CMakeLists.txt

#
# Software License Agreement (BSD License)
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#  Copyright (c) 2014 CNRS-LAAS
#  Author: Florent Lamiraux, Joseph Mirabel
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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")

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/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()