.dockerignore

+build/

.gitignore

@@ -3,6 +3,7 @@ build*
 !.gitkeep
 !.gitignore
 .idea
+.venv
 
 *.bak
 *#
@@ -27,6 +28,7 @@ CMakeLists.txt.user*
 *.dylib
 moc_*
 
+
 # eclipse stuff
 .project
 .pydevproject
@@ -34,3 +36,19 @@ moc_*
 .metadata
 .cproject
 .project
+
+# qtcreator project stuff
+*.pro
+*.pro.user
+
+.cmake/api/v1/query/cache-v2
+.cmake/api/v1/query/codemodel-v2
+.cmake/api/v1/query/cmakeFiles-v1
+
+# vscode stuff
+.vscode
+
+# clangd
+.cache
+.clang-format
+.clang-tidy

.gitlab-ci.yml

+stages:
+  - build-and-test
+  - deploy
+  - post-deploy-test
+  - downstream
+
+
+.build-and-test:
+
+  cache:
+    # https://docs.gitlab.com/ee/ci/caching/#share-caches-across-jobs-in-different-branches
+    key: one-key-to-rule-them-all
+    paths:
+      - .ccache
+
+  before_script:
+    # Ccache configuration and introspection.
+    - apt-get update
+    - apt-get install ccache --yes
+    - ccache --set-config=cache_dir="$CI_PROJECT_DIR/.ccache"
+    - ccache --max-size=5G
+    - ccache --show-stats
+
+    # Activate Axii.
+    - source /axii/scripts/install_axii.sh
+
+  script:
+    # Create workspace.
+    - axii workspace create ~/workspace workspace
+    - axii workspace activate workspace
+    - _axii_auto_env_refresh
+
+    # Use workspace configuration from project.
+    - cp "$CI_PROJECT_DIR/.gitlab/ci/armarx-workspace.json" "$ARMARX_WORKSPACE/armarx-workspace.json"
+    - cat "$ARMARX_WORKSPACE/armarx-workspace.json"
+
+    - axii workspace env
+    - _axii_auto_env_refresh
+
+    - echo "Workspace information:"
+    - axii workspace list-modules
+    - axii workspace list-modules --deps
+    - axii workspace info
+
+    - export PROJECT_PATH_IN_WORKSPACE="$simox__PATH"
+
+    # Symlink project directory into Axii workspace.
+    - mkdir -p "$(dirname $PROJECT_PATH_IN_WORKSPACE)"
+    - ln -s "$CI_PROJECT_DIR" "$PROJECT_PATH_IN_WORKSPACE"
+
+    # Upgrade.
+    - axii workspace system --accept-apt-install
+    - axii workspace update --prefer-https
+    - _axii_auto_env_refresh
+
+    # Upgrade.
+    - axii workspace upgrade -m simox
+    - _axii_auto_env_refresh
+
+    - ccache --show-stats
+
+    # Test.
+    # ToDo: Add and use `axii ws test -m simox`
+    - cd "$PROJECT_PATH_IN_WORKSPACE/build"
+    - ctest --output-on-failure --output-junit "$CI_PROJECT_DIR/report.xml" .
+
+    # Generate documentation.
+    - cd "$PROJECT_PATH_IN_WORKSPACE/build"
+    - make doc
+    - du -sh *
+    - du -sh doc/*
+
+
+build-and-test-bionic:
+  stage: build-and-test
+  extends: .build-and-test
+
+  image: git.h2t.iar.kit.edu:5050/sw/armarx/meta/axii:latest-bionic
+
+  artifacts:
+    reports:
+      junit: report.xml
+
+    name: "Simox-Documentation-$CI_COMMIT_REF_NAME"
+    paths:
+      - build/doc/html/
+
+
+build-and-test-jammy:
+  stage: build-and-test
+  extends: .build-and-test
+
+  image: git.h2t.iar.kit.edu:5050/sw/armarx/meta/axii:latest-jammy
+
+
+docker-bionic:
+  stage: deploy
+  needs: ["build-and-test-bionic"]
+  image:
+    name: gcr.io/kaniko-project/executor:v1.9.0-debug
+    entrypoint: [""]
+  script:
+    - /kaniko/executor
+      --context "${CI_PROJECT_DIR}"
+      --dockerfile "${CI_PROJECT_DIR}/docker/bionic"
+      --destination "${CI_REGISTRY_IMAGE}:latest-bionic"
+
+  rules:
+    - if: $CI_COMMIT_BRANCH == "master"
+
+
+docker-jammy:
+  stage: deploy
+  needs: ["build-and-test-jammy"]
+  image:
+    name: gcr.io/kaniko-project/executor:v1.9.0-debug
+    entrypoint: [""]
+  script:
+    - /kaniko/executor
+      --context "${CI_PROJECT_DIR}"
+      --dockerfile "${CI_PROJECT_DIR}/docker/jammy"
+      --destination "${CI_REGISTRY_IMAGE}:latest-jammy"
+
+  rules:
+    - if: $CI_COMMIT_BRANCH == "master"
+
+
+.test-docker-image-common:
+
+  before_script:
+    - source /axii/scripts/install_axii.sh
+    - _axii_auto_env_refresh
+
+  script:
+    - echo "ArmarX Workspace = '$ARMARX_WORKSPACE'"
+    - printenv
+
+    - axii workspace list-modules
+    - axii workspace list-modules --deps
+    - axii workspace info
+
+    - echo "Simox directory = '$Simox_DIR'"
+    - which RobotViewer
+
+
+test-docker-image-bionic:
+  stage: post-deploy-test
+  needs: ["docker-bionic"]
+  extends: .test-docker-image-common
+
+  image: git.h2t.iar.kit.edu:5050/sw/simox/simox:latest-bionic
+
+  rules:
+    - if: $CI_COMMIT_BRANCH == "master"
+
+
+test-docker-image-jammy:
+  stage: post-deploy-test
+  needs: ["docker-jammy"]
+  extends: .test-docker-image-common
+
+  image: git.h2t.iar.kit.edu:5050/sw/simox/simox:latest-jammy
+
+  rules:
+    - if: $CI_COMMIT_BRANCH == "master"
+
+
+armarx-core:
+  stage: downstream
+
+  variables:
+    TODO_ENV_VARIABLE: "This variable will be available to the CI pipeline of ArmarXCore."
+
+  trigger:
+    project: sw/armarx/armarx-core
+    # This is optional, but we could tell ArmarX which Simox branch to use.
+    branch: master
+
+  rules:
+    - if: $CI_COMMIT_BRANCH == "master"

.gitlab/CODEOWNERS

+/SimDynamics/ @rietsch @nefzer
+/SimoxUtility @meixner @reister
+/VirtualRobot @meixner @reister
+/GraspPlanning @hyseni
+/GeometricPlanning @reister

.gitlab/ci/armarx-workspace.json

+{
+  "modules": {
+    "tools/ccache/default": {},
+    "deps/doxygen": {},
+    "simox": {}
+  },
+  "global": {
+    "prepare": {
+      "cmake": {
+        "definitions": {
+          "CMAKE_BUILD_TYPE": "RelWithDebInfo",
+          "CMAKE_C_COMPILER_LAUNCHER": "$CCACHE",
+          "CMAKE_CXX_COMPILER_LAUNCHER": "$CCACHE"
+        }
+      }
+    }
+  }
+}

CMakeLists.txt

 cmake_minimum_required(VERSION 3.10)
+MESSAGE (STATUS "cmake version: ${CMAKE_VERSION}")
 
+# If OS is Ubuntu 20 we nned to change some things
+execute_process(COMMAND lsb_release -cs
+    OUTPUT_VARIABLE RELEASE_CODENAME
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+)
 #######################################################################################
 PROJECT(Simox LANGUAGES CXX VERSION 2.3.74.0)
 MESSAGE (STATUS "** Simox version: ${Simox_VERSION}")
+INCLUDE(${Simox_SOURCE_DIR}/CMakeModules/SimoxMacros.cmake)
+
+#determine boost version
+if(NOT "" STREQUAL "${Simox_BOOST_VERSION}")
+    #keep the value
+elseif(NOT "" STREQUAL "$ENV{Simox_BOOST_VERSION}")
+    message(STATUS "Use boost version from env variable Simox_BOOST_VERSION")
+    SET(Simox_BOOST_VERSION $ENV{Simox_BOOST_VERSION})
+elseif(RELEASE_CODENAME STREQUAL focal OR RELEASE_CODENAME STREQUAL odin OR RELEASE_CODENAME STREQUAL jolnir)
+    SET(Simox_BOOST_VERSION 1.71.0)
+elseif(RELEASE_CODENAME STREQUAL impish)
+    SET(Simox_BOOST_VERSION 1.74.0)
+elseif(RELEASE_CODENAME STREQUAL jammy OR RELEASE_CODENAME STREQUAL horus)
+    SET(Simox_BOOST_VERSION 1.74.0)
+elseif(RELEASE_CODENAME STREQUAL noble) #Ubuntu 24
+    SET(Simox_BOOST_VERSION 1.83.0)
+else()
+    SET(Simox_BOOST_VERSION 1.65.1)
+endif()
+message(STATUS "Using Boost Version ${Simox_BOOST_VERSION}")
 #######################################################################################
 #global config
 # Set up build type
 
+if(NOT "$ENV{CMAKE_UNITY_BUILD_BATCH_SIZE}" STREQUAL "")
+    message(STATUS "CMAKE_UNITY_BUILD_BATCH_SIZE -> $ENV{CMAKE_UNITY_BUILD_BATCH_SIZE}")
+    set(CMAKE_UNITY_BUILD ON)
+    set(CMAKE_UNITY_BUILD_BATCH_SIZE $ENV{CMAKE_UNITY_BUILD_BATCH_SIZE})
+endif()
+
 IF(NOT CMAKE_BUILD_TYPE)
-    SET(CMAKE_BUILD_TYPE RelWithDebInfo CACHE STRING
+    set(CMAKE_BUILD_TYPE "RelWithDebInfo" CACHE STRING
         "Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel."
         FORCE)
-ENDIF()
+endif()
+
+#we want Release and RelWithDebInfo to use the same optimization level
+string(REGEX MATCH "([ \t]|^)-O[^ \t]+([ \t]|^)" RELEASE_O_LEVEL ${CMAKE_CXX_FLAGS_RELEASE})
+string(REGEX MATCH "([ \t]|^)-O[^ \t]+([ \t]|^)" RELWITHDEBINFO_O_LEVEL ${CMAKE_CXX_FLAGS_RELWITHDEBINFO})
+if(NOT RELEASE_O_LEVEL STREQUAL RELWITHDEBINFO_O_LEVEL)
+    string(REPLACE "${RELWITHDEBINFO_O_LEVEL}" "${RELEASE_O_LEVEL}" CMAKE_CXX_FLAGS_RELWITHDEBINFO ${CMAKE_CXX_FLAGS_RELWITHDEBINFO})
+    message(STATUS "Changing o level of RelWithDebInfo to match o level of Release (from '${RELWITHDEBINFO_O_LEVEL}' to '${RELEASE_O_LEVEL}')")
+    message(STATUS "CMAKE_CXX_FLAGS_RELWITHDEBINFO = ${CMAKE_CXX_FLAGS_RELWITHDEBINFO}")
+endif()
 
 # cmake 3.10 does not understand c++2a, so we tell it we will handle the standard flag
 set(CMAKE_CXX_STANDARD_DEFAULT)
-add_definitions(-std=c++2a)
+
+include(CheckCXXCompilerFlag)
+CHECK_CXX_COMPILER_FLAG("-std=c++2b" COMPILER_SUPPORTS_CXX2B)
+if(COMPILER_SUPPORTS_CXX2B)
+    message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has C++2b support.")
+    add_definitions(-std=c++2b)
+else()
+    message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++2b support. Using C++2a instead.")
+    add_definitions(-std=c++2a)
+endif()
 
 list(APPEND CMAKE_MODULE_PATH ${Simox_SOURCE_DIR}/CMakeModules)
+list(APPEND CMAKE_MODULE_PATH ${Simox_SOURCE_DIR}/CMakeModules/find_modules)
 MESSAGE (STATUS "** Module path: "  ${CMAKE_MODULE_PATH})
 
 # we want a global automoc
 FIND_PACKAGE(Qt5 5.5.0 COMPONENTS OpenGL Core Gui Widgets)
+set(OpenGL_GL_PREFERENCE LEGACY)
 set(CMAKE_AUTOMOC ON)
 set(CMAKE_AUTOUIC ON)
 set(CMAKE_AUTORCC ON)
 set(CMAKE_INCLUDE_CURRENT_DIR ON)
 
+find_package(qwt QUIET)
+
+FIND_PACKAGE (Eigen3 REQUIRED)
+FIND_PACKAGE(Boost ${Simox_BOOST_VERSION} EXACT COMPONENTS
+    filesystem
+    system
+    program_options
+    thread
+    unit_test_framework
+    regex
+    REQUIRED)
+MESSAGE (STATUS "Boost found at: ${Boost_INCLUDE_DIR}")
+
+FIND_PACKAGE (difflib QUIET)
+
+find_package(nlohmann_json 3.11.3 REQUIRED)
+
+find_package(RBDL REQUIRED)
 
-FIND_PACKAGE(Boost COMPONENTS unit_test_framework REQUIRED)
+
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
 #flags
+add_compile_options(-fsigned-char)
 add_compile_options(-Wall)
 add_compile_options(-Wextra)
 add_compile_options(-Wpedantic)
-#turn warnings about dangerous stuff into errors
-add_compile_options(-Werror)
+message(STATUS "Compiler version: ${CMAKE_CXX_COMPILER_VERSION}")
+if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 8.0)
+    add_compile_options(-fconcepts)
+    #turn warnings about dangerous stuff into errors
+    add_compile_options(-Werror)
+    add_compile_options(-Wno-error=unused-but-set-variable)
+    add_compile_options(-Wno-error=unused-variable)
+    add_compile_options(-Wno-error=unused-parameter)
+    add_compile_options(-Wno-error=deprecated-declarations)
+    add_compile_options(-Wno-error=sign-compare)
+endif()
+
+if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER 9.0)
+    add_compile_options(-Wno-error=deprecated-copy)
+endif()
+
 #######################################################################################
 #options
-OPTION (Simox_USE_RBDL "Use RBDL" OFF)
-OPTION (Simox_USE_URDF "Use URDF" OFF)
+OPTION (Simox_USE_RBDL_LIB "Use RBDL" ON)
 OPTION (Simox_USE_NLOPT "Use NLOPT" ON)
 OPTION(SimDynamics_USE_BULLET "Use Bullet Physics Engine" ON)
 OPTION(Simox_USE_COIN_VISUALIZATION "Use Coin3D for visualization" ON)
@@ -47,14 +132,19 @@ OPTION(Simox_USE_OPENSCENEGRAPH_VISUALIZATION "Use OpenSceneGraph for visualizat
 OPTION(Simox_COLLISION_CHECKER_PQP "Build and use the PQP Collision Detection library (located in ExternalDependencies)" ON)
 #######################################################################################
 MESSAGE(STATUS "******************** Configuring Simox ************************")
+set (Simox_BUILD_VirtualRobot TRUE CACHE BOOL "Build Virtual Robot library")
 set (Simox_BUILD_Saba TRUE CACHE BOOL "Build Motion Planning library")
 set (Simox_BUILD_GraspStudio TRUE CACHE BOOL "Build Grasp Planning library")
 set (Simox_BUILD_SimDynamics TRUE CACHE BOOL "Build Dynamic Simulation")
+set (Simox_BUILD_GeometricPlanning TRUE CACHE BOOL "Build Geometric Planning Library")
 
-MESSAGE (STATUS "** SIMOX BUILD VirtualRobot: TRUE (can't e turned off)")
+MESSAGE (STATUS "** SIMOX BUILD SimoxUtility: TRUE (can't be turned off)")
+MESSAGE (STATUS "** SIMOX BUILD SimoxQtUtility: TRUE (can't be turned off)")
+MESSAGE (STATUS "** SIMOX BUILD VirtualRobot: ${Simox_BUILD_VirtualRobot}")
 MESSAGE (STATUS "** SIMOX BUILD Saba        : ${Simox_BUILD_Saba}")
 MESSAGE (STATUS "** SIMOX BUILD GraspStudio : ${Simox_BUILD_GraspStudio}")
 MESSAGE (STATUS "** SIMOX BUILD SimDynamics : ${Simox_BUILD_SimDynamics}")
+MESSAGE (STATUS "** SIMOX BUILD GeometricPlanning : ${GeometricPlanning}")
 ############################# SETUP PATHS #############################
 if(WIN32 AND NOT CYGWIN)
     set(INSTALL_CMAKE_DIR CMake             CACHE PATH "Installation directory for CMake files")
@@ -64,7 +154,7 @@ endif()
 
 SET(Simox_LIB_DIR ${Simox_BINARY_DIR}/lib)
 SET(Simox_BIN_DIR ${Simox_BINARY_DIR}/bin)
-SET(Simox_DATA_DIR ${CurrentSimoxPath}/VirtualRobot/data)
+SET(Simox_DATA_DIR ${Simox_SOURCE_DIR}/VirtualRobot/data)
 
 MESSAGE (STATUS "** SIMOX LIB DIR: ${Simox_LIB_DIR}")
 MESSAGE (STATUS "** SIMOX BIN DIR: ${Simox_BIN_DIR}")
@@ -80,6 +170,9 @@ MESSAGE (STATUS "** SIMOX INSTALL DATA DIR  : ${Simox_INSTALL_DATA_DIR}")
 MESSAGE (STATUS "** SIMOX INSTALL HEADER DIR: ${Simox_INSTALL_HEADER_DIR}")
 
 MESSAGE(STATUS "** Simox build directory: ${CMAKE_BINARY_DIR}")
+###########################################################
+include(SearchForTinyXML)
+FIND_PACKAGE(urdfdom)
 ########################### IDE settings ################################
 # use virtual folders for grouping projects in IDEs
 set_property(GLOBAL PROPERTY USE_FOLDERS ON)
@@ -93,7 +186,7 @@ IF(UNIX)
         set(Simox_OS_compile_options ${Simox_OS_compile_options} -fPIC)
     ENDIF()
 
-    IF(${CMAKE_BUILD_TYPE} STREQUAL "Debug")
+    IF("${CMAKE_BUILD_TYPE}" STREQUAL "Debug")
         MESSAGE(STATUS "Configuring Debug build")
         set(Simox_OS_compile_options ${Simox_OS_compile_options} -D_DEBUG)
     ELSE()
@@ -137,15 +230,29 @@ INCLUDE(CTest)
 MESSAGE(STATUS "** Test output directory: ${Simox_TEST_DIR}")
 ADD_DEFINITIONS(-DSimox_TEST_DIR=\"${Simox_TEST_DIR}/\")
 
-#######################################################################################
-add_subdirectory(VirtualRobot)
+set (SIMOX_EXPORT_TARGET_LIST "")
 
+if (Simox_USE_RBDL_LIB)
+#     message(STATUS "Using rbdl")
+#     add_subdirectory(3rdParty/rbdl)
+#     list (APPEND SIMOX_EXPORT_TARGET_LIST rbdl)
+#     list (APPEND Simox_LIBRARIES rbdl)
+endif()
 
 #######################################################################################
-set (SIMOX_EXPORT_TARGET_LIST VirtualRobot)
-list (APPEND Simox_LIBRARIES VirtualRobot)
-list(APPEND SIMOX_EXPORT_TARGET_LIST ColCheckerPQP)
+add_subdirectory(SimoxUtility)
+list (APPEND SIMOX_EXPORT_TARGET_LIST SimoxUtility)
+list (APPEND Simox_LIBRARIES          SimoxUtility)
 
+add_subdirectory(SimoxQtUtility)
+list (APPEND SIMOX_EXPORT_TARGET_LIST SimoxQtUtility)
+list (APPEND Simox_LIBRARIES          SimoxQtUtility)
+#######################################################################################
+if (Simox_BUILD_VirtualRobot)
+    add_subdirectory(VirtualRobot)
+    list(APPEND SIMOX_EXPORT_TARGET_LIST VirtualRobot assimp_interface)
+    list(APPEND Simox_LIBRARIES VirtualRobot)
+endif()
 
 #######################################################################################
 if (Simox_BUILD_Saba)
@@ -161,6 +268,13 @@ if (Simox_BUILD_GraspStudio)
     list (APPEND Simox_LIBRARIES GraspStudio)
 endif()
 
+#######################################################################################
+if (Simox_BUILD_GeometricPlanning)
+    add_subdirectory(GeometricPlanning)
+    list(APPEND SIMOX_EXPORT_TARGET_LIST GeometricPlanning)
+    list (APPEND Simox_LIBRARIES GeometricPlanning)
+endif()
+
 #######################################################################################
 if (Simox_BUILD_SimDynamics)
     find_package(Bullet QUIET)
@@ -177,6 +291,8 @@ if (Simox_BUILD_SimDynamics)
     endif()
 endif()
 
+
+
 add_subdirectory(doc)
 
 
@@ -186,8 +302,25 @@ MESSAGE (STATUS "** Simox: Generating CMake files for build and install setup")
 
 # Add all targets to the build-tree export set
 
-export(TARGETS ${SIMOX_EXPORT_TARGET_LIST}
-  FILE "${PROJECT_BINARY_DIR}/SimoxTargets.cmake")
+export(
+  TARGETS
+    ${SIMOX_EXPORT_TARGET_LIST}
+  NAMESPACE
+    Simox::
+  FILE
+    "${PROJECT_BINARY_DIR}/SimoxTargets.cmake"
+)
+
+
+export(
+  TARGETS
+    ${SIMOX_EXPORT_TARGET_LIST}
+#  NAMESPACE
+#    Simox::
+  FILE
+    "${PROJECT_BINARY_DIR}/SimoxTargetsLegacy.cmake"
+)
+
 
 # Export the package for use from the build-tree
 # (this registers the build-tree with a global CMake-registry)
@@ -234,8 +367,20 @@ install(FILES
 
 
 # Install the export set for use with the install-tree
-install(EXPORT SimoxTargets DESTINATION
-  "${INSTALL_CMAKE_DIR}" COMPONENT dev)
+install(
+    EXPORT
+        SimoxTargets
+    DESTINATION "${INSTALL_CMAKE_DIR}"
+    COMPONENT dev
+)
+
+
+install(
+    EXPORT SimoxTargets
+    FILE SimoxTargetsLegacy.cmake
+    DESTINATION "${INSTALL_CMAKE_DIR}"
+    COMPONENT dev
+)
 
 
 #######################################################################################
@@ -276,10 +421,11 @@ SET(CPACK_PACKAGE_DESCRIPTION "Simox - A Robot Simulation, Motion and Grasp Plan
 SET(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Simox - A Robot Simulation, Motion and Grasp Planning Toolbox")
 SET(CPACK_PACKAGE_VENDOR "KIT")
 SET(CPACK_PACKAGE_CONTACT "Nikolaus Vahrenkamp <vahrenkamp@kit.edu>")
-SET(CPACK_PACKAGE_VERSION_MAJOR "${Simox_MAJOR_VERSION}")
-SET(CPACK_PACKAGE_VERSION_MINOR "${Simox_MINOR_VERSION}")
+message("simox version: ${Simox_VERSION_MAJOR}")
+SET(CPACK_PACKAGE_VERSION_MAJOR "${Simox_VERSION_MAJOR}")
+SET(CPACK_PACKAGE_VERSION_MINOR "${Simox_VERSION_MINOR}")
 #SET(CPACK_PACKAGE_VERSION_PATCH "${Simox_PATCH_VERSION}-r${Project_WC_REVISION}")
-SET(CPACK_PACKAGE_VERSION_PATCH "${Simox_PATCH_VERSION}")
+SET(CPACK_PACKAGE_VERSION_PATCH "${Simox_VERSION_PATCH}")
 SET(CPACK_PACKAGE_FILE_NAME "simox_${Project_WC_REVISION}_${CPACK_DEBIAN_ARCHITECTURE}")
 SET(CPACK_SOURCE_PACKAGE_FILE_NAME "simox_${Project_WC_REVISION}")
 set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
@@ -294,7 +440,8 @@ set(CPACK_COMPONENT_APPLICATIONDATA_DISPLAY_NAME "Simox Data")
 set(CPACK_COMPONENT_LIBRARIES_DISPLAY_NAME "Simox Libraries")
 set(CPACK_COMPONENT_HEADERS_DISPLAY_NAME "Simox C++ Headers")
 
-set(CPACK_DEBIAN_PACKAGE_DEPENDS "libbullet-dev, libbulletmultithreaded2.82, libqhull-dev, libnlopt-dev")
+#set(CPACK_DEBIAN_PACKAGE_DEPENDS "libbullet-dev, libbulletmultithreaded2.82, libqhull-dev, libnlopt-dev")
+set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
 
 SET(CPACK_COMPONENTS_ALL Applications Headers Libraries ApplicationData)
 INCLUDE(CPack)
@@ -313,5 +460,3 @@ else()
     add_custom_target(astyle
                       COMMENT "Unable to format source files: AStyle was not found!")
 endif()
-
-

CMakeModules/BulletCheckPrecision.cpp

 #pragma GCC diagnostic ignored "-Wunused-variable"
 #include <btBulletCollisionCommon.h>
 
-int main()
+int
+main()
 {
     btVector3 vec(0.0, 1.0, 0.0);
     btStaticPlaneShape(vec, 0.0);

CMakeModules/FindBullet.cmake

-# Locate Bullet. Original version from osgbullet, http://code.google.com/p/osgbullet/ 
-#
-# This script defines:
-#   BULLET_FOUND, set to 1 if found
-#   BULLET_LIBRARIES
-#   BULLET_INCLUDE_DIRS
-#   BULLET_*_LIBRARY, one for each library (for example, "BULLET_BulletCollision_LIBRARY").
-#   BULLET_*_LIBRARY_debug, one for each library.
-#   BULLET_DEMOS_INCLUDE_DIR - Directory containing the Demos headers
-#   BULLET_OPENGL_INCLUDE_DIR - Include path for OpenGL/DemoApplication/Glut headers
-#
-# This script will look in standard locations for installed Bullet. However, if you
-# install Bullet into a non-standard location, you can use the BULLET_ROOT
-# variable (in environment or CMake) to specify the location.
-#
-# You can also use Bullet out of a source tree by specifying BULLET_SOURCE_DIR
-# and BULLET_BUILD_DIR (in environment or CMake).
-
-SET( BULLET_ROOT "" CACHE PATH "Bullet install dir, parent of both header files and binaries." )
-SET( BULLET_BUILD_DIR "" CACHE PATH "Parent directory of Bullet binary file directories such as src/BulletCollision." )
-SET( BULLET_SOURCE_DIR "" CACHE PATH "Parent directory of Bullet header file directories such as src or include." )
-
-set(BULLET_SEARCH_PATHS)
-macro(add_bullet_search_path p)
-    if(NOT "${p}" STREQUAL "")
-        set(BULLET_SEARCH_PATHS ${BULLET_SEARCH_PATHS} ${p})
-    endif()
-endmacro()
-
-add_bullet_search_path("C:/Program Files/BULLET_PHYSICS")
-
-add_bullet_search_path("$ENV{Bullet_DIR}")
-add_bullet_search_path("${Bullet_DIR}")
-
-add_bullet_search_path("$ENV{BULLET_DIR}")
-add_bullet_search_path("${BULLET_DIR}")
-
-add_bullet_search_path("$ENV{BULLET_ROOT}")
-add_bullet_search_path("${BULLET_ROOT}")
-
-add_bullet_search_path("$ENV{BULLET_SOURCE_DIR}")
-add_bullet_search_path("${BULLET_SOURCE_DIR}")
-
-message(STATUS "Searching bullet using these base paths: ${BULLET_SEARCH_PATHS}")
-
-#UNSET( BULLET_INCLUDE_DIRS CACHE )
-MARK_AS_ADVANCED( BULLET_INCLUDE_DIRS )
-FIND_PATH( BULLET_INCLUDE_DIRS btBulletCollisionCommon.h
-    PATHS
-        ${BULLET_SEARCH_PATHS}
-    PATH_SUFFIXES
-        /BulletCollision
-        /src
-        ../src
-        /include
-        /include/bullet
-        /src/BulletCollision
-        /include/BulletCollision
-        /include/bullet/BulletCollision
-    NO_DEFAULT_PATH
-)
-
-if(NOT BULLET_INCLUDE_DIRS)
-    FIND_PATH( BULLET_INCLUDE_DIRS btBulletCollisionCommon.h
-        PATH_SUFFIXES
-            bullet
-    )
-endif()
-
-MESSAGE (STATUS " **** BULLET_INCLUDE_DIRS: ${BULLET_INCLUDE_DIRS}")
-IF( BULLET_INCLUDE_DIRS )
-    #SET( BULLET_DEMOS_INCLUDE_DIR ${BULLET_INCLUDE_DIRS}/../Demos/OpenGL )
-    FIND_PATH( BULLET_OPENGL_INCLUDE_DIR DemoApplication.h
-    PATHS
-        ${BULLET_INCLUDE_DIRS}
-        ${BULLET_INCLUDE_DIRS}/..
-        ${BULLET_INCLUDE_DIRS}/../OpenGL
-        ${BULLET_INCLUDE_DIRS}/OpenGL
-        ${BULLET_INCLUDE_DIRS}/../Demos/OpenGL
-    )
-    FIND_PATH( BULLET_DEMOS_INCLUDE_DIR GlutDemoApplication.h
-    PATHS
-        ${BULLET_INCLUDE_DIRS}
-        ${BULLET_INCLUDE_DIRS}/..
-        ${BULLET_INCLUDE_DIRS}/../OpenGL
-        ${BULLET_INCLUDE_DIRS}/OpenGL
-        ${BULLET_INCLUDE_DIRS}/../Demos/OpenGL
-    )
-    MESSAGE (STATUS " **** BULLET_OPENGL_INCLUDE_DIR: ${BULLET_OPENGL_INCLUDE_DIR}")
-    MESSAGE (STATUS " **** BULLET_DEMOS_INCLUDE_DIR: ${BULLET_DEMOS_INCLUDE_DIR}")
-ENDIF( BULLET_INCLUDE_DIRS )
-
-MACRO( FIND_BULLET_LIBRARY_DIRNAME LIBNAME DIRNAME )
-    #UNSET( BULLET_${LIBNAME}_LIBRARY CACHE )
-    #UNSET( BULLET_${LIBNAME}_LIBRARY_debug CACHE )
-    MARK_AS_ADVANCED( BULLET_${LIBNAME}_LIBRARY )
-    MARK_AS_ADVANCED( BULLET_${LIBNAME}_LIBRARY_debug )
-    FIND_LIBRARY( BULLET_${LIBNAME}_LIBRARY
-        NAMES
-            ${LIBNAME}
-        PATHS
-            ${BULLET_SEARCH_PATHS}
-        PATH_SUFFIXES
-            ./src/${DIRNAME}
-            ./Extras/${DIRNAME}
-            ./Demos/${DIRNAME}
-            ./src/${DIRNAME}/Release
-            ./Extras/${DIRNAME}/Release
-            ./Demos/${DIRNAME}/Release
-            ./libs/${DIRNAME}
-            ./libs
-            ./lib
-            ./lib/Release # v2.76, new location for build tree libs on Windows
-        NO_DEFAULT_PATH
-        )
-	# check for defualt path if BULLET_ROOT path failed
-	FIND_LIBRARY( BULLET_${LIBNAME}_LIBRARY NAMES ${LIBNAME})
-	
-    FIND_LIBRARY( BULLET_${LIBNAME}_LIBRARY_debug
-        NAMES
-            ${LIBNAME}_d
-            ${LIBNAME}_Debug
-            ${LIBNAME}
-        PATHS
-            ${BULLET_SEARCH_PATHS}
-        PATH_SUFFIXES
-            ./src/${DIRNAME}
-            ./Extras/${DIRNAME}
-            ./Demos/${DIRNAME}
-            ./src/${DIRNAME}/Debug
-            ./Extras/${DIRNAME}/Debug
-            ./Demos/${DIRNAME}/Debug
-            ./libs/${DIRNAME}
-            ./libs
-            ./lib
-            ./lib/Debug # v2.76, new location for build tree libs on Windows
-        NO_DEFAULT_PATH
-        )
-	# check for defualt path if BULLET_ROOT path failed
-	FIND_LIBRARY( BULLET_${LIBNAME}_LIBRARY_debug NAMES ${LIBNAME}_d ${LIBNAME}_Debug ${LIBNAME} )
-
-    #message( STATUS "${BULLET_${LIBNAME}_LIBRARY} and ${BULLET_${LIBNAME}_LIBRARY_debug}" )
-    #message( SEND_ERROR ${LIBNAME} )
-    IF( BULLET_${LIBNAME}_LIBRARY )
-        SET( BULLET_LIBRARIES ${BULLET_LIBRARIES}
-            "optimized" ${BULLET_${LIBNAME}_LIBRARY}
-        )
-    ENDIF( BULLET_${LIBNAME}_LIBRARY )
-    IF( BULLET_${LIBNAME}_LIBRARY_debug )
-        SET( BULLET_LIBRARIES ${BULLET_LIBRARIES}
-            "debug" ${BULLET_${LIBNAME}_LIBRARY_debug}
-        )
-    ENDIF( BULLET_${LIBNAME}_LIBRARY_debug )
-ENDMACRO( FIND_BULLET_LIBRARY_DIRNAME LIBNAME )
-
-MACRO( FIND_BULLET_LIBRARY LIBNAME )
-    FIND_BULLET_LIBRARY_DIRNAME( ${LIBNAME} ${LIBNAME} )
-ENDMACRO( FIND_BULLET_LIBRARY LIBNAME )
-
-
-FIND_BULLET_LIBRARY( BulletDynamics )
-FIND_BULLET_LIBRARY( BulletSoftBody )
-FIND_BULLET_LIBRARY( BulletCollision )
-FIND_BULLET_LIBRARY( BulletMultiThreaded )
-FIND_BULLET_LIBRARY( LinearMath )
-FIND_BULLET_LIBRARY_DIRNAME( OpenGLSupport OpenGL )
-
-# Hide BULLET_LIBRARY in the GUI, since most users can just ignore it
-MARK_AS_ADVANCED( BULLET_LIBRARIES )
-MARK_AS_ADVANCED( BULLET_LIBRARIES_debug )
-
-SET( BULLET_FOUND 0 )
-IF( BULLET_INCLUDE_DIRS AND BULLET_LIBRARIES )
-    SET( BULLET_FOUND 1 )
-ENDIF( BULLET_INCLUDE_DIRS AND BULLET_LIBRARIES )
-
-
-# Possible future support for collision-only (no dynamics)
-IF( BULLET_BulletDynamics_LIBRARY OR BULLET_BulletDynamics_LIBRARY_debug )
-    SET( BULLET_DYNAMICS_FOUND 1 )
-ENDIF( BULLET_BulletDynamics_LIBRARY OR BULLET_BulletDynamics_LIBRARY_debug )

CMakeModules/FindCoin3D.cmake

-# - Find Coin3D (Open Inventor)
-# Coin3D is an implementation of the Open Inventor API.
-# It provides data structures and algorithms for 3D visualization
-# http://www.coin3d.org/
-#
-# This module defines the following variables
-#  COIN3D_FOUND         - system has Coin3D - Open Inventor
-#  COIN3D_INCLUDE_DIRS  - where the Inventor include directory can be found
-#  COIN3D_LIBRARIES     - Link to this to use Coin3D
-#
-# The Coin directory can be defined by the environment variable <Coin3D_DIR>
-
-#=============================================================================
-# Copyright 2008-2009 Kitware, Inc.
-#
-# Distributed under the OSI-approved BSD License (the "License");
-# see accompanying file Copyright.txt for details.
-#
-# This software is distributed WITHOUT ANY WARRANTY; without even the
-# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
-# See the License for more information.
-#=============================================================================
-# (To distribute this file outside of CMake, substitute the full
-#  License text for the above reference.)
-
-IF (WIN32)
-  IF (CYGWIN)
-
-    FIND_PATH(COIN3D_INCLUDE_DIRS Inventor/So.h)
-    FIND_LIBRARY(COIN3D_LIBRARIES Coin)
-
-  ELSE (CYGWIN)
-
-    FIND_PATH(COIN3D_INCLUDE_DIRS Inventor/So.h
-      "[HKEY_LOCAL_MACHINE\\SOFTWARE\\SIM\\Coin3D\\2;Installation Path]/include"
-      $ENV{Coin3D_DIR}/include
-      $ENV{COINDIR}/include
-    )
-
-    FIND_LIBRARY(COIN3D_LIBRARY_DEBUG coin3d
-      "[HKEY_LOCAL_MACHINE\\SOFTWARE\\SIM\\Coin3D\\2;Installation Path]/lib"
-      $ENV{Coin3D_DIR}/lib
-      $ENV{COINDIR}/lib
-    )
-
-    FIND_LIBRARY(COIN3D_LIBRARY_RELEASE coin3
-      "[HKEY_LOCAL_MACHINE\\SOFTWARE\\SIM\\Coin3D\\2;Installation Path]/lib"
-      $ENV{Coin3D_DIR}/lib
-      $ENV{COINDIR}/lib
-    )
-
-    IF (COIN3D_LIBRARY_DEBUG AND COIN3D_LIBRARY_RELEASE)
-      SET(COIN3D_LIBRARIES optimized ${COIN3D_LIBRARY_RELEASE}
-                           debug ${COIN3D_LIBRARY_DEBUG})
-    ELSE (COIN3D_LIBRARY_DEBUG AND COIN3D_LIBRARY_RELEASE)
-      IF (COIN3D_LIBRARY_DEBUG)
-        SET (COIN3D_LIBRARIES ${COIN3D_LIBRARY_DEBUG})
-      ENDIF (COIN3D_LIBRARY_DEBUG)
-      IF (COIN3D_LIBRARY_RELEASE)
-        SET (COIN3D_LIBRARIES ${COIN3D_LIBRARY_RELEASE})
-      ENDIF (COIN3D_LIBRARY_RELEASE)
-    ENDIF (COIN3D_LIBRARY_DEBUG AND COIN3D_LIBRARY_RELEASE)
-
-  ENDIF (CYGWIN)
-
-ELSE (WIN32)
-  IF(APPLE)
-    FIND_PATH(COIN3D_INCLUDE_DIRS Inventor/So.h
-     /Library/Frameworks/Inventor.framework/Headers
-    )
-    FIND_LIBRARY(COIN3D_LIBRARIES Coin
-      /Library/Frameworks/Inventor.framework/Libraries
-    )
-    SET(COIN3D_LIBRARIES "-framework Coin3d" CACHE STRING "Coin3D library for OSX")
-  ELSE(APPLE)
-
-    find_path( COIN3D_INCLUDE_DIRS NAMES Inventor/So.h PATHS $ENV{Coin3D_DIR}/include /usr/include /usr/include/Coin4 /usr/local/include NO_DEFAULT_PATH )
-    find_library( COIN3D_LIBRARIES  NAMES Coin PATHS $ENV{Coin3D_DIR}/lib ${CMAKE_CXX_IMPLICIT_LINK_DIRECTORIES} /usr/local/lib NO_DEFAULT_PATH )
-#FIND_PATH(COIN3D_INCLUDE_DIRS Inventor/So.h $ENV{COIN3D_DIR}/include)
-#FIND_LIBRARY(COIN3D_LIBRARIES Coin $ENV{COIN3D_DIR}/lib)
-
-  ENDIF(APPLE)
-
-ENDIF (WIN32)
-
-# handle the QUIETLY and REQUIRED arguments and set COIN3D_FOUND to TRUE if
-# all listed variables are TRUE
-#INCLUDE("${CMAKE_CURRENT_LIST_DIR}/FindPackageHandleStandardArgs.cmake")
-INCLUDE( FindPackageHandleStandardArgs )
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(Coin3D DEFAULT_MSG COIN3D_LIBRARIES COIN3D_INCLUDE_DIRS)
-
-MARK_AS_ADVANCED(COIN3D_INCLUDE_DIRS COIN3D_LIBRARIES )
-
-

CMakeModules/FindEigen3.cmake

-# - Try to find Eigen3 lib
-#
-# This module supports requiring a minimum version, e.g. you can do
-#   find_package(Eigen3 3.1.2)
-# to require version 3.1.2 or newer of Eigen3.
-#
-# Once done this will define
-#
-#  Eigen3_FOUND - system has eigen lib with correct version
-#  Eigen3_INCLUDE_DIR - the eigen include directory
-#  Eigen3_VERSION - eigen version
-
-# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
-# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
-# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-# Copyright (c) 2011 Manfred Kroehnert <Manfred.Kroehnert@kit.edu> "No all uppercase variable names"
-# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
-
-if(NOT Eigen3_FIND_VERSION)
-  if(NOT Eigen3_FIND_VERSION_MAJOR)
-    set(Eigen3_FIND_VERSION_MAJOR 2)
-  endif(NOT Eigen3_FIND_VERSION_MAJOR)
-  if(NOT Eigen3_FIND_VERSION_MINOR)
-    set(Eigen3_FIND_VERSION_MINOR 91)
-  endif(NOT Eigen3_FIND_VERSION_MINOR)
-  if(NOT Eigen3_FIND_VERSION_PATCH)
-    set(Eigen3_FIND_VERSION_PATCH 0)
-  endif(NOT Eigen3_FIND_VERSION_PATCH)
-
-  set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
-endif(NOT Eigen3_FIND_VERSION)
-
-macro(_eigen3_check_version)
-  file(READ "${Eigen3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
-
-  string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
-  set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
-  string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
-  set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
-  string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
-  set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
-
-  set(Eigen3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
-  if(${Eigen3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
-    set(Eigen3_VERSION_OK FALSE)
-  else(${Eigen3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
-    set(Eigen3_VERSION_OK TRUE)
-  endif(${Eigen3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
-
-  if(NOT Eigen3_VERSION_OK)
-
-    message(STATUS "Eigen3 version ${Eigen3_VERSION} found in ${Eigen3_INCLUDE_DIR}, "
-                   "but at least version ${Eigen3_FIND_VERSION} is required")
-  endif(NOT Eigen3_VERSION_OK)
-endmacro(_eigen3_check_version)
-
-if (Eigen3_INCLUDE_DIR)
-
-  # in cache already
-  _eigen3_check_version()
-  set(Eigen3_FOUND ${Eigen3_VERSION_OK})
-
-else (Eigen3_INCLUDE_DIR)
-
-  find_path(Eigen3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
-      PATHS
-      ${CMAKE_INSTALL_PREFIX}/include
-      ${KDE4_INCLUDE_DIR}
-      ${Eigen3_DIR}
-      $ENV{Eigen3_DIR}
-      /org/share/archive/SFB588_RefDist/eigen3/
-      PATH_SUFFIXES eigen3 eigen
-    )
-
-  if(Eigen3_INCLUDE_DIR)
-    _eigen3_check_version()
-    set(Eigen3_FOUND ${Eigen3_VERSION_OK})
-  endif(Eigen3_INCLUDE_DIR)
-
-  include(FindPackageHandleStandardArgs)
-  find_package_handle_standard_args(Eigen3 DEFAULT_MSG Eigen3_INCLUDE_DIR Eigen3_VERSION_OK)
-
-  mark_as_advanced(Eigen3_INCLUDE_DIR)
-
-endif(Eigen3_INCLUDE_DIR)
-

CMakeModules/FindRBDL.cmake

-# Searches for RBDL includes and library files
-#
-# Sets the variables
-#   RBDL_FOUND
-#   RBDL_INCLUDE_DIR
-#   RBDL_LIBRARIES
-
-SET (RBDL_FOUND FALSE)
-
-FIND_PATH (RBDL_INCLUDE_DIR rbdl/rbdl.h
-	/usr/include
-	/usr/local/include
-	$ENV{HOME}/local/include
-	$ENV{RBDL_PATH}/src
-	$ENV{RBDL_PATH}/include
-	$ENV{RBDL_INCLUDE_PATH}
-	)
-FIND_LIBRARY (RBDL_LIBRARY NAMES rbdl	PATHS
-	/usr/lib
-	/usr/local/lib
-	$ENV{HOME}/local/lib
-	$ENV{RBDL_PATH}
-	$ENV{RBDL_LIBRARY_PATH}
-	)
-
-FIND_LIBRARY (RBDL_LUAMODEL_LIBRARY NAMES rbdl_luamodel	PATHS
-	/usr/lib
-	/usr/local/lib
-	$ENV{HOME}/local/lib
-	$ENV{RBDL_PATH}
-	$ENV{RBDL_LIBRARY_PATH}
-	)
-
-IF (RBDL_INCLUDE_DIR AND RBDL_LIBRARY)
-	SET (RBDL_FOUND TRUE)
-ENDIF (RBDL_INCLUDE_DIR AND RBDL_LIBRARY)
-
-IF (RBDL_LIBRARY AND RBDL_LUAMODEL_LIBRARY)
-	SET (RBDL_LIBRARIES ${RBDL_LIBRARY} ${RBDL_LUAMODEL_LIBRARY})
-ELSE (RBDL_LIBRARY AND RBDL_LUAMODEL_LIBRARY)
-	SET (RBDL_LIBRARIES ${RBDL_LIBRARY})
-ENDIF(RBDL_LIBRARY AND RBDL_LUAMODEL_LIBRARY)
-
-IF (RBDL_FOUND)
-   IF (NOT RBDL_FIND_QUIETLY)
-      MESSAGE(STATUS "Found RBDL: ${RBDL_LIBRARY}")
-
-			IF (RBDL_LUAMODEL_LIBRARY)
-				MESSAGE(STATUS "Found RBDL Addon Luamodel: ${RBDL_LUAMODEL_LIBRARY}")
-			ENDIF (RBDL_LUAMODEL_LIBRARY)
-   ENDIF (NOT RBDL_FIND_QUIETLY)
-ELSE (RBDL_FOUND)
-   IF (RBDL_FIND_REQUIRED)
-      MESSAGE(FATAL_ERROR "Could not find RBDL")
-   ENDIF (RBDL_FIND_REQUIRED)
-ENDIF (RBDL_FOUND)
-
-MARK_AS_ADVANCED (
-	RBDL_INCLUDE_DIR
-	RBDL_LIBRARIES
-	RBDL_LIBRARY	
-	RBDL_LUAMODEL_LIBRARY	
-	)

CMakeModules/FindSoQt.cmake

-# - Find SoQt (Open Inventor Qt Integration)
-# SoQt is an implementation of the Open Inventor API.
-# It provides data structures and algorithms for 3D visualization
-# http://www.coin3d.org/
-#
-# This module defines the following variables
-#  SoQt_FOUND         - system has SoQt - Open Inventor Qt Integration
-#  SoQt_INCLUDE_DIRS  - where the SoQt include directory can be found
-#  SoQt_LIBRARIES     - Link to this to use SoQt
-#
-
-
-IF (WIN32)
-  IF (CYGWIN)
-
-    FIND_PATH(SoQt_INCLUDE_DIRS Inventor/Qt/SoQt.h)
-    FIND_LIBRARY(SoQt_LIBRARIES SoQt)
-
-  ELSE (CYGWIN)
-    FIND_PATH(SoQt_INCLUDE_DIRS Inventor/Qt/SoQt.h "$ENV{COINDIR}/include" "$ENV{Coin3D_DIR}/include")
-    FIND_LIBRARY(SoQt_LIBRARY_RELEASE soqt1 "$ENV{COINDIR}/lib" "$ENV{Coin3D_DIR}/lib")
-    FIND_LIBRARY(SoQt_LIBRARY_DEBUG soqt1d "$ENV{COINDIR}/lib" "$ENV{Coin3D_DIR}/lib")
-
-    IF (SoQt_LIBRARY_DEBUG AND SoQt_LIBRARY_RELEASE)
-      SET(SoQt_LIBRARIES optimized ${SoQt_LIBRARY_RELEASE}
-                           debug ${SoQt_LIBRARY_DEBUG})
-    ELSE (SoQt_LIBRARY_DEBUG AND SoQt_LIBRARY_RELEASE)
-      IF (SoQt_LIBRARY_DEBUG)
-        SET (SoQt_LIBRARIES ${SoQt_LIBRARY_DEBUG})
-      ENDIF (SoQt_LIBRARY_DEBUG)
-      IF (SoQt_LIBRARY_RELEASE)
-        SET (SoQt_LIBRARIES ${SoQt_LIBRARY_RELEASE})
-      ENDIF (SoQt_LIBRARY_RELEASE)
-    ENDIF (SoQt_LIBRARY_DEBUG AND SoQt_LIBRARY_RELEASE)
-
-  ENDIF (CYGWIN)
-
-ELSE (WIN32)
-  IF(APPLE)
-    FIND_PATH(SoQt_INCLUDE_DIRS Inventor/Qt/SoQt.h
-     /Library/Frameworks/Inventor.framework/Headers
-    )
-    FIND_LIBRARY(SoQt_LIBRARIES SoQt
-      /Library/Frameworks/Inventor.framework/Libraries
-    )
-    SET(SoQt_LIBRARIES "-framework SoQt" CACHE STRING "SoQt library for OSX")
-  ELSE(APPLE)
-
-    FIND_PATH(SoQt_INCLUDE_DIRS NAMES Inventor/Qt/SoQt.h PATHS "$ENV{SoQt_DIR}/include" "$ENV{COIN3D_DIR}/include" "$ENV{Coin3D_DIR}/include" /usr/include /usr/local/include NO_DEFAULT_PATH)
-    FIND_LIBRARY(SoQt_LIBRARIES NAMES SoQt PATHS "$ENV{SoQt_DIR}/lib" "$ENV{COIN3D_DIR}/lib" "$ENV{Coin3D_DIR}/lib" ${CMAKE_CXX_IMPLICIT_LINK_DIRECTORIES} /usr/local/lib NO_DEFAULT_PATH)
-
-  ENDIF(APPLE)
-
-ENDIF (WIN32)
-
-# handle the QUIETLY and REQUIRED arguments and set SoQt_FOUND to TRUE if
-# all listed variables are TRUE
-INCLUDE(FindPackageHandleStandardArgs)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(SoQt DEFAULT_MSG SoQt_LIBRARIES SoQt_INCLUDE_DIRS)
-
-MARK_AS_ADVANCED(SoQt_INCLUDE_DIRS SoQt_LIBRARIES )
-
-

CMakeModules/SimoxConfig.cmake.in

@@ -24,7 +24,9 @@ get_filename_component(Simox_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
 # Our library dependencies (contains definitions for IMPORTED targets)
 if(NOT TARGET Simox AND NOT Simox_BINARY_DIR)
   include("${Simox_CMAKE_DIR}/SimoxTargets.cmake")
+  include("${Simox_CMAKE_DIR}/SimoxTargetsLegacy.cmake")
 endif()
+
 # These are IMPORTED targets created by SimoxTargets.cmake
 set(Simox_LIBRARIES "@Simox_LIBRARIES@")
 set(Simox_EXECUTABLE "@Simox_EXECUTABLE@")
@@ -34,6 +36,12 @@ if(EXISTS "${Simox_CMAKE_DIR}/CMakeCache.txt")
     # In build tree
     message(STATUS "Using Simox Source-Build from: ${Simox_CMAKE_DIR}")
     include("${Simox_CMAKE_DIR}/SimoxBuildTreeSettings.cmake")
+
+    # Provide access to CMake helper scripts, e.g., Find... scripts.
+    # They might be needed as they define specific targets.
+    list(APPEND CMAKE_MODULE_PATH "${Simox_MACROS_INCLUDE_DIR}")
+    list(APPEND CMAKE_MODULE_PATH "${Simox_MACROS_INCLUDE_DIR}/find_modules")
+
 else()
     # Installed project
     message(STATUS "Using Simox Binary Package from: ${Simox_CMAKE_DIR}")
@@ -50,17 +58,32 @@ SET(Simox_VISUALIZATION "@Simox_VISUALIZATION@")
 SET(Simox_USE_COIN_VISUALIZATION "@Simox_USE_COIN_VISUALIZATION@")
 SET(Simox_USE_OPENSCENEGRAPH_VISUALIZATION "@Simox_USE_OPENSCENEGRAPH_VISUALIZATION@")
 SET(Simox_USE_COLLADA "@Simox_USE_COLLADA@")
-SET(Simox_USE_RBDL "@Simox_USE_RBDL@")
+SET(Simox_USE_RBDL_LIB "@Simox_USE_RBDL_LIB@")
 SET(Simox_USE_QT5 "ON") # this variable legacy support (Qt5 is now required)
 SET(Simox_USE_NLOPT "@Simox_USE_NLOPT@")
 SET(SimDynamics_USE_BULLET "@SimDynamics_USE_BULLET@")
 SET(SimDynamics_USE_BULLET_DOUBLE_PRECISION "@SimDynamics_USE_BULLET_DOUBLE_PRECISION@")
 
+SET(Simox_BOOST_VERSION "@Simox_BOOST_VERSION@")
 
+FIND_PACKAGE(Eigen3 QUIET)
 FIND_PACKAGE(Qt5 5.5.0 COMPONENTS OpenGL Core Gui Widgets QUIET)
-FIND_PACKAGE(Boost COMPONENTS filesystem system program_options thread QUIET)
+FIND_PACKAGE(Boost ${Simox_BOOST_VERSION} EXACT COMPONENTS
+    filesystem
+    system
+    program_options
+    thread
+    unit_test_framework
+    regex
+    QUIET)
 
+find_package(difflib QUIET)
+find_package(doctest QUIET)
+find_package(nlohmann_json 3.11.3 REQUIRED)
+find_package(RBDL QUIET)
+find_package(pugixml QUIET)
 
+FIND_PACKAGE(SoQt QUIET)
 
 if (NOT (Simox_FIND_QUIETLY OR VirtualRobot_FIND_QUIETLY))
     MESSAGE(STATUS " * Including ${Simox_MACROS_INCLUDE_DIR}/SimoxMacros.cmake")

CMakeModules/SimoxMacros.cmake

@@ -16,7 +16,8 @@ function(VirtualRobotQtApplication name srcs incs mocFiles uiFiles)
     ################################## EXECUTABLE ##############################
     ADD_EXECUTABLE(${name} ${srcs} ${incs} ${generatedUiFiles} ${generatedMocFiles})
     target_include_directories(${name} PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
-    TARGET_LINK_LIBRARIES(${name} PUBLIC VirtualRobot)
+    FIND_PACKAGE(SoQt REQUIRED)
+    TARGET_LINK_LIBRARIES(${name} PUBLIC VirtualRobot SoQt::SoQt)
 endfunction()
 
 
@@ -41,7 +42,7 @@ endfunction()
 
 
 function(SimoxQtApplication name srcs incs mocFiles uiFiles)
-    VirtualRobotQtApplication("${name}" "${srcs}" "${incs}" "${mocFiles}" "${uiFiles}")  
+    VirtualRobotQtApplication("${name}" "${srcs}" "${incs}" "${mocFiles}" "${uiFiles}")
     # add Saba and GraspStudio
     TARGET_LINK_LIBRARIES(${name} PUBLIC GraspStudio Saba)
 endfunction()
@@ -52,3 +53,84 @@ function(SimoxQtLibrary name srcs incs mocFiles uiFiles)
     # add Saba and GraspStudio
     TARGET_LINK_LIBRARIES(${name} PUBLIC GraspStudio Saba)
 endfunction()
+
+function(simox_subdirs RESULT DIRECTORY)
+    file(GLOB CHILDREN ${DIRECTORY}/*)
+    # message("## children of ${DIRECTORY}: ${CHILDREN}")
+
+    set(DIR_CHILDREN "")
+    foreach(CHILD ${CHILDREN})
+        if (IS_DIRECTORY "${CHILD}")
+            list(APPEND DIR_CHILDREN ${CHILD})
+        endif()
+    endforeach()
+
+    set(${RESULT} "${DIR_CHILDREN}" PARENT_SCOPE)
+endfunction()
+
+
+function(simox_subdirs_recursive RESULT DIRECTORY)
+    simox_subdirs(TOP_CHILDREN "${DIRECTORY}")
+    set(ALL_CHILDREN ${TOP_CHILDREN})
+
+    foreach(TOP_CHILD ${TOP_CHILDREN})
+        simox_subdirs_recursive(REC_CHILDREN ${TOP_CHILD})
+        list(APPEND ALL_CHILDREN ${REC_CHILDREN})
+    endforeach()
+
+    set(${RESULT} "${ALL_CHILDREN}" PARENT_SCOPE)
+
+endfunction()
+
+
+macro(simox_update_file file content) #macro since we want to provide simox_file_up_to_date
+    set(simox_file_up_to_date 0)
+    if(EXISTS "${file}")
+        file(SHA512 "${file}" _simox_file_sha)
+        string(SHA512 _simox_cont_sha "${content}")
+        if("${_simox_cont_sha}" STREQUAL "${_simox_file_sha}")
+            set(simox_file_up_to_date 1)
+        endif()
+    endif()
+    #write file
+    if(${simox_file_up_to_date} EQUAL 0)
+        file(WRITE "${file}" "${content}")
+    endif()
+endmacro()
+
+macro(simox_generate_subdir_headers dir prefix_to_remove out_headers)
+    string(REPLACE "//" "/" prefix_to_remove_fixed "${prefix_to_remove}/")
+    string(REPLACE "${prefix_to_remove_fixed}" "" dir_rel "${dir}")
+    _simox_generate_subdir_headers_impl("${dir}" "${prefix_to_remove_fixed}" ${out_headers})
+endmacro()
+
+macro(_simox_generate_subdir_headers_impl dir prefix_to_remove out_headers)
+    simox_subdirs(subdirs ${dir})
+    foreach(subdir ${subdirs})
+        #recurse
+        _simox_generate_subdir_headers_impl("${subdir}" "${prefix_to_remove}" ${out_headers})
+
+        file(GLOB headers ${subdir}/*.h)
+        list(LENGTH headers n)
+        string(REGEX REPLACE ".*/" "" subdir_name "${subdir}")
+        if(
+                NOT ${n} EQUAL 0                          AND
+                NOT "${subdir_name}" STREQUAL "detail"    AND
+                NOT "${subdir_name}" STREQUAL "_detail"   AND
+                NOT "${subdir_name}" STREQUAL "internal"  AND
+                NOT "${subdir_name}" STREQUAL "_internal"
+        )
+            set(subdir_header_abs "${subdir}.h")
+            string(REPLACE "${prefix_to_remove}" "" subdir_header "${subdir_header_abs}")
+            list(APPEND ${out_headers} ${subdir_header})
+            #create file content
+            set(content "#pragma once\n\n// This file is generated!\n\n")
+            foreach(header ${headers})
+                string(REPLACE "${subdir}/" "${subdir_name}/" h "${header}")
+                set(content "${content}#include \"${h}\" // IWYU pragma: export\n")
+            endforeach()
+            #check for file change
+            simox_update_file("${subdir_header_abs}" "${content}")
+        endif()
+    endforeach()
+endmacro()

CMakeModules/check_for_member/method.in.h

+// This file is generated using cmake configure_file!
+
+#pragma once
+
+#include <type_traits> // IWYU pragma: keep
+
+//implementation namespace
+namespace simox::meta::member::method::@NAME@::impl
+{
+    template<class Class, class RType, class...Ps>
+    RType type_fn(RType(Class::*)(Ps...));
+    template<class T>
+    using ret_t = decltype(type_fn(&T::@NAME@));
+
+    template<class T, class = void>
+    struct member_rtype {};
+    template<class T>
+    struct member_rtype<T, std::void_t<ret_t<T>>>
+    {
+        using type = ret_t<T>;
+    };
+
+    template<class T, class = void>
+    struct member_exists : std::false_type {};
+    template<class T>
+    struct member_exists<T, std::void_t<ret_t<T>>> : std::true_type {};
+}
+
+//meta fncs namespaced by class
+namespace simox::meta::member::method::@NAME@
+{
+    template<class T> using exists                   = impl::member_exists<T>;
+    template<class T> static constexpr bool exists_v = exists<T>::value;
+    template<class T> using return_type              = impl::member_rtype<T>;
+    template<class T> using return_type_t            = typename return_type<T>::type;
+}
+
+//exists_v
+namespace simox::meta::member::method::exists_v
+{
+    template<class T>
+    static constexpr bool @NAME@ = ::simox::meta::member::method::@NAME@::exists_v<T>;
+}
+//concept
+namespace simox::meta::member::method::ccept
+{
+    template<class T>
+    concept @NAME@ = ::simox::meta::member::method::@NAME@::exists_v<T>;
+}
+//return_type_t
+namespace simox::meta::member::method::return_type_t
+{
+    template<class T>
+    using @NAME@ = simox::meta::member::method::@NAME@::return_type_t<T>;
+}

CMakeModules/check_for_member/static_method.in.h

+// This file is generated using cmake configure_file!
+
+#pragma once
+
+#include <type_traits> // IWYU pragma: keep
+
+//implementation namespace
+namespace simox::meta::member::static_method::@NAME@::impl
+{
+    template<class RType, class...Ps>
+    RType type_fn(RType(*)(Ps...));
+    template<class T>
+    using ret_t = decltype(type_fn(&T::@NAME@));
+
+    template<class T, class = void>
+    struct member_rtype {};
+    template<class T>
+    struct member_rtype<T, std::void_t<ret_t<T>>>
+    {
+        using type = ret_t<T>;
+    };
+
+    template<class T, class = void>
+    struct member_exists : std::false_type {};
+    template<class T>
+    struct member_exists<T, std::void_t<ret_t<T>>> : std::true_type {};
+}
+
+//meta fncs namespaced by class
+namespace simox::meta::member::static_method::@NAME@
+{
+    template<class T> using exists                   = impl::member_exists<T>;
+    template<class T> static constexpr bool exists_v = exists<T>::value;
+    template<class T> using return_type              = impl::member_rtype<T>;
+    template<class T> using return_type_t            = typename return_type<T>::type;
+}
+
+//exists_v
+namespace simox::meta::member::static_method::exists_v
+{
+    template<class T>
+    static constexpr bool @NAME@ = ::simox::meta::member::static_method::@NAME@::exists_v<T>;
+}
+//concept
+namespace simox::meta::member::static_method::ccept
+{
+    template<class T>
+    concept @NAME@ = ::simox::meta::member::static_method::@NAME@::exists_v<T>;
+}
+//return_type_t
+namespace simox::meta::member::static_method::return_type_t
+{
+    template<class T>
+    using @NAME@ = simox::meta::member::static_method::@NAME@::return_type_t<T>;
+}

CMakeModules/check_for_member/static_variable.in.h

+// This file is generated using cmake configure_file!
+
+#pragma once
+
+#include <type_traits> // IWYU pragma: keep
+
+//implementation namespace
+namespace simox::meta::member::static_variable::@NAME@::impl
+{
+    template<class Type>
+    Type type_fn(const Type*);
+    template<class T>
+    using var_t = decltype(type_fn(&T::@NAME@));
+    
+    template<class T, class = void>
+    struct member_value_type {};
+    template<class T>
+    struct member_value_type<T, std::void_t<var_t<T>>>
+    {
+        using type = var_t<T>;
+    };
+
+    template<class T, class = void>
+    struct member_value_exists : std::false_type {};
+    template<class T>
+    struct member_value_exists<T, std::void_t<var_t<T>>> : std::true_type {};
+}
+
+//meta fncs namespaced by class
+namespace simox::meta::member::static_variable::@NAME@
+{
+    template<class T> using exists                   = impl::member_value_exists<T>;
+    template<class T> static constexpr bool exists_v = exists<T>::value;
+    template<class T> using type                     = impl::member_value_type<T>;
+    template<class T> using type_t                   = typename type<T>::type;
+}
+
+//exists_v
+namespace simox::meta::member::static_variable::exists_v
+{
+    template<class T>
+    static constexpr bool @NAME@ = ::simox::meta::member::static_variable::@NAME@::exists_v<T>;
+}
+//concept
+namespace simox::meta::member::static_variable::ccept
+{
+    template<class T>
+    concept @NAME@ = ::simox::meta::member::static_variable::@NAME@::exists_v<T>;
+}
+//type_t
+namespace simox::meta::member::static_variable::type_t
+{
+    template<class T>
+    using @NAME@ = ::simox::meta::member::static_variable::@NAME@::type_t<T>;
+}

CMakeModules/check_for_member/test.in.cpp

+// This file is generated using cmake configure_file!
+
+#define BOOST_TEST_MODULE SimoxUtility / meta / check_for_members_ @CATEGORY @_ @NAME @
+
+#include <boost/test/included/unit_test.hpp> // IWYU pragma: keep
+
+#include <SimoxUtility/meta/type_traits/member/method/@NAME@.h>
+#include <SimoxUtility/meta/type_traits/member/static_method/@NAME@.h>
+#include <SimoxUtility/meta/type_traits/member/static_variable/@NAME@.h>
+#include <SimoxUtility/meta/type_traits/member/type/@NAME@.h>
+#include <SimoxUtility/meta/type_traits/member/variable/@NAME@.h>
+
+// ////////////////////////////////////////////////////////////////////////// //
+//test stub
+// *INDENT-OFF*
+template <class T, class Texp, bool Exists>
+struct test_method
+{
+    static void test();
+};
+
+template <class T, class Texp, bool Exists>
+struct test_static_method
+{
+    static void test();
+};
+
+template <class T, class Texp, bool Exists>
+struct test_variable
+{
+    static void test();
+};
+
+template <class T, class Texp, bool Exists>
+struct test_static_variable
+{
+    static void test();
+};
+
+template <class T, class Texp, bool Exists>
+struct test_type
+{
+    static void test();
+};
+
+// *INDENT-ON*
+// ////////////////////////////////////////////////////////////////////////// //
+//core test function
+template <class T, class Texp, bool Exists>
+void
+test_method<T, Texp, Exists>::test()
+{
+    namespace ns = simox::meta::member::method;
+    static_assert(Exists == ns::exists_v::@NAME @<T>);
+    static_assert(Exists == ns::ccept ::@NAME @<T>);
+    if constexpr (Exists)
+    {
+        static_assert(std::is_same_v<Texp, ns::return_type_t::@NAME @<T>>);
+    }
+}
+
+template <class T, class Texp, bool Exists>
+void
+test_static_method<T, Texp, Exists>::test()
+{
+    namespace ns = simox::meta::member::static_method;
+    static_assert(Exists == ns::exists_v::@NAME @<T>);
+    static_assert(Exists == ns::ccept ::@NAME @<T>);
+    if constexpr (Exists)
+    {
+        static_assert(std::is_same_v<Texp, ns::return_type_t::@NAME @<T>>);
+    }
+}
+
+template <class T, class Texp, bool Exists>
+void
+test_variable<T, Texp, Exists>::test()
+{
+    namespace ns = simox::meta::member::variable;
+    static_assert(Exists == ns::exists_v::@NAME @<T>);
+    static_assert(Exists == ns::ccept ::@NAME @<T>);
+    if constexpr (Exists)
+    {
+        static_assert(std::is_same_v<Texp, ns::type_t::@NAME @<T>>);
+    }
+}
+
+template <class T, class Texp, bool Exists>
+void
+test_static_variable<T, Texp, Exists>::test()
+{
+    namespace ns = simox::meta::member::static_variable;
+    static_assert(Exists == ns::exists_v::@NAME @<T>);
+    static_assert(Exists == ns::ccept ::@NAME @<T>);
+    if constexpr (Exists)
+    {
+        static_assert(std::is_same_v<Texp, ns::type_t::@NAME @<T>>);
+    }
+}
+
+template <class T, class Texp, bool Exists>
+void
+test_type<T, Texp, Exists>::test()
+{
+    namespace ns = simox::meta::member::type;
+    static_assert(Exists == ns::exists_v::@NAME @<T>);
+    static_assert(Exists == ns::ccept ::@NAME @<T>);
+    if constexpr (Exists)
+    {
+        static_assert(std::is_same_v<Texp, ns::type_t::@NAME @<T>>);
+    }
+}
+
+// ////////////////////////////////////////////////////////////////////////// //
+// default impl
+class nonprimitive
+{
+};
+
+// *INDENT-OFF*
+template <class T>
+struct with_variable
+{
+    T @NAME @ = {};
+};
+
+template <class T>
+struct with_variable_2
+{
+    T @NAME @_2 = {};
+};
+
+template <class T>
+struct with_static_variable
+{
+    static constexpr T @NAME @ = {};
+};
+
+template <class T>
+struct with_static_variable_2
+{
+    static constexpr T @NAME @_2 = {};
+};
+
+template <class T>
+struct with_type
+{
+    using @NAME @ = T;
+};
+
+template <class T>
+struct with_type_2
+{
+    using @NAME @_2 = T;
+};
+
+template <class T>
+struct with_method
+{
+    T @NAME @();
+};
+
+template <class T>
+struct with_method_2
+{
+    T @NAME @_2();
+};
+
+template <class T>
+struct with_static_method
+{
+    static T @NAME @();
+};
+
+template <class T>
+struct with_static_method_2
+{
+    static T @NAME @_2();
+};
+
+// *INDENT-ON*
+
+enum member_type
+{
+    variable,
+    static_variable,
+    method,
+    static_method,
+    type,
+};
+
+template <template <class, class, bool> class Tmp, class T, member_type MT>
+void
+test_all_for_type()
+{
+    Tmp<with_static_variable<T>, T, MT == member_type::static_variable>::test();
+    Tmp<with_static_variable_2<T>, T, false>::test();
+
+    Tmp<with_variable<T>, T, MT == member_type::variable>::test();
+    Tmp<with_variable_2<T>, T, false>::test();
+
+    Tmp<with_type<T>, T, MT == member_type::type>::test();
+    Tmp<with_type_2<T>, T, false>::test();
+
+    Tmp<with_method<T>, T, MT == member_type::method>::test();
+    Tmp<with_method_2<T>, T, false>::test();
+
+    Tmp<with_static_method<T>, T, MT == member_type::static_method>::test();
+    Tmp<with_static_method_2<T>, T, false>::test();
+}
+
+template <class T>
+void
+test_all()
+{
+    test_all_for_type<test_method, T, member_type::method>();
+    test_all_for_type<test_static_method, T, member_type::static_method>();
+    test_all_for_type<test_variable, T, member_type::variable>();
+    test_all_for_type<test_static_variable, T, member_type::static_variable>();
+    test_all_for_type<test_type, T, member_type::type>();
+}
+
+BOOST_AUTO_TEST_CASE(test_check_for_members_ @NAME @)
+{
+    test_all<int>();
+    test_all<nonprimitive>();
+}

CMakeModules/check_for_member/type.in.h

+// This file is generated using cmake configure_file!
+
+#pragma once
+
+#include <type_traits> // IWYU pragma: keep
+
+//implementation namespace
+namespace simox::meta::member::type::@NAME@::impl
+{
+    template<class T, class = void>
+    struct member_type_exists : std::false_type
+    {};
+    template<class T>
+    struct member_type_exists < T, std::void_t < typename T::@NAME@ > > : std::true_type
+    {};
+
+    template<class T, class = void>
+    struct member_type_type
+    {};
+
+    template<class T>
+    struct member_type_type < T, std::void_t < typename T::@NAME@ > >
+    {
+        using type = typename T::@NAME@;
+    };
+}
+
+//meta fncs namespaced by class
+namespace simox::meta::member::type::@NAME@
+{
+    template<class T> using exists                   = impl::member_type_exists<T>;
+    template<class T> static constexpr bool exists_v = exists<T>::value;
+    template<class T> using type                     = impl::member_type_type<T>;
+    template<class T> using type_t                   = typename type<T>::type;
+}
+
+//exists_v
+namespace simox::meta::member::type::exists_v
+{
+    template<class T>
+    static constexpr bool @NAME@ = ::simox::meta::member::type::@NAME@::exists_v<T>;
+}
+//concept
+namespace simox::meta::member::type::ccept
+{
+    template<class T>
+    concept @NAME@ = ::simox::meta::member::type::@NAME@::exists_v<T>;
+}
+//type_t
+namespace simox::meta::member::type::type_t
+{
+    template<class T>
+    using @NAME@ = ::simox::meta::member::type::@NAME@::type_t<T>;
+}

CMakeModules/check_for_member/variable.in.h

+// This file is generated using cmake configure_file!
+
+#pragma once
+
+#include <type_traits> // IWYU pragma: keep
+
+//implementation namespace
+namespace simox::meta::member::variable::@NAME@::impl
+{
+    template<class Class, class Type>
+    Type type_fn(Type Class::*);
+    template<class T>
+    using var_t = decltype(type_fn(&T::@NAME@));
+
+    template<class T, class = void>
+    struct member_type {};
+    template<class T>
+    struct member_type<T, std::void_t<var_t<T>>>
+    {
+        using type = var_t<T>;
+    };
+
+    template<class T, class = void>
+    struct member_exists : std::false_type {};
+    template<class T>
+    struct member_exists<T, std::void_t<var_t<T>>> : std::true_type {};
+}
+
+//meta fncs namespaced by class
+namespace simox::meta::member::variable::@NAME@
+{
+    template<class T> using exists                   = impl::member_exists<T>;
+    template<class T> static constexpr bool exists_v = exists<T>::value;
+    template<class T> using type                     = impl::member_type<T>;
+    template<class T> using type_t                   = typename type<T>::type;
+}
+
+//exists_v
+namespace simox::meta::member::variable::exists_v
+{
+    template<class T>
+    static constexpr bool @NAME@ = ::simox::meta::member::variable::@NAME@::exists_v<T>;
+}
+//concept
+namespace simox::meta::member::variable::ccept
+{
+    template<class T>
+    concept @NAME@ = ::simox::meta::member::variable::@NAME@::exists_v<T>;
+}
+//type_t
+namespace simox::meta::member::variable::type_t
+{
+    template<class T>
+    using @NAME@ = simox::meta::member::variable::@NAME@::type_t<T>;
+}