[CMake] Lua is now optional.

One has to set explicitely BUILD_WITH_LUA_SUPPORT ON to build the Lua parsers.

CMakeLists.txt

@@ -61,6 +61,7 @@ OPTION (BUILD_UTILS "Build the utils" OFF)
 OPTION (INITIALIZE_WITH_NAN "Initialize Eigen entries with NaN" OFF)
 OPTION (BUILD_TESTS_WITH_HPP "Build geom tests and benchmarks with hpp to do comparisons" OFF)
 OPTION (BUILD_PYTHON_INTERFACE "Build the python binding" ON)
+OPTION (BUILD_WITH_LUA_SUPPORT "Build the lua parser" OFF)
 OPTION (BUILD_WITH_COMMIT_VERSION "Build libraries by setting specific commit version" OFF)
 
 IF (INITIALIZE_WITH_NAN)
@@ -78,7 +79,6 @@ ENDMACRO(TAG_LIBRARY_VERSION)
 ADD_REQUIRED_DEPENDENCY("eigen3 >= 3.0.5")
 ADD_OPTIONAL_DEPENDENCY("metapod >= 1.0.7")
 ADD_OPTIONAL_DEPENDENCY("urdfdom >= 0.2.0")
-ADD_OPTIONAL_DEPENDENCY("lua5.2")
 ADD_OPTIONAL_DEPENDENCY("hpp-fcl >= 0.4.2")
 
 # Spetcial care of Eigen3 greater than 3.2.10
@@ -103,18 +103,23 @@ ENDIF(URDFDOM_FOUND)
 
 # Special care of lua which can be of versions 5.1 or 5.2
 # Priority is set to lua5.2
-IF(LUA5_2_FOUND)
-  SET(LUA5_FOUND TRUE)
-  SET(LUA5_PACKAGE "lua5.2")
-  ADD_DEFINITIONS(-DLUA_VERSION_GREATER_5_2)
-  PKG_CONFIG_APPEND_CFLAGS("-DLUA_VERSION_GREATER_5_2")
-ELSEIF(LUA5_2_FOUND)
-  ADD_OPTIONAL_DEPENDENCY("lua5.1")
-  IF(LUA5_1_FOUND)
+IF(BUILD_WITH_LUA_SUPPORT)
+  ADD_OPTIONAL_DEPENDENCY("lua5.2")
+  IF(LUA5_2_FOUND)
     SET(LUA5_FOUND TRUE)
-    SET(LUA5_PACKAGE "lua5.1")
-  ENDIF(LUA5_1_FOUND)
-ENDIF(LUA5_2_FOUND)
+    SET(LUA5_PACKAGE "lua5.2")
+    ADD_DEFINITIONS(-DLUA_VERSION_GREATER_5_2)
+    PKG_CONFIG_APPEND_CFLAGS("-DLUA_VERSION_GREATER_5_2")
+  ELSE(LUA5_2_FOUND)
+    ADD_OPTIONAL_DEPENDENCY("lua5.1")
+    IF(LUA5_1_FOUND)
+      SET(LUA5_FOUND TRUE)
+      SET(LUA5_PACKAGE "lua5.1")
+    ELSE(LUA5_1_FOUND)
+      MESSAGE(FATAL_ERROR "Cannot find a suitable version of Lua 5.1 or 5.2")
+    ENDIF(LUA5_1_FOUND)
+  ENDIF(LUA5_2_FOUND)
+ENDIF(BUILD_WITH_LUA_SUPPORT)
 
 SET(BOOST_REQUIERED_COMPONENTS filesystem system)
 SET(BOOST_BUILD_COMPONENTS unit_test_framework)