forked from coal-library/coal
-
Notifications
You must be signed in to change notification settings - Fork 0
/
CMakeLists.txt
498 lines (471 loc) · 20.6 KB
/
CMakeLists.txt
1
2
3
4
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
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
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
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
#
# Software License Agreement (BSD License)
#
# Copyright (c) 2014-2023 CNRS-LAAS, INRIA
# 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 3.10)
set(CXX_DISABLE_WERROR TRUE)
set(PROJECT_NAME coal)
set(PROJECT_ORG "coal-library")
set(PROJECT_DESCRIPTION
"Coal, The Collision Detection Library. Previously known as HPP-FCL, fork of FCL -- The Flexible Collision Library"
)
SET(PROJECT_USE_CMAKE_EXPORT TRUE)
SET(PROJECT_COMPATIBILITY_VERSION AnyNewerVersion)
# To enable jrl-cmakemodules compatibility with workspace we must define the two
# following lines
set(PROJECT_AUTO_RUN_FINALIZE FALSE)
set(PROJECT_SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR})
SET(PROJECT_USE_KEYWORD_LINK_LIBRARIES TRUE)
SET(DOXYGEN_USE_TEMPLATE_CSS TRUE)
# ----------------------------------------------------
# --- OPTIONS ---------------------------------------
# Need to be set before including base.cmake
# ----------------------------------------------------
option(INSTALL_DOCUMENTATION "Generate and install the documentation" OFF)
option(COAL_TURN_ASSERT_INTO_EXCEPTION "Turn some critical Coal asserts to exception." FALSE)
option(COAL_ENABLE_LOGGING "Activate logging for warnings or error messages. Turned on by default in Debug." FALSE)
option(COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL "Make Coal retro-compatible with HPP-FCL." FALSE)
# Check if the submodule cmake have been initialized
set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")
if(EXISTS "${JRL_CMAKE_MODULES}/base.cmake")
message(STATUS "JRL cmakemodules found in 'cmake/' git submodule")
else()
find_package(jrl-cmakemodules QUIET CONFIG)
if(jrl-cmakemodules_FOUND)
get_property(
JRL_CMAKE_MODULES
TARGET jrl-cmakemodules::jrl-cmakemodules
PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
message(STATUS "JRL cmakemodules found on system at ${JRL_CMAKE_MODULES}")
elseif(${CMAKE_VERSION} VERSION_LESS "3.14.0")
message(
FATAL_ERROR
"\nCan't find jrl-cmakemodules. Please either:\n"
" - use git submodule: 'git submodule update --init'\n"
" - or install https://github.com/jrl-umi3218/jrl-cmakemodules\n"
" - or upgrade your CMake version to >= 3.14 to allow automatic fetching\n"
)
else()
message(STATUS "JRL cmakemodules not found. Let's fetch it.")
include(FetchContent)
FetchContent_Declare(
"jrl-cmakemodules"
GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git")
FetchContent_MakeAvailable("jrl-cmakemodules")
FetchContent_GetProperties("jrl-cmakemodules" SOURCE_DIR JRL_CMAKE_MODULES)
endif()
endif()
include("${JRL_CMAKE_MODULES}/boost.cmake")
include("${JRL_CMAKE_MODULES}/python.cmake")
include("${JRL_CMAKE_MODULES}/hpp.cmake")
include("${JRL_CMAKE_MODULES}/apple.cmake")
include("${JRL_CMAKE_MODULES}/ide.cmake")
include(CMakeDependentOption)
SET(CMAKE_MODULE_PATH
${JRL_CMAKE_MODULES}/find-external/assimp/
${CMAKE_MODULE_PATH})
set_default_cmake_build_type("RelWithDebInfo")
# If needed, fix CMake policy for APPLE systems
APPLY_DEFAULT_APPLE_CONFIGURATION()
COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
CMAKE_DEPENDENT_OPTION(GENERATE_PYTHON_STUBS "Generate the Python stubs associated to the Python library" OFF BUILD_PYTHON_INTERFACE OFF)
#IF(WIN32)
# # Set default Windows build paths
# SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY
# ${PROJECT_BINARY_DIR}/Bin
# CACHE PATH "Single directory for all libraries")
# SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY
# ${PROJECT_BINARY_DIR}/Bin
# CACHE PATH "Single directory for all executables")
# SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY
# ${PROJECT_BINARY_DIR}/Bin
# CACHE PATH "Sing$le directory for all archives")
#ENDIF(WIN32)
ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED PKG_CONFIG_REQUIRES "eigen3 >= 3.0.0")
if(BUILD_PYTHON_INTERFACE)
SET(PYTHON_COMPONENTS Interpreter Development NumPy)
FINDPYTHON(REQUIRED)
ADD_PROJECT_PRIVATE_DEPENDENCY(eigenpy 2.9.2 REQUIRED)
endif()
# Required dependencies
SET_BOOST_DEFAULT_OPTIONS()
EXPORT_BOOST_DEFAULT_OPTIONS()
ADD_PROJECT_DEPENDENCY(Boost REQUIRED chrono thread date_time serialization filesystem)
if (COAL_ENABLE_LOGGING)
ADD_PROJECT_DEPENDENCY(Boost REQUIRED log)
endif()
if(BUILD_PYTHON_INTERFACE)
find_package(Boost REQUIRED COMPONENTS system)
endif(BUILD_PYTHON_INTERFACE)
if(Boost_VERSION_STRING VERSION_LESS 1.81)
# Default C++ version should be C++11
CHECK_MINIMAL_CXX_STANDARD(11 ENFORCE)
else()
# Boost.Math will be C++14 starting in July 2023 (Boost 1.82 release)
CHECK_MINIMAL_CXX_STANDARD(14 ENFORCE)
endif()
# Optional dependencies
ADD_PROJECT_DEPENDENCY(octomap PKG_CONFIG_REQUIRES "octomap >= 1.6")
if(octomap_FOUND)
SET(COAL_HAS_OCTOMAP TRUE)
string(REPLACE "." ";" VERSION_LIST ${octomap_VERSION})
list(GET VERSION_LIST 0 OCTOMAP_MAJOR_VERSION)
list(GET VERSION_LIST 1 OCTOMAP_MINOR_VERSION)
list(GET VERSION_LIST 2 OCTOMAP_PATCH_VERSION)
message(STATUS "COAL uses Octomap")
else()
SET(COAL_HAS_OCTOMAP FALSE)
message(STATUS "COAL does not use Octomap")
endif()
option(COAL_HAS_QHULL "use qhull library to compute convex hulls." FALSE)
if(COAL_HAS_QHULL)
find_package(Qhull COMPONENTS qhull_r qhullcpp)
if(Qhull_FOUND)
set(COAL_USE_SYSTEM_QHULL TRUE)
message(STATUS "COAL uses system Qhull")
else()
message(STATUS "Qhullcpp not found: it will be build from sources, if Qhull_r is found")
file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/third-parties)
execute_process(COMMAND ${CMAKE_COMMAND} -E create_symlink
${PROJECT_SOURCE_DIR}/third-parties/qhull/src/libqhullcpp
${PROJECT_BINARY_DIR}/third-parties/libqhullcpp
)
set(Qhullcpp_PREFIX ${PROJECT_BINARY_DIR}/third-parties)
find_path(Qhull_r_INCLUDE_DIR
NAMES libqhull_r/libqhull_r.h
PATHS ${Qhull_PREFIX}
)
find_library(Qhull_r_LIBRARY
NAMES libqhull_r.so
PATHS ${Qhull_PREFIX}
)
if(NOT Qhull_r_LIBRARY)
message(FATAL_ERROR "Qhull_r not found, please install it or turn COAL_HAS_QHULL OFF")
endif()
endif()
endif()
FIND_PACKAGE(assimp REQUIRED)
SET(${PROJECT_NAME}_HEADERS
include/coal/collision_data.h
include/coal/BV/kIOS.h
include/coal/BV/BV.h
include/coal/BV/RSS.h
include/coal/BV/OBBRSS.h
include/coal/BV/BV_node.h
include/coal/BV/AABB.h
include/coal/BV/OBB.h
include/coal/BV/kDOP.h
include/coal/broadphase/broadphase.h
include/coal/broadphase/broadphase_SSaP.h
include/coal/broadphase/broadphase_SaP.h
include/coal/broadphase/broadphase_bruteforce.h
include/coal/broadphase/broadphase_collision_manager.h
include/coal/broadphase/broadphase_continuous_collision_manager-inl.h
include/coal/broadphase/broadphase_continuous_collision_manager.h
include/coal/broadphase/broadphase_dynamic_AABB_tree-inl.h
include/coal/broadphase/broadphase_dynamic_AABB_tree.h
include/coal/broadphase/broadphase_dynamic_AABB_tree_array-inl.h
include/coal/broadphase/broadphase_dynamic_AABB_tree_array.h
include/coal/broadphase/broadphase_interval_tree.h
include/coal/broadphase/broadphase_spatialhash-inl.h
include/coal/broadphase/broadphase_spatialhash.h
include/coal/broadphase/broadphase_callbacks.h
include/coal/broadphase/default_broadphase_callbacks.h
include/coal/broadphase/detail/hierarchy_tree-inl.h
include/coal/broadphase/detail/hierarchy_tree.h
include/coal/broadphase/detail/hierarchy_tree_array-inl.h
include/coal/broadphase/detail/hierarchy_tree_array.h
include/coal/broadphase/detail/interval_tree.h
include/coal/broadphase/detail/interval_tree_node.h
include/coal/broadphase/detail/morton-inl.h
include/coal/broadphase/detail/morton.h
include/coal/broadphase/detail/node_base-inl.h
include/coal/broadphase/detail/node_base.h
include/coal/broadphase/detail/node_base_array-inl.h
include/coal/broadphase/detail/node_base_array.h
include/coal/broadphase/detail/simple_hash_table-inl.h
include/coal/broadphase/detail/simple_hash_table.h
include/coal/broadphase/detail/simple_interval-inl.h
include/coal/broadphase/detail/simple_interval.h
include/coal/broadphase/detail/sparse_hash_table-inl.h
include/coal/broadphase/detail/sparse_hash_table.h
include/coal/broadphase/detail/spatial_hash-inl.h
include/coal/broadphase/detail/spatial_hash.h
include/coal/narrowphase/narrowphase.h
include/coal/narrowphase/gjk.h
include/coal/narrowphase/narrowphase_defaults.h
include/coal/narrowphase/minkowski_difference.h
include/coal/narrowphase/support_functions.h
include/coal/shape/convex.h
include/coal/shape/details/convex.hxx
include/coal/shape/geometric_shape_to_BVH_model.h
include/coal/shape/geometric_shapes.h
include/coal/shape/geometric_shapes_traits.h
include/coal/shape/geometric_shapes_utility.h
include/coal/distance_func_matrix.h
include/coal/collision.h
include/coal/collision_func_matrix.h
include/coal/contact_patch.h
include/coal/contact_patch_func_matrix.h
include/coal/contact_patch/contact_patch_solver.h
include/coal/contact_patch/contact_patch_solver.hxx
include/coal/distance.h
include/coal/math/matrix_3f.h
include/coal/math/vec_3f.h
include/coal/math/types.h
include/coal/math/transform.h
include/coal/data_types.h
include/coal/BVH/BVH_internal.h
include/coal/BVH/BVH_model.h
include/coal/BVH/BVH_front.h
include/coal/BVH/BVH_utility.h
include/coal/collision_object.h
include/coal/collision_utility.h
include/coal/hfield.h
include/coal/fwd.hh
include/coal/logging.h
include/coal/mesh_loader/assimp.h
include/coal/mesh_loader/loader.h
include/coal/internal/BV_fitter.h
include/coal/internal/BV_splitter.h
include/coal/internal/shape_shape_func.h
include/coal/internal/shape_shape_contact_patch_func.h
include/coal/internal/intersect.h
include/coal/internal/tools.h
include/coal/internal/traversal_node_base.h
include/coal/internal/traversal_node_bvh_shape.h
include/coal/internal/traversal_node_bvhs.h
include/coal/internal/traversal_node_hfield_shape.h
include/coal/internal/traversal_node_setup.h
include/coal/internal/traversal_node_shapes.h
include/coal/internal/traversal_recurse.h
include/coal/internal/traversal.h
include/coal/serialization/fwd.h
include/coal/serialization/serializer.h
include/coal/serialization/archive.h
include/coal/serialization/transform.h
include/coal/serialization/AABB.h
include/coal/serialization/BV_node.h
include/coal/serialization/BV_splitter.h
include/coal/serialization/BVH_model.h
include/coal/serialization/collision_data.h
include/coal/serialization/contact_patch.h
include/coal/serialization/collision_object.h
include/coal/serialization/convex.h
include/coal/serialization/eigen.h
include/coal/serialization/geometric_shapes.h
include/coal/serialization/memory.h
include/coal/serialization/OBB.h
include/coal/serialization/RSS.h
include/coal/serialization/OBBRSS.h
include/coal/serialization/kIOS.h
include/coal/serialization/kDOP.h
include/coal/serialization/hfield.h
include/coal/serialization/quadrilateral.h
include/coal/serialization/triangle.h
include/coal/timings.h
)
if(COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL)
SET(HPP_FCL_BACKWARD_COMPATIBILITY_HEADERS
include/hpp/fcl/broadphase/broadphase_bruteforce.h
include/hpp/fcl/broadphase/broadphase_callbacks.h
include/hpp/fcl/broadphase/broadphase_collision_manager.h
include/hpp/fcl/broadphase/broadphase_continuous_collision_manager.h
include/hpp/fcl/broadphase/broadphase_continuous_collision_manager-inl.h
include/hpp/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h
include/hpp/fcl/broadphase/broadphase_dynamic_AABB_tree_array-inl.h
include/hpp/fcl/broadphase/broadphase_dynamic_AABB_tree.h
include/hpp/fcl/broadphase/broadphase_dynamic_AABB_tree-inl.h
include/hpp/fcl/broadphase/broadphase.h
include/hpp/fcl/broadphase/broadphase_interval_tree.h
include/hpp/fcl/broadphase/broadphase_SaP.h
include/hpp/fcl/broadphase/broadphase_spatialhash.h
include/hpp/fcl/broadphase/broadphase_spatialhash-inl.h
include/hpp/fcl/broadphase/broadphase_SSaP.h
include/hpp/fcl/broadphase/default_broadphase_callbacks.h
include/hpp/fcl/broadphase/detail/hierarchy_tree_array.h
include/hpp/fcl/broadphase/detail/hierarchy_tree_array-inl.h
include/hpp/fcl/broadphase/detail/hierarchy_tree.h
include/hpp/fcl/broadphase/detail/hierarchy_tree-inl.h
include/hpp/fcl/broadphase/detail/interval_tree.h
include/hpp/fcl/broadphase/detail/interval_tree_node.h
include/hpp/fcl/broadphase/detail/morton.h
include/hpp/fcl/broadphase/detail/morton-inl.h
include/hpp/fcl/broadphase/detail/node_base_array.h
include/hpp/fcl/broadphase/detail/node_base_array-inl.h
include/hpp/fcl/broadphase/detail/node_base.h
include/hpp/fcl/broadphase/detail/node_base-inl.h
include/hpp/fcl/broadphase/detail/simple_hash_table.h
include/hpp/fcl/broadphase/detail/simple_hash_table-inl.h
include/hpp/fcl/broadphase/detail/simple_interval.h
include/hpp/fcl/broadphase/detail/simple_interval-inl.h
include/hpp/fcl/broadphase/detail/sparse_hash_table.h
include/hpp/fcl/broadphase/detail/sparse_hash_table-inl.h
include/hpp/fcl/broadphase/detail/spatial_hash.h
include/hpp/fcl/broadphase/detail/spatial_hash-inl.h
include/hpp/fcl/BV/AABB.h
include/hpp/fcl/BV/BV.h
include/hpp/fcl/BV/BV_node.h
include/hpp/fcl/BVH/BVH_front.h
include/hpp/fcl/BVH/BVH_internal.h
include/hpp/fcl/BVH/BVH_model.h
include/hpp/fcl/BVH/BVH_utility.h
include/hpp/fcl/BV/kDOP.h
include/hpp/fcl/BV/kIOS.h
include/hpp/fcl/BV/OBB.h
include/hpp/fcl/BV/OBBRSS.h
include/hpp/fcl/BV/RSS.h
include/hpp/fcl/coal.hpp
include/hpp/fcl/collision_data.h
include/hpp/fcl/collision_func_matrix.h
include/hpp/fcl/collision.h
include/hpp/fcl/collision_object.h
include/hpp/fcl/collision_utility.h
include/hpp/fcl/config.hh
include/hpp/fcl/contact_patch/contact_patch_solver.h
include/hpp/fcl/contact_patch/contact_patch_solver.hxx
include/hpp/fcl/contact_patch_func_matrix.h
include/hpp/fcl/contact_patch.h
include/hpp/fcl/data_types.h
include/hpp/fcl/deprecated.hh
include/hpp/fcl/distance_func_matrix.h
include/hpp/fcl/distance.h
include/hpp/fcl/fwd.hh
include/hpp/fcl/hfield.h
include/hpp/fcl/internal/BV_fitter.h
include/hpp/fcl/internal/BV_splitter.h
include/hpp/fcl/internal/intersect.h
include/hpp/fcl/internal/shape_shape_contact_patch_func.h
include/hpp/fcl/internal/shape_shape_func.h
include/hpp/fcl/internal/tools.h
include/hpp/fcl/internal/traversal.h
include/hpp/fcl/internal/traversal_node_base.h
include/hpp/fcl/internal/traversal_node_bvhs.h
include/hpp/fcl/internal/traversal_node_bvh_shape.h
include/hpp/fcl/internal/traversal_node_hfield_shape.h
include/hpp/fcl/internal/traversal_node_setup.h
include/hpp/fcl/internal/traversal_node_shapes.h
include/hpp/fcl/internal/traversal_recurse.h
include/hpp/fcl/internal/traversal_node_octree.h
include/hpp/fcl/logging.h
include/hpp/fcl/math/matrix_3f.h
include/hpp/fcl/math/transform.h
include/hpp/fcl/math/types.h
include/hpp/fcl/math/vec_3f.h
include/hpp/fcl/mesh_loader/assimp.h
include/hpp/fcl/mesh_loader/loader.h
include/hpp/fcl/narrowphase/gjk.h
include/hpp/fcl/narrowphase/minkowski_difference.h
include/hpp/fcl/narrowphase/narrowphase_defaults.h
include/hpp/fcl/narrowphase/narrowphase.h
include/hpp/fcl/narrowphase/support_functions.h
include/hpp/fcl/octree.h
include/hpp/fcl/serialization/AABB.h
include/hpp/fcl/serialization/archive.h
include/hpp/fcl/serialization/BVH_model.h
include/hpp/fcl/serialization/BV_node.h
include/hpp/fcl/serialization/BV_splitter.h
include/hpp/fcl/serialization/collision_data.h
include/hpp/fcl/serialization/collision_object.h
include/hpp/fcl/serialization/contact_patch.h
include/hpp/fcl/serialization/convex.h
include/hpp/fcl/serialization/eigen.h
include/hpp/fcl/serialization/fwd.h
include/hpp/fcl/serialization/geometric_shapes.h
include/hpp/fcl/serialization/hfield.h
include/hpp/fcl/serialization/kDOP.h
include/hpp/fcl/serialization/kIOS.h
include/hpp/fcl/serialization/memory.h
include/hpp/fcl/serialization/OBB.h
include/hpp/fcl/serialization/OBBRSS.h
include/hpp/fcl/serialization/octree.h
include/hpp/fcl/serialization/quadrilateral.h
include/hpp/fcl/serialization/RSS.h
include/hpp/fcl/serialization/serializer.h
include/hpp/fcl/serialization/transform.h
include/hpp/fcl/serialization/triangle.h
include/hpp/fcl/shape/convex.h
include/hpp/fcl/shape/details/convex.hxx
include/hpp/fcl/shape/geometric_shapes.h
include/hpp/fcl/shape/geometric_shapes_traits.h
include/hpp/fcl/shape/geometric_shapes_utility.h
include/hpp/fcl/shape/geometric_shape_to_BVH_model.h
include/hpp/fcl/timings.h
include/hpp/fcl/warning.hh
)
LIST(APPEND ${PROJECT_NAME}_HEADERS ${HPP_FCL_BACKWARD_COMPATIBILITY_HEADERS})
HEADER_INSTALL(COMPONENT hpp-fcl-compatibility ${HPP_FCL_BACKWARD_COMPATIBILITY_HEADERS})
endif()
IF(COAL_HAS_OCTOMAP)
LIST(APPEND ${PROJECT_NAME}_HEADERS
include/coal/octree.h
include/coal/serialization/octree.h
include/coal/internal/traversal_node_octree.h
)
ENDIF(COAL_HAS_OCTOMAP)
add_subdirectory(doc)
add_subdirectory(src)
if (BUILD_PYTHON_INTERFACE)
add_subdirectory(python)
endif ()
if(BUILD_TESTING)
add_subdirectory(test)
endif(BUILD_TESTING)
pkg_config_append_libs("coal")
IF(COAL_HAS_OCTOMAP)
# FCL_HAVE_OCTOMAP kept for backward compatibility reasons.
PKG_CONFIG_APPEND_CFLAGS(
"-DCOAL_HAS_OCTOMAP -DCOAL_HAVE_OCTOMAP -DFCL_HAVE_OCTOMAP -DOCTOMAP_MAJOR_VERSION=${OCTOMAP_MAJOR_VERSION} -DOCTOMAP_MINOR_VERSION=${OCTOMAP_MINOR_VERSION} -DOCTOMAP_PATCH_VERSION=${OCTOMAP_PATCH_VERSION}")
ENDIF(COAL_HAS_OCTOMAP)
# Install catkin package.xml
INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
# Allows Colcon to find non-Ament packages when using workspace underlays
file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME} "")
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME} DESTINATION share/ament_index/resource_index/packages)
file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/ament_prefix_path.dsv "prepend-non-duplicate;AMENT_PREFIX_PATH;")
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/ament_prefix_path.dsv DESTINATION share/${PROJECT_NAME}/hook)
file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/python_path.dsv "prepend-non-duplicate;PYTHONPATH;${PYTHON_SITELIB}")
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/share/${PROJECT_NAME}/hook/python_path.dsv DESTINATION share/${PROJECT_NAME}/hook)
if(COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL)
include(CMakePackageConfigHelpers)
write_basic_package_version_file(hpp-fclConfigVersion.cmake
VERSION 3.0.0
COMPATIBILITY AnyNewerVersion)
install(FILES hpp-fclConfig.cmake ${CMAKE_CURRENT_BINARY_DIR}/hpp-fclConfigVersion.cmake
DESTINATION lib/cmake/hpp-fcl
COMPONENT hpp-fcl-compatibility)
include("${JRL_CMAKE_MODULES}/install-helpers.cmake")
add_install_target(NAME hpp-fcl-compatibility COMPONENT hpp-fcl-compatibility)
endif()
setup_project_finalize()