CMakeLists.txt 6.34 KB
Newer Older
1
2
3
4
#
# Software License Agreement (BSD License)
#
#  Copyright (c) 2014 CNRS-LAAS
5
#  Author: Florent Lamiraux, Joseph Mirabel
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
#  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
cmake_minimum_required(VERSION 2.8)
set(CXX_DISABLE_WERROR TRUE)
include(cmake/base.cmake)
38
include(cmake/eigen.cmake)
39
40
include(cmake/boost.cmake)

41
set(PROJECT_NAME hpp-fcl)
42
43
44
set(PROJECT_DESCRIPTION
  "FCL -- The Flexible Collision Library"
  )
jcarpent's avatar
jcarpent committed
45
set(PROJECT_URL "http://github.com/humanoid-path-planner/hpp-fcl")
46

47
48
49
50
51
52
53
54
55
56
57
58
59
IF(APPLE)
  SET(CMAKE_MACOSX_RPATH TRUE)
  SET(CMAKE_SKIP_BUILD_RPATH  FALSE)
  SET(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
  SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)

  set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
  list(FIND CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${CMAKE_INSTALL_PREFIX}/lib" isSystemDir)
  if("${isSystemDir}" STREQUAL "-1")
     set(CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
  endif("${isSystemDir}" STREQUAL "-1")
ENDIF(APPLE)

60
61
setup_project()

62
add_required_dependency("eigen3 >= 3.0.0")
63
set(FCL_HAVE_EIGEN TRUE)
64
include_directories(${EIGEN3_INCLUDE_DIRS})
65

66
67
68
# Add a cache variable to allow not compiling and running tests
set (RUN_TESTS TRUE CACHE BOOL "compile and run unit tests")

69
# Required dependencies
70
71
72
73
74
75
if (RUN_TESTS)
  set(BOOST_COMPONENTS thread date_time filesystem system unit_test_framework)
else ()
  set(BOOST_COMPONENTS thread date_time system)
endif ()

76
77
78
search_for_boost()
# Optional dependencies
add_optional_dependency("octomap >= 1.6")
Steve Tonneau's avatar
Steve Tonneau committed
79
80
81
82
83
84
85
86
if (OCTOMAP_INCLUDE_DIRS AND OCTOMAP_LIBRARY_DIRS)
	include_directories(${OCTOMAP_INCLUDE_DIRS})
	link_directories(${OCTOMAP_LIBRARY_DIRS})
	set(FCL_HAVE_OCTOMAP 1)
	message(STATUS "FCL uses Octomap")
else()
	message(STATUS "FCL does not use Octomap")
endif()
87
88
89
ADD_REQUIRED_DEPENDENCY("assimp >= 2.0")
if(ASSIMP_FOUND)
  if (NOT ${ASSIMP_VERSION} VERSION_LESS "2.0.1150")
90
91
    add_definitions(-DFCL_USE_ASSIMP_UNIFIED_HEADER_NAMES)
    SET(WITH_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES TRUE)
92
93
94
95
96
    message(STATUS "Assimp version has unified headers")
  else()
    message(STATUS "Assimp version does not have unified headers")
  endif()
endif()
panjia1983's avatar
panjia1983 committed
97

98
SET(${PROJECT_NAME}_HEADERS
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
  include/hpp/fcl/collision_data.h
  include/hpp/fcl/profile.h
  include/hpp/fcl/exception.h
  include/hpp/fcl/deprecated.h
  include/hpp/fcl/BV/kIOS.h
  include/hpp/fcl/BV/BV.h
  include/hpp/fcl/BV/RSS.h
  include/hpp/fcl/BV/OBBRSS.h
  include/hpp/fcl/BV/BV_node.h
  include/hpp/fcl/BV/AABB.h
  include/hpp/fcl/BV/OBB.h
  include/hpp/fcl/BV/kDOP.h
  include/hpp/fcl/narrowphase/narrowphase.h
  include/hpp/fcl/narrowphase/gjk.h
  include/hpp/fcl/broadphase/interval_tree.h
  include/hpp/fcl/broadphase/broadphase_spatialhash.h
  include/hpp/fcl/broadphase/broadphase_dynamic_AABB_tree.h
  include/hpp/fcl/broadphase/broadphase_SSaP.h
  include/hpp/fcl/broadphase/broadphase_interval_tree.h
  include/hpp/fcl/broadphase/broadphase.h
  include/hpp/fcl/broadphase/hierarchy_tree.h
  include/hpp/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h
  include/hpp/fcl/broadphase/broadphase_SaP.h
  include/hpp/fcl/broadphase/broadphase_bruteforce.h
  include/hpp/fcl/broadphase/morton.h
  include/hpp/fcl/broadphase/hash.h
  include/hpp/fcl/shape/geometric_shapes_utility.h
  include/hpp/fcl/shape/geometric_shape_to_BVH_model.h
  include/hpp/fcl/shape/geometric_shapes.h
  include/hpp/fcl/distance_func_matrix.h
  include/hpp/fcl/collision.h
  include/hpp/fcl/collision_node.h
  include/hpp/fcl/collision_func_matrix.h
  include/hpp/fcl/distance.h
  include/hpp/fcl/math/matrix_3f.h
  include/hpp/fcl/math/vec_3f.h
135
  include/hpp/fcl/math/tools.h
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
  include/hpp/fcl/math/transform.h
  include/hpp/fcl/traversal/traversal_node_shapes.h
  include/hpp/fcl/traversal/traversal_node_setup.h
  include/hpp/fcl/traversal/traversal_recurse.h
  include/hpp/fcl/traversal/traversal_node_octree.h
  include/hpp/fcl/traversal/traversal_node_bvhs.h
  include/hpp/fcl/traversal/traversal_node_bvh_shape.h
  include/hpp/fcl/traversal/traversal_node_base.h
  include/hpp/fcl/data_types.h
  include/hpp/fcl/BVH/BV_splitter.h
  include/hpp/fcl/BVH/BVH_internal.h
  include/hpp/fcl/BVH/BVH_model.h
  include/hpp/fcl/BVH/BV_fitter.h
  include/hpp/fcl/BVH/BVH_front.h
  include/hpp/fcl/BVH/BVH_utility.h
  include/hpp/fcl/intersect.h
  include/hpp/fcl/collision_object.h
153
  include/hpp/fcl/collision_utility.h
154
155
  include/hpp/fcl/octree.h
  include/hpp/fcl/fwd.hh
156
  include/hpp/fcl/mesh_loader/assimp.h
157
158
  )

isucan's avatar
isucan committed
159
add_subdirectory(src)
160
161
162
if (RUN_TESTS)
  add_subdirectory(test)
endif ()
163

Joseph Mirabel's avatar
Joseph Mirabel committed
164
pkg_config_append_libs("hpp-fcl")
165
PKG_CONFIG_APPEND_BOOST_LIBS(thread date_time filesystem system)
166
167
168
IF(WITH_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES)
  PKG_CONFIG_APPEND_CFLAGS("-DFCL_USE_ASSIMP_UNIFIED_HEADER_NAMES")
ENDIF(WITH_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES)
Joseph Mirabel's avatar
Joseph Mirabel committed
169

170
171
172
config_files(include/hpp/fcl/config-fcl.hh)
install(FILES ${PROJECT_BINARY_DIR}/include/hpp/fcl/config-fcl.hh
  DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/hpp/fcl
173
174
  PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE
  )
175
setup_project_finalize()