# # Software License Agreement (BSD License) # # Copyright (c) 2014 CNRS-LAAS # Author: Florent Lamiraux, Joseph Mirabel # 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. cmake_minimum_required(VERSION 2.8) set(CXX_DISABLE_WERROR TRUE) include(cmake/base.cmake) include(cmake/eigen.cmake) include(cmake/boost.cmake) set(PROJECT_NAME hpp-fcl) set(PROJECT_DESCRIPTION "FCL -- The Flexible Collision Library" ) set(PROJECT_URL "http://github.com/humanoid-path-planner/hpp-fcl") 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("${isSystemDir}" STREQUAL "-1") ENDIF(APPLE) setup_project() add_required_dependency("eigen3 >= 3.0.0") set(FCL_HAVE_EIGEN TRUE) include_directories(${EIGEN3_INCLUDE_DIRS}) # Add a cache variable to allow not compiling and running tests set (RUN_TESTS TRUE CACHE BOOL "compile and run unit tests") # Required dependencies if (RUN_TESTS) set(BOOST_COMPONENTS thread date_time filesystem system unit_test_framework) else () set(BOOST_COMPONENTS thread date_time system) endif () search_for_boost() # Optional dependencies add_optional_dependency("octomap >= 1.6") 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() ADD_REQUIRED_DEPENDENCY("assimp >= 2.0") if(ASSIMP_FOUND) if (NOT ${ASSIMP_VERSION} VERSION_LESS "2.0.1150") add_definitions(-DFCL_USE_ASSIMP_UNIFIED_HEADER_NAMES) SET(WITH_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES TRUE) message(STATUS "Assimp version has unified headers") else() message(STATUS "Assimp version does not have unified headers") endif() endif() SET(${PROJECT_NAME}_HEADERS 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 include/hpp/fcl/math/tools.h 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 include/hpp/fcl/collision_utility.h include/hpp/fcl/octree.h include/hpp/fcl/fwd.hh include/hpp/fcl/mesh_loader/assimp.h ) add_subdirectory(src) if (RUN_TESTS) add_subdirectory(test) endif () pkg_config_append_libs("hpp-fcl") PKG_CONFIG_APPEND_BOOST_LIBS(thread date_time filesystem system) 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) 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 PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE ) setup_project_finalize()