/libqhullcpp/Coordinates.h
    ${Qhullcpp_PREFIX}/libqhullcpp/functionObjects.h
    ${Qhullcpp_PREFIX}/libqhullcpp/PointCoordinates.h
    ${Qhullcpp_PREFIX}/libqhullcpp/Qhull.h
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullError.h
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullFacet.h
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullFacetList.h
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullFacetSet.h
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullHyperplane.h
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullIterator.h
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullLinkedList.h
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullPoint.h
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullPoints.h
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullPointSet.h
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullQh.h
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullRidge.h
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullSet.h
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullSets.h
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullStat.h
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullVertex.h
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullVertexSet.h
    ${Qhullcpp_PREFIX}/libqhullcpp/RboxPoints.h
    ${Qhullcpp_PREFIX}/libqhullcpp/RoadError.h
    ${Qhullcpp_PREFIX}/libqhullcpp/RoadLogEvent.h
    )

  set(
    libqhullcpp_SOURCES
    ${Qhullcpp_PREFIX}/libqhullcpp/Coordinates.cpp
    ${Qhullcpp_PREFIX}/libqhullcpp/PointCoordinates.cpp
    ${Qhullcpp_PREFIX}/libqhullcpp/Qhull.cpp
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullFacet.cpp
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullFacetList.cpp
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullFacetSet.cpp
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullHyperplane.cpp
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullPoint.cpp
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullPointSet.cpp
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullPoints.cpp
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullQh.cpp
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullRidge.cpp
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullSet.cpp
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullStat.cpp
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullVertex.cpp
    ${Qhullcpp_PREFIX}/libqhullcpp/QhullVertexSet.cpp
    ${Qhullcpp_PREFIX}/libqhullcpp/RboxPoints.cpp
    ${Qhullcpp_PREFIX}/libqhullcpp/RoadError.cpp
    ${Qhullcpp_PREFIX}/libqhullcpp/RoadLogEvent.cpp
    ${libqhullcpp_HEADERS}
    )

  # TODO We compile qhullcpp because it is not provided in the binary package while
  # the other parts of Qhull are released.
  # Compile Qhull package as found on github leads to a link error (because it generates
  # only a static library). One should be careful that the version of the qhull submodule
  # of this git repo matches the version of qhull provided by the system.
  list(APPEND ${LIBRARY_NAME}_SOURCES ${libqhullcpp_SOURCES})
endif()

144
145
146
147
148
SET(PROJECT_HEADERS_FULL_PATH)
FOREACH(header ${${PROJECT_NAME}_HEADERS})
  LIST(APPEND PROJECT_HEADERS_FULL_PATH ${PROJECT_SOURCE_DIR}/${header})
ENDFOREACH()
LIST(APPEND PROJECT_HEADERS_FULL_PATH ${PROJECT_BINARY_DIR}/include/hpp/fcl/config.hh)
149
150
add_library(${LIBRARY_NAME}
  SHARED
151
  ${PROJECT_HEADERS_FULL_PATH}
152
153
  ${${LIBRARY_NAME}_SOURCES}
  )
154

155
156
157
158
# IDE sources and headers sorting
ADD_SOURCE_GROUP(${LIBRARY_NAME}_SOURCES)
ADD_HEADER_GROUP(PROJECT_HEADERS_FULL_PATH)

Justin Carpentier's avatar
Justin Carpentier committed
159
160
FIND_LIBRARY(ASSIMP_FULL_LIB NAMES assimp PATHS ${ASSIMP_LIBRARY_DIRS} NO_DEFAULT_PATH)

161
162
TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
  PUBLIC
Justin Carpentier's avatar
Justin Carpentier committed
163
164
165
  ${Boost_THREAD_LIBRARY}
  ${Boost_DATE_TIME_LIBRARY}
  ${Boost_SYSTEM_LIBRARY}
Justin Carpentier's avatar
Justin Carpentier committed
166
  ${ASSIMP_FULL_LIB}
167
#  assimp::assimp # Not working
Justin Carpentier's avatar
Justin Carpentier committed
168
169
170
#  Boost::thread
#  Boost::date_time
#  Boost::system
Justin Carpentier's avatar
Justin Carpentier committed
171
  )
172

173
174
175
176
177
178
179
if(HPP_FCL_HAS_QHULL)
  target_compile_definitions(${LIBRARY_NAME} PRIVATE -DHPP_FCL_HAS_QHULL)
  target_include_directories(${LIBRARY_NAME} SYSTEM PRIVATE
    ${Qhull_r_INCLUDE_DIR} ${Qhullcpp_PREFIX})
  target_link_libraries(${LIBRARY_NAME} PRIVATE "${Qhull_r_LIBRARY}")
endif()

180
target_include_directories(${LIBRARY_NAME}
181
  SYSTEM PUBLIC
182
  ${EIGEN3_INCLUDE_DIR}
Justin Carpentier's avatar
Justin Carpentier committed
183
  ${Boost_INCLUDE_DIRS}
184
  ${ASSIMP_INCLUDE_DIRS}
185
186
  )

187
target_include_directories(${LIBRARY_NAME}
188
189
  PUBLIC
  $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
190
  )
191

192
if (NOT ${ASSIMP_VERSION} VERSION_LESS "2.0.1150")
193
194
195
196
197
  target_compile_definitions(${LIBRARY_NAME} PRIVATE -DHPP_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES)
  message(STATUS "Assimp version has unified headers")
else()
  message(STATUS "Assimp version does not have unified headers")
endif()
198
199
200
201
IF(octomap_FOUND)
  target_include_directories(${LIBRARY_NAME} SYSTEM PUBLIC ${OCTOMAP_INCLUDE_DIRS})
  target_link_libraries(${LIBRARY_NAME} PUBLIC ${OCTOMAP_LIBRARIES})
  target_compile_definitions (${LIBRARY_NAME} PUBLIC
Joseph Mirabel's avatar
Joseph Mirabel committed
202
203
204
205
    -DHPP_FCL_HAVE_OCTOMAP
    -DOCTOMAP_MAJOR_VERSION=${OCTOMAP_MAJOR_VERSION}
    -DOCTOMAP_MINOR_VERSION=${OCTOMAP_MINOR_VERSION}
    -DOCTOMAP_PATCH_VERSION=${OCTOMAP_PATCH_VERSION})
206
ENDIF(octomap_FOUND)
207

Joseph Mirabel's avatar
Joseph Mirabel committed
208
209
210
install(TARGETS ${LIBRARY_NAME}
  EXPORT ${TARGETS_EXPORT_NAME}
  DESTINATION ${CMAKE_INSTALL_LIBDIR})