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CMakeLists.txt
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CMakeLists.txt
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if(APPLE)
cmake_minimum_required(VERSION 3.0.00)
elseif(MSVC)
cmake_minimum_required(VERSION 3.1.3)
else()
cmake_minimum_required(VERSION 2.8.12)
endif()
# Set the CMAKE_CXX_COMPILER_ID variable to AppleClang instead of Clang.
# AppleClang and Clang have different version number. This was introduced in
# CMake 3.0.
if(POLICY CMP0025)
cmake_policy(SET CMP0025 NEW)
endif()
# Use MACOSX_RPATH by default on OS X. This was added in CMake 2.8.12 and
# became default in CMake 3.0. Explicitly setting this policy is necessary to
# suppress a warning in CMake 3.0 and above.
if(POLICY CMP0042)
cmake_policy(SET CMP0042 NEW)
endif()
project(fcl CXX C)
option(FCL_ENABLE_PROFILING "Enable profiling" OFF)
option(FCL_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" OFF)
# Option for some bundle-like build system in order not to expose
# any FCL binary symbols in their public ABI
option(FCL_HIDE_ALL_SYMBOLS "Hide all binary symbols" OFF)
# set the default build type
if (NOT MSVC AND NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif()
# This shouldn't be necessary, but there has been trouble
# with MSVC being set off, but MSVCXX ON.
if(MSVC OR MSVC90 OR MSVC10)
set(MSVC ON)
endif (MSVC OR MSVC90 OR MSVC10)
set(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/lib)
set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules")
include(FCLMacros)
include(CompilerSettings)
include(FCLVersion)
include(GNUInstallDirs)
include(GenerateExportHeader)
if(MSVC OR IS_ICPC)
option(FCL_STATIC_LIBRARY "Whether the FCL library should be static rather than shared" ON)
else()
option(FCL_STATIC_LIBRARY "Whether the FCL library should be static rather than shared" OFF)
endif()
# Whether to enable SSE
set(SSE_FLAGS "")
option(FCL_USE_X64_SSE "Whether FCL should x64 SSE instructions" ON)
if(FCL_USE_X64_SSE)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
set(SSE_FLAGS -mfpmath=sse -msse -msse2 -msse3 -mssse3)
elseif(MSVC)
# Win64 will add the flag automatically
if(CMAKE_VS_PLATFORM_NAME STREQUAL "Win32")
set(SSE_FLAGS /arch:SSE2)
endif()
endif()
add_compile_options(${SSE_FLAGS})
endif()
option(FCL_USE_HOST_NATIVE_ARCH "Whether FCL should use cflags from the host used to compile" OFF)
if (FCL_USE_HOST_NATIVE_ARCH)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native")
else()
message(WARNING "FCL_USE_HOST_NATIVE_ARCH is only supported in Linux. No effect.")
endif()
endif()
# DEPRECATED: old cmake option. Not strictly correct from the semantic point of view
# it was activating march=native, not only SSE
option(FCL_USE_SSE "(deprecated) Whether FCL should SSE instructions" OFF)
if(FCL_USE_SSE)
set(FCL_HAVE_SSE TRUE)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
message(WARNING "FCL_USE_SSE is deprecated please use: FCL_USE_X64_SSE or FCL_USE_HOST_NATIVE_ARCH. "
"If you want to replicate the previous behaviour use FCL_USE_HOST_NATIVE_ARCH")
add_definitions(-march=native)
elseif(MSVC)
# Win64 will add the flag automatically
if("$CMAKE_VS_PLATFORM_NAME}" STREQUAL "Win32")
add_definitions(/arch:SSE2)
endif()
endif()
endif()
# Coveralls support
option(FCL_COVERALLS "Turn on coveralls support" OFF)
option(FCL_COVERALLS_UPLOAD "Upload the generated coveralls json" ON)
if(FCL_COVERALLS)
include(Coveralls)
coveralls_turn_on_coverage()
endif()
find_package(PkgConfig QUIET)
set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH ON)
#===============================================================================
# Find required dependency Eigen3 (>= 3.0.5)
#
# If Eigen3 is not found, manually set the cache variable EIGEN3_INCLUDE_DIR
#===============================================================================
find_package(Eigen3 3.0.5 QUIET CONFIG)
# If Eigen3Config.cmake is not found, use the FindEigen3.cmake module
if(NOT Eigen3_FOUND)
find_package(Eigen3 3.0.5 QUIET MODULE)
set(Eigen3_FOUND ON)
endif()
if(Eigen3_FOUND)
set(FCL_HAVE_EIGEN TRUE)
else()
message(SEND_ERROR "EIGEN3 (>= 3.0.5) is required by FCL")
set(FCL_HAVE_EIGEN FALSE)
endif()
#===============================================================================
# Find required dependency libccd
#
# If libccd is not found, manually set the cache variables CCD_INCLUDE_DIR and
# CCD_LIBRARY
#===============================================================================
find_package(ccd QUIET)
# If ccd-config.cmake is not found, use pkg-config and/or find_path() and
# find_library()
if(NOT ccd_FOUND)
if(PKG_CONFIG_FOUND)
pkg_check_modules(PC_CCD ccd)
pkg_check_modules(PC_LIBCCD libccd)
endif()
find_path(CCD_INCLUDE_DIR ccd/ccd.h
HINTS "${PC_CCD_INCLUDE_DIRS}" "${PC_LIBCCD_INCLUDE_DIRS}")
# Using find_library() even if pkg-config is available ensures that the full
# path to the ccd library is available in CCD_LIBRARIES
find_library(CCD_LIBRARY ccd
HINTS "${PC_CCD_LIBRARY_DIRS}" "${PC_LIBCCD_LIBRARY_DIRS}")
# libccd links to LibM on UNIX.
if(CYGWIN OR NOT WIN32)
find_library(M_LIBRARY m)
endif()
if(CCD_INCLUDE_DIR AND CCD_LIBRARY)
set(CCD_INCLUDE_DIRS "${CCD_INCLUDE_DIR}")
set(CCD_LIBRARIES "${CCD_LIBRARY}" "${M_LIBRARY}")
set(ccd_FOUND ON)
mark_as_advanced(CCD_INCLUDE_DIR CCD_LIBRARY)
endif()
endif()
if(NOT ccd_FOUND)
message(FATAL_ERROR "CCD is required by FCL")
endif()
set(PKG_EXTERNAL_DEPS "ccd eigen3")
#===============================================================================
# Find optional dependency OctoMap
#
# If OctoMap is not found, manually set the cache variables OCTOMAP_INCLUDE_DIR
# and OCTOMAP_LIBRARY, OCTOMATH_LIBRARY, and OCTOMAP_VERSION
#===============================================================================
option(FCL_WITH_OCTOMAP "OctoMap library support" ON)
set(FCL_HAVE_OCTOMAP 0)
if(FCL_WITH_OCTOMAP)
find_package(octomap QUIET)
# Older versions of octomap-config.cmake may not define OCTOMAP_VERSION so
# fall back to pkg-config
if(NOT octomap_FOUND OR NOT OCTOMAP_VERSION)
if(PKG_CONFIG_FOUND)
pkg_check_modules(PC_OCTOMAP octomap)
endif()
find_path(OCTOMAP_INCLUDE_DIR octomap/octomap.h
HINTS "${PC_OCTOMAP_INCLUDE_DIRS}")
# Using find_library() even if pkg-config is available ensures that the full
# paths to the octomap and octomath libraries are set in OCTOMAP_LIBRARIES
find_library(OCTOMAP_LIBRARY octomap
HINTS "${PC_OCTOMAP_LIBRARY_DIRS}")
find_library(OCTOMATH_LIBRARY octomath
HINTS "${PC_OCTOMAP_LIBRARY_DIRS}")
# Use a cache variable so that the version can be manually set if pkg-config
# is not available
set(OCTOMAP_VERSION "${PC_OCTOMAP_VERSION}"
CACHE STRING "octomap version (major.minor.patch)")
if(OCTOMAP_INCLUDE_DIR AND OCTOMAP_LIBRARY AND OCTOMATH_LIBRARY AND OCTOMAP_VERSION)
set(OCTOMAP_INCLUDE_DIRS "${OCTOMAP_INCLUDE_DIR}")
set(OCTOMAP_LIBRARIES "${OCTOMAP_LIBRARY}" "${OCTOMATH_LIBRARY}")
set(octomap_FOUND ON)
mark_as_advanced(OCTOMAP_INCLUDE_DIR OCTOMAP_LIBRARY OCTOMATH_LIBRARY OCTOMAP_VERSION)
else()
set(octomap_FOUND OFF)
endif()
endif()
if(octomap_FOUND)
if(NOT OCTOMAP_MAJOR_VERSION AND NOT OCTOMAP_MINOR_VERSION AND NOT OCTOMAP_PATCH_VERSION)
string(REPLACE "." ";" VERSION_LIST "${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)
endif()
set(FCL_HAVE_OCTOMAP 1)
message(STATUS "FCL uses OctoMap")
set(PKG_EXTERNAL_DEPS "${PKG_EXTERNAL_DEPS} octomap")
else()
message(STATUS "FCL does not use OctoMap")
endif()
else()
message(STATUS "FCL does not use OctoMap (as requested)")
endif()
# FCL's own include dir should be at the front of the include path
include_directories(BEFORE "include")
include_directories(BEFORE "${CMAKE_CURRENT_BINARY_DIR}/include")
add_subdirectory(src)
add_subdirectory(include/fcl)
set(pkg_conf_file_in "${CMAKE_CURRENT_SOURCE_DIR}/fcl.pc.in")
set(pkg_conf_file_out "${CMAKE_CURRENT_BINARY_DIR}/fcl.pc")
set(PKG_DESC "Flexible Collision Library")
if(NOT MSVC)
set(PKG_CFLAGS "-std=c++11")
endif()
configure_file("${pkg_conf_file_in}" "${pkg_conf_file_out}" @ONLY)
install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
FILES_MATCHING PATTERN "*.h" PATTERN "*.hxx"
PATTERN ".DS_Store" EXCLUDE
)
install(FILES "${pkg_conf_file_out}" DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig/ COMPONENT pkgconfig)
# Add uninstall target
configure_file(
"${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules/cmake_uninstall.cmake.in"
"${CMAKE_CURRENT_BINARY_DIR}/CMakeModules/cmake_uninstall.cmake"
IMMEDIATE @ONLY)
add_custom_target(uninstall
"${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/CMakeModules/cmake_uninstall.cmake")
option(FCL_BUILD_TESTS "Build FCL tests" ON)
if(FCL_BUILD_TESTS AND NOT FCL_HIDE_ALL_SYMBOLS)
enable_testing()
add_subdirectory(test)
endif()
#===============================================================================
# API documentation using Doxygen
# References:
# http://mementocodex.wordpress.com/2013/01/19/how-to-generate-code-documentation-with-doxygen-and-cmake-a-slightly-improved-approach/
# http://www.cmake.org/pipermail/cmake/2007-February/012796.html
#===============================================================================
# Doxygen
find_package(Doxygen QUIET)
if(DOXYGEN_FOUND)
set(DOXYGEN_DOXYFILE_IN ${PROJECT_SOURCE_DIR}/doc/Doxyfile.in )
set(DOXYGEN_DOXYFILE ${PROJECT_BINARY_DIR}/doc/Doxyfile )
set(DOXYGEN_HTML_INDEX ${PROJECT_SOURCE_DIR}/doc/doxygen/index.html )
set(DOXYGEN_OUTPUT_ROOT ${PROJECT_SOURCE_DIR}/doc/doxygen )
set(DOXYGEN_GENERATE_TAGFILE ${DOXYGEN_OUTPUT_ROOT}/${PROJECT_NAME}.tag)
set(DOXYGEN_INCLUDE_PATH ${PROJECT_SOURCE_DIR} )
set(DOXYGEN_INPUT_ROOT "${PROJECT_SOURCE_DIR}/include ${PROJECT_SOURCE_DIR}/src")
configure_file(${DOXYGEN_DOXYFILE_IN} ${DOXYGEN_DOXYFILE} @ONLY)
add_custom_command(OUTPUT ${DOXYGEN_HTML_INDEX}
COMMAND ${CMAKE_COMMAND} -E echo_append "Building API Documentation..."
COMMAND ${DOXYGEN_EXECUTABLE} -u ${DOXYGEN_DOXYFILE}
COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_DOXYFILE}
COMMAND ${CMAKE_COMMAND} -E echo "Done."
WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/doc
DEPENDS ${DOXYGEN_DOXYFILE}
)
add_custom_target(docs DEPENDS ${DOXYGEN_HTML_INDEX})
add_custom_target(docs_forced
COMMAND ${CMAKE_COMMAND} -E echo_append "Building API Documentation..."
COMMAND ${DOXYGEN_EXECUTABLE} -u ${DOXYGEN_DOXYFILE}
COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_DOXYFILE}
COMMAND ${CMAKE_COMMAND} -E echo "Done."
WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/doc
)
endif()