CMakeLists.txt

#
# Software License Agreement (BSD License)
#
#  Copyright (c) 2014 CNRS-LAAS
#  Author: Florent Lamiraux
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#
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#  are met:
#
#   * Redistributions of source code must retain the above copyright
#     notice, this list of conditions and the following disclaimer.
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#     disclaimer in the documentation and/or other materials provided
#     with the distribution.
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#     from this software without specific prior written permission.
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#  POSSIBILITY OF SUCH DAMAGE.

set(LIBRARY_NAME ${PROJECT_NAME})
set(${LIBRARY_NAME}_SOURCES
  collision.cpp
  distance_func_matrix.cpp
  collision_data.cpp
  collision_node.cpp
  collision_object.cpp
  BV/RSS.cpp
  BV/AABB.cpp
  BV/kIOS.cpp
  BV/kDOP.cpp
  BV/OBBRSS.cpp
  BV/OBB.cpp
  narrowphase/narrowphase.cpp
  narrowphase/gjk.cpp
  narrowphase/details.h
  shape/geometric_shapes.cpp
  shape/geometric_shapes_utility.cpp
  distance_box_halfspace.cpp
  distance_box_plane.cpp
  distance_box_sphere.cpp
  distance_capsule_capsule.cpp
  distance_capsule_halfspace.cpp
  distance_capsule_plane.cpp
  distance_cone_halfspace.cpp
  distance_cone_plane.cpp
  distance_cylinder_halfspace.cpp
  distance_cylinder_plane.cpp
  distance_sphere_sphere.cpp
  distance_sphere_cylinder.cpp
  distance_sphere_halfspace.cpp
  distance_sphere_plane.cpp
  intersect.cpp
  math/transform.cpp
  traversal/traversal_recurse.cpp
  profile.cpp
  distance.cpp
  BVH/BVH_utility.cpp
  BVH/BV_fitter.cpp
  BVH/BVH_model.cpp
  BVH/BV_splitter.cpp
  collision_func_matrix.cpp
  collision_utility.cpp
  mesh_loader/assimp.cpp
  mesh_loader/loader.cpp
  )

SET(PROJECT_HEADERS_FULL_PATH)
FOREACH(header ${${PROJECT_NAME}_HEADERS})
  LIST(APPEND PROJECT_HEADERS_FULL_PATH ${PROJECT_SOURCE_DIR}/${header})
ENDFOREACH()
LIST(APPEND PROJECT_HEADERS_FULL_PATH ${PROJECT_BINARY_DIR}/include/hpp/fcl/config.hh)
add_library(${LIBRARY_NAME}
  SHARED
  ${PROJECT_HEADERS_FULL_PATH}
  ${${LIBRARY_NAME}_SOURCES}
  )

# IDE sources and headers sorting
ADD_SOURCE_GROUP(${LIBRARY_NAME}_SOURCES)
ADD_HEADER_GROUP(PROJECT_HEADERS_FULL_PATH)

TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
  PUBLIC
  Boost::thread
  Boost::date_time
  Boost::system
  )

target_include_directories(${LIBRARY_NAME}
  SYSTEM PUBLIC
  ${EIGEN3_INCLUDE_DIR}
  )

target_include_directories(${LIBRARY_NAME}
  PUBLIC
  $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
  )

PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} assimp)
if (NOT ${ASSIMP_VERSION} VERSION_LESS "2.0.1150")
  target_compile_definitions(${LIBRARY_NAME} PRIVATE -DHPP_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES)
  message(STATUS "Assimp version has unified headers")
else()
  message(STATUS "Assimp version does not have unified headers")
endif()
IF(OCTOMAP_FOUND)
  PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} octomap)
  target_compile_definitions (${LIBRARY_NAME} PUBLIC
    -DHPP_FCL_HAVE_OCTOMAP
    -DOCTOMAP_MAJOR_VERSION=${OCTOMAP_MAJOR_VERSION}
    -DOCTOMAP_MINOR_VERSION=${OCTOMAP_MINOR_VERSION}
    -DOCTOMAP_PATCH_VERSION=${OCTOMAP_PATCH_VERSION})
ENDIF(OCTOMAP_FOUND)

install(TARGETS ${LIBRARY_NAME}
  EXPORT ${TARGETS_EXPORT_NAME}
  DESTINATION ${CMAKE_INSTALL_LIBDIR})