diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0669950223d1f3ae7129bc95cb74ffccf77b614e..be1e0dd060f4c068ff1c3ca79513c39cc863fbb5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,30 +1,163 @@
-PROJECT(Simox)
-
-cmake_minimum_required(VERSION 2.8.12)
-if(POLICY CMP0020)
- cmake_policy(SET CMP0020 NEW) # qtmain add lib dependency (no effect in our case)
-endif()
+cmake_minimum_required(VERSION 3.10)
+
+#######################################################################################
+PROJECT(Simox LANGUAGES CXX VERSION 2.3.73.0)
+MESSAGE (STATUS "** Simox version: ${Simox_VERSION}")
+#######################################################################################
+#global config
+# Set up build type
+
+IF(NOT CMAKE_BUILD_TYPE)
+ SET(CMAKE_BUILD_TYPE RelWithDebInfo CACHE STRING
+ "Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel."
+ FORCE)
+ENDIF()
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CXX_STANDARD 17)
+
+list(APPEND CMAKE_MODULE_PATH ${Simox_SOURCE_DIR}/CMakeModules)
+MESSAGE (STATUS "** Module path: " ${CMAKE_MODULE_PATH})
+
+# we want a global automoc
+FIND_PACKAGE(Qt5 5.5.0 COMPONENTS OpenGL Core Gui Widgets)
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_AUTOUIC ON)
+set(CMAKE_AUTORCC ON)
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+
+
+FIND_PACKAGE(Boost COMPONENTS unit_test_framework REQUIRED)
+
+#flags
+add_compile_options(-Wall)
+add_compile_options(-Wextra)
+add_compile_options(-Wpedantic)
+#turn warnings about dangerous stuff into errors
+add_compile_options(-Werror=return-type)
+add_compile_options(-Werror=maybe-uninitialized)
+add_compile_options(-Werror=reorder)
+add_compile_options(-Werror=parentheses)
+#######################################################################################
+#options
+OPTION (Simox_USE_RBDL "Use RBDL" OFF)
+OPTION (Simox_USE_URDF "Use URDF" OFF)
+OPTION (Simox_USE_NLOPT "Use NLOPT" ON)
+OPTION(BUILD_qhull "if on builds qhull external library" OFF)
+OPTION(SimDynamics_USE_BULLET "Use Bullet Physics Engine" ON)
+OPTION(Simox_USE_COIN_VISUALIZATION "Use Coin3D for visualization" ON)
+OPTION(Simox_USE_OPENSCENEGRAPH_VISUALIZATION "Use OpenSceneGraph for visualization" OFF)
+OPTION(Simox_COLLISION_CHECKER_PQP "Build and use the PQP Collision Detection library (located in ExternalDependencies)" ON)
+#######################################################################################
MESSAGE(STATUS "******************** Configuring Simox ************************")
-set (Simox_BUILD_DIRECTORY ${CMAKE_BINARY_DIR} CACHE STRING "Simox build directory")
-#set (Simox_BUILD_VirtualRobot TRUE CACHE BOOL "Build Simox VirtualRobot")
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")
-INCLUDE (config.cmake)
+MESSAGE (STATUS "** SIMOX BUILD VirtualRobot: TRUE (can't e turned off)")
+MESSAGE (STATUS "** SIMOX BUILD Saba : ${Simox_BUILD_Saba}")
+MESSAGE (STATUS "** SIMOX BUILD GraspStudio : ${Simox_BUILD_GraspStudio}")
+MESSAGE (STATUS "** SIMOX BUILD SimDynamics : ${Simox_BUILD_SimDynamics}")
+############################# SETUP PATHS #############################
+if(WIN32 AND NOT CYGWIN)
+ set(INSTALL_CMAKE_DIR CMake CACHE PATH "Installation directory for CMake files")
+else()
+ set(INSTALL_CMAKE_DIR share/Simox/cmake CACHE PATH "Installation directory for CMake files")
+endif()
+
+SET(Simox_LIB_DIR ${Simox_BINARY_DIR}/lib)
+SET(Simox_BIN_DIR ${Simox_BINARY_DIR}/bin)
+SET(Simox_DATA_DIR ${CurrentSimoxPath}/VirtualRobot/data)
+
+MESSAGE (STATUS "** SIMOX LIB DIR: ${Simox_LIB_DIR}")
+MESSAGE (STATUS "** SIMOX BIN DIR: ${Simox_BIN_DIR}")
+MESSAGE (STATUS "** SIMOX DATA DIR: ${Simox_DATA_DIR}")
+
+SET(Simox_INSTALL_LIB_DIR lib)
+SET(Simox_INSTALL_BIN_DIR bin)
+SET(Simox_INSTALL_DATA_DIR data)
+SET(Simox_INSTALL_HEADER_DIR include)
+MESSAGE (STATUS "** SIMOX INSTALL LIB DIR : ${Simox_INSTALL_LIB_DIR}")
+MESSAGE (STATUS "** SIMOX INSTALL BIN DIR : ${Simox_INSTALL_BIN_DIR}")
+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}")
+########################### IDE settings ################################
+# use virtual folders for grouping projects in IDEs
+set_property(GLOBAL PROPERTY USE_FOLDERS ON)
+
+############################# Set OS specific options #############################
+set(Simox_OS_compile_options)
+IF(UNIX)
+ # We are on Linux
+ SET(Simox_TEST_DIR ${Simox_BIN_DIR}/tests)
+ IF(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
+ set(Simox_OS_compile_options ${Simox_OS_compile_options} -fPIC)
+ ENDIF()
+
+ IF(${CMAKE_BUILD_TYPE} STREQUAL "Debug")
+ MESSAGE(STATUS "Configuring Debug build")
+ set(Simox_OS_compile_options ${Simox_OS_compile_options} -D_DEBUG)
+ ELSE()
+ MESSAGE(STATUS "Configuring Release build")
+ ENDIF()
+
+ # use, i.e. don't skip the full RPATH for the build tree
+ SET(CMAKE_SKIP_BUILD_RPATH FALSE)
+
+ # when building, don't use the install RPATH already
+ # (but later on when installing)
+ SET(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
+ SET(CMAKE_INSTALL_RPATH "${Simox_INSTALL_LIB_DIR}")
+ # add the automatically determined parts of the RPATH
+ # which point to directories outside the build tree to the install RPATH
+ SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+
+ # the RPATH to be used when installing, but only if it's not a system directory
+ LIST(FIND CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${Simox_INSTALL_LIB_DIR}" isSystemDir)
+ IF("${isSystemDir}" STREQUAL "-1")
+ SET(CMAKE_INSTALL_RPATH "${Simox_INSTALL_LIB_DIR}")
+ ENDIF()
+ELSE()
+ # We are on Windows
+ SET(Simox_TEST_DIR ${Simox_BIN_DIR})
+ set(Simox_OS_compile_options
+ -D_CRT_SECURE_NO_WARNINGS
+ -DWIN32_LEAN_AND_MEAN # avoid errors with winsock / winsock2 includes
+ )
+
+ # On MSVC we compile with /MP flag (use multiple threads)
+ IF(MSVC)
+ set(Simox_OS_compile_options ${Simox_OS_compile_options} /MP)
+ ENDIF()
+ENDIF()
+#######################################################################
+# Setup for testing
+ENABLE_TESTING()
+INCLUDE(CTest)
+MESSAGE(STATUS "** Test output directory: ${Simox_TEST_DIR}")
+ADD_DEFINITIONS(-DSimox_TEST_DIR=\"${Simox_TEST_DIR}/\")
-MESSAGE(STATUS "** Simox build directory: ${Simox_BUILD_DIRECTORY}")
+#######################################################################################
add_subdirectory(VirtualRobot)
+
+
+#######################################################################################
set (SIMOX_EXPORT_TARGET_LIST VirtualRobot)
list (APPEND Simox_LIBRARIES VirtualRobot)
list(APPEND SIMOX_EXPORT_TARGET_LIST ColCheckerPQP)
+
+
+#######################################################################################
if (Simox_BUILD_Saba)
add_subdirectory(MotionPlanning)
list(APPEND SIMOX_EXPORT_TARGET_LIST Saba)
list (APPEND Simox_LIBRARIES Saba)
endif()
+
+#######################################################################################
if (Simox_BUILD_GraspStudio)
add_subdirectory(GraspPlanning)
list(APPEND SIMOX_EXPORT_TARGET_LIST GraspStudio)
@@ -33,6 +166,8 @@ if (Simox_BUILD_GraspStudio)
endif()
list (APPEND Simox_LIBRARIES GraspStudio)
endif()
+
+#######################################################################################
if (Simox_BUILD_SimDynamics)
find_package(Bullet QUIET)
if(BULLET_FOUND)
@@ -43,31 +178,16 @@ if (Simox_BUILD_SimDynamics)
list(APPEND SIMOX_EXPORT_TARGET_LIST BulletOpenGLSupport)
endif()
- list (APPEND Simox_EXTERNAL_LIBRARIES ${Simox_SimDynamics_EXTERNAL_LIBRARIES})
- list (APPEND Simox_EXTERNAL_INCLUDE_DIRS ${Simox_SimDynamics_INCLUDE_DIRS})
- #MESSAGE ("Simox_EXTERNAL_LIBRARY_FLAGS::: ${Simox_EXTERNAL_LIBRARY_FLAGS} !!!!!!!!!!!!!!!!")
- #MESSAGE ("Simox_SimDynamics_COMPILE_FLAGS::: ${Simox_SimDynamics_COMPILE_FLAGS} !!!!!!!!!!!!!!!!")
- #list (APPEND Simox_EXTERNAL_LIBRARY_FLAGS ${Simox_SimDynamics_COMPILE_FLAGS})
- set (Simox_EXTERNAL_LIBRARY_FLAGS "${Simox_EXTERNAL_LIBRARY_FLAGS} ${Simox_SimDynamics_COMPILE_FLAGS}")
- #MESSAGE ("Simox_EXTERNAL_LIBRARY_FLAGS::: ${Simox_EXTERNAL_LIBRARY_FLAGS} !!!!!!!!!!!!!!!!")
else()
message("NOT building SimDynamics since bullet was not found")
endif()
endif()
- MESSAGE(STATUS "** Simox_EXTERNAL_INCLUDE_DIRS:${Simox_EXTERNAL_INCLUDE_DIRS}")
- MESSAGE(STATUS "** Simox_EXTERNAL_LIBRARY_DIRS:${Simox_EXTERNAL_LIBRARY_DIRS}")
- MESSAGE(STATUS "** Simox_EXTERNAL_LIBRARIES:${Simox_EXTERNAL_LIBRARIES}")
- MESSAGE(STATUS "** Simox_EXTERNAL_LIBRARY_FLAGS:${Simox_EXTERNAL_LIBRARY_FLAGS}")
-
add_subdirectory(doc)
-#######################################################################
+#######################################################################################
# Setup for installation
-#######################################################################
-
-############################################
MESSAGE (STATUS "** Simox: Generating CMake files for build and install setup")
# Add all targets to the build-tree export set
@@ -94,7 +214,7 @@ file(RELATIVE_PATH RELATIVE_INSTALL_DIR
"${CMAKE_INSTALL_PREFIX}/${INSTALL_CMAKE_DIR}"
"${CMAKE_INSTALL_PREFIX}")
-set(CONF_INCLUDE_DIRS "${INSTALL_INCLUDE_DIR}")
+set(CONF_INCLUDE_DIRS "include")
set(Simox_DATA_PATH "${Simox_INSTALL_DATA_DIR}")
set(Simox_MACROS_INCLUDE_DIR "\${Simox_CMAKE_DIR}")
@@ -124,7 +244,7 @@ install(EXPORT SimoxTargets DESTINATION
"${INSTALL_CMAKE_DIR}" COMPONENT dev)
-#############################################################
+#######################################################################################
# PACKAGING (DEB)
# git version not used any more!
@@ -185,7 +305,7 @@ set(CPACK_DEBIAN_PACKAGE_DEPENDS "libbullet-dev, libbulletmultithreaded2.82, lib
SET(CPACK_COMPONENTS_ALL Applications Headers Libraries ApplicationData)
INCLUDE(CPack)
-#############################################################
+#######################################################################################
# STYLE
FIND_PACKAGE(AStyle QUIET)
diff --git a/CMakeModules/Cxx11Test.cmake b/CMakeModules/Cxx11Test.cmake
deleted file mode 100644
index 1bce98012947f9cd272333a61d802d8e5872620e..0000000000000000000000000000000000000000
--- a/CMakeModules/Cxx11Test.cmake
+++ /dev/null
@@ -1,18 +0,0 @@
-include(TestCXXAcceptsFlag)
-
-IF (NOT WIN32)
- check_cxx_accepts_flag("-std=c++11" CXX_FLAG_CXX11)
- check_cxx_accepts_flag("-std=c++0x" CXX_FLAG_CXX0x)
- IF (CXX_FLAG_CXX11)
- SET (CXX11_FLAG "-std=c++11" CACHE STRING "Flag for enabling c++11")
- ELSEIF(CXX_FLAG_CXX0x)
- SET (CXX11_FLAG "-std=c++0x" CACHE STRING "Flag for enabling c++11")
- ELSE ()
- message (WARNING "Your compiler does not seem to support C++11!")
- ENDIF()
-ELSE ()
- # MSVC: on by default
-ENDIF()
-
-
-
diff --git a/CMakeModules/SimoxConfig.cmake.in b/CMakeModules/SimoxConfig.cmake.in
index cdf6211bb1ad1a5cd3e463b326864b90a32beffe..546544c5d8c22f42067d152d1d40fe46f5738241 100644
--- a/CMakeModules/SimoxConfig.cmake.in
+++ b/CMakeModules/SimoxConfig.cmake.in
@@ -9,8 +9,6 @@
# Simox_VISUALIZATION - if visualization is enabled
# Simox_USE_COIN_VISUALIZATION - if Coin3D visualization was selected
# Simox_USE_OPENSCENEGRAPH_VISUALIZATION - if osg visualization was selected
-# Simox_USE_QT4 - if qt4 was selected
-# Simox_USE_QT5 - if qt5 was selected
# Simox_USE_NLOPT - if NLopt was selected
# SimDynamics_USE_BULLET - if SimDynamics is build and BULLET is selected as physics engine
# SimDynamics_USE_BULLET_DOUBLE_PRECISION - if Bullet is build with double precision support
@@ -53,17 +51,13 @@ 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_QT4 "@Simox_USE_QT4@")
-SET(Simox_USE_QT5 "@Simox_USE_QT5@")
+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_EXTERNAL_INCLUDE_DIRS "@Simox_EXTERNAL_INCLUDE_DIRS@")
-SET(Simox_EXTERNAL_LIBRARY_FLAGS "@Simox_EXTERNAL_LIBRARY_FLAGS@")
-SET(Simox_EXTERNAL_LIBRARIES "@Simox_EXTERNAL_LIBRARIES@")
-SET(Simox_EXTERNAL_LIBRARY_DIRS "@Simox_EXTERNAL_LIBRARY_DIRS@")
+FIND_PACKAGE(Qt5 5.5.0 COMPONENTS OpenGL Core Gui Widgets QUIET)
diff --git a/CMakeModules/SimoxMacros.cmake b/CMakeModules/SimoxMacros.cmake
index ed9a74ad832b1c5bd57be3aaced876cce6a3aed2..02c80dd6f8c044b09f877081e7d12896dc728ed8 100644
--- a/CMakeModules/SimoxMacros.cmake
+++ b/CMakeModules/SimoxMacros.cmake
@@ -1,98 +1,35 @@
-
# Build and helper macros
-macro(setupSimoxExternalLibraries)
- IF (Simox_VISUALIZATION)
- # we need to check for Qt
- IF(NOT "$ENV{QT_QMAKE_EXECUTABLE}" STREQUAL "")
- # if (NOT (Simox_FIND_QUIETLY OR VirtualRobot_FIND_QUIETLY))
- # MESSAGE (STATUS "USING QT-PATH from environment variable QT_QMAKE_EXECUTABLE: $ENV{QT_QMAKE_EXECUTABLE}")
- #endif()
- file(TO_CMAKE_PATH "$ENV{QT_QMAKE_EXECUTABLE}" QT_QMAKE_EXECUTABLE)
- ENDIF()
-
- if (Simox_USE_QT4)
- FIND_PACKAGE(Qt4 4.6.0 COMPONENTS QtOpenGL QtCore QtGui)
- include(${QT_USE_FILE})
- else()
- FIND_PACKAGE(Qt5 5.5.0 COMPONENTS OpenGL Core Gui Designer)
- endif()
- ENDIF()
- INCLUDE_DIRECTORIES(${Simox_INCLUDE_DIRS})
- INCLUDE_DIRECTORIES(SYSTEM ${Simox_EXTERNAL_INCLUDE_DIRS})
- ADD_DEFINITIONS( ${Simox_EXTERNAL_LIBRARY_FLAGS} )
- LINK_DIRECTORIES( ${Simox_LIBRARY_DIRS} )
-endmacro()
-
-
function(VirtualRobotApplication name srcs incs)
- setupSimoxExternalLibraries()
- INCLUDE_DIRECTORIES( ${CMAKE_CURRENT_BINARY_DIR} )
################################## EXECUTABLE ##############################
ADD_EXECUTABLE(${name} ${srcs} ${incs})
- TARGET_LINK_LIBRARIES(${name} PUBLIC VirtualRobot ${Simox_EXTERNAL_LIBRARIES})
+ target_include_directories(${name} PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+ TARGET_LINK_LIBRARIES(${name} PUBLIC VirtualRobot)
endfunction()
function(VirtualRobotQtApplication name srcs incs mocFiles uiFiles)
- setupSimoxExternalLibraries()
-
- if (Simox_USE_QT4)
- MESSAGE (STATUS "Qt4 Moc'ing: ${mocFiles}")
- MESSAGE (STATUS "Qt4 ui files: ${uiFiles}")
- # need this option to work around a qt/boost bug
- qt4_wrap_cpp(generatedMocFiles ${mocFiles} OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
- qt4_wrap_ui(generatedUiFiles ${uiFiles})
- else()
- if(NOT "${CMAKE_VERSION}" VERSION_GREATER 3.9)
- MESSAGE (STATUS "Qt5 Moc'ing: ${mocFiles}")
- MESSAGE (STATUS "Qt5 ui files: ${uiFiles}")
- # need this option to work around a qt/boost bug
- qt5_wrap_cpp(generatedMocFiles ${mocFiles} OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
- qt5_wrap_ui(generatedUiFiles ${uiFiles})
- else()
- set(CMAKE_AUTOMOC "YES")
- set(CMAKE_AUTOUIC "YES")
- set(generatedUiFiles ${uiFiles})
- set(generatedMocFiles ${mocFiles})
- endif()
- endif()
-
- INCLUDE_DIRECTORIES( ${CMAKE_CURRENT_BINARY_DIR} )
+ set(CMAKE_AUTOMOC "YES")
+ set(CMAKE_AUTOUIC "YES")
+ set(generatedUiFiles ${uiFiles})
+ set(generatedMocFiles ${mocFiles})
################################## EXECUTABLE ##############################
ADD_EXECUTABLE(${name} ${srcs} ${incs} ${generatedUiFiles} ${generatedMocFiles})
- TARGET_LINK_LIBRARIES(${name} PUBLIC VirtualRobot ${Simox_EXTERNAL_LIBRARIES})
+ target_include_directories(${name} PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+ TARGET_LINK_LIBRARIES(${name} PUBLIC VirtualRobot)
endfunction()
function(VirtualRobotQtLibrary name srcs incs mocFiles uiFiles)
- setupSimoxExternalLibraries()
-
- if (Simox_USE_QT4)
- MESSAGE (STATUS "Qt4 Moc'ing: ${mocFiles}")
- MESSAGE (STATUS "Qt4 ui files: ${uiFiles}")
- # need this option to work around a qt/boost bug
- qt4_wrap_cpp(generatedMocFiles ${mocFiles} OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
- qt4_wrap_ui(generatedUiFiles ${uiFiles})
- else()
- if(NOT "${CMAKE_VERSION}" VERSION_GREATER 3.9)
- MESSAGE (STATUS "Qt5 Moc'ing: ${mocFiles}")
- MESSAGE (STATUS "Qt5 ui files: ${uiFiles}")
- # need this option to work around a qt/boost bug
- qt5_wrap_cpp(generatedMocFiles ${mocFiles} OPTIONS -DBOOST_TT_HAS_OPERATOR_HPP_INCLUDED -DBOOST_NO_TEMPLATE_PARTIAL_SPECIALIZATION)
- qt5_wrap_ui(generatedUiFiles ${uiFiles})
- else()
- set(generatedUiFiles ${uiFiles})
- set(generatedMocFiles ${mocFiles})
- set(CMAKE_AUTOMOC "YES")
- set(CMAKE_AUTOUIC "YES")
- endif()
- endif()
+ set(generatedUiFiles ${uiFiles})
+ set(generatedMocFiles ${mocFiles})
+ set(CMAKE_AUTOMOC "YES")
+ set(CMAKE_AUTOUIC "YES")
- INCLUDE_DIRECTORIES( ${CMAKE_CURRENT_BINARY_DIR} )
################################## LIBRARY ##############################
ADD_LIBRARY(${name} SHARED ${srcs} ${incs} ${generatedUiFiles} ${generatedMocFiles})
- TARGET_LINK_LIBRARIES(${name} PUBLIC VirtualRobot ${Simox_EXTERNAL_LIBRARIES})
+ target_include_directories(${name} PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
+ TARGET_LINK_LIBRARIES(${name} PUBLIC VirtualRobot)
endfunction()
diff --git a/GraspPlanning/CMakeLists.txt b/GraspPlanning/CMakeLists.txt
index 24f49b501e2fd8f5e9214da9306c1b226fae1b4a..2392cfba3005155e730e2a821a0b7a0d3bbff502 100644
--- a/GraspPlanning/CMakeLists.txt
+++ b/GraspPlanning/CMakeLists.txt
@@ -1,22 +1,14 @@
PROJECT ( GraspStudio )
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6.2)
-CMAKE_POLICY(VERSION 2.6)
-if(POLICY CMP0020)
- cmake_policy(SET CMP0020 NEW) # qtmain add lib dependency (no effect in our case)
-endif()
-
MESSAGE (STATUS "***** CONFIGURING Simox project GraspStudio *****")
-INCLUDE (Cxx11Test)
-SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CXX11_FLAG}")
MACRO(ADD_GRASPSTUDIO_TEST TEST_NAME)
- if (NOT Boost_USE_STATIC_LIBS)
- ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK)
- endif (NOT Boost_USE_STATIC_LIBS)
ADD_EXECUTABLE(${TEST_NAME} ${CMAKE_CURRENT_SOURCE_DIR}/${TEST_NAME}.cpp)
- TARGET_LINK_LIBRARIES(${TEST_NAME} PRIVATE VirtualRobot Saba GraspStudio ${Simox_EXTERNAL_LIBRARIES})
+ if (NOT Boost_USE_STATIC_LIBS)
+ target_compile_definitions(${TEST_NAME} PRIVATE -DBOOST_TEST_DYN_LINK)
+ endif ()
+ TARGET_LINK_LIBRARIES(${TEST_NAME} PRIVATE VirtualRobot Saba GraspStudio boost_unit_test_framework)
SET_TARGET_PROPERTIES(${TEST_NAME} PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${Simox_TEST_DIR})
SET_TARGET_PROPERTIES(${TEST_NAME} PROPERTIES FOLDER "GraspStudio Tests")
ADD_TEST(NAME Saba_${TEST_NAME}
@@ -25,7 +17,6 @@ ENDMACRO(ADD_GRASPSTUDIO_TEST)
########### QHULL #################
-OPTION(BUILD_qhull "if on builds qhull external library" OFF)
IF(NOT BUILD_qhull)
find_package(QHULL QUIET)
IF (NOT QHULL_FOUND)
@@ -38,10 +29,8 @@ ENDIF()
IF(BUILD_qhull)
ADD_SUBDIRECTORY(ExternalDependencies/qhull-2003.1)
set(QHULL_LIBRARIES simox-qhull)
- include_directories("ExternalDependencies/qhull-2003.1/include/")
else()
find_package(QHULL REQUIRED)
- include_directories(${QHULL_INCLUDE_DIRS})
endif()
########### END QHULL #################
@@ -91,14 +80,15 @@ if (Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
)
endif ()
-
-include_directories(SYSTEM ${Simox_EXTERNAL_INCLUDE_DIRS})
-ADD_DEFINITIONS(${Simox_EXTERNAL_LIBRARY_FLAGS})
-
-
ADD_LIBRARY (GraspStudio SHARED ${SOURCES} ${INCLUDES})
-TARGET_LINK_LIBRARIES (GraspStudio PUBLIC Saba VirtualRobot ${Simox_EXTERNAL_LIBRARIES} ${QHULL_LIBRARIES})
+IF(BUILD_qhull)
+ target_include_directories(GraspStudio PUBLIC "ExternalDependencies/qhull-2003.1/include/")
+else()
+ target_include_directories(GraspStudio PUBLIC ${QHULL_INCLUDE_DIRS})
+endif()
+
+TARGET_LINK_LIBRARIES (GraspStudio PUBLIC Saba VirtualRobot ${QHULL_LIBRARIES})
# .DLL path
SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${Simox_BIN_DIR})
@@ -124,9 +114,9 @@ endif()
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
- LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT shlib
- ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT library
+ RUNTIME DESTINATION bin COMPONENT bin
+ LIBRARY DESTINATION lib COMPONENT shlib
+ ARCHIVE DESTINATION lib COMPONENT library
COMPONENT dev)
INSTALL(DIRECTORY ${PROJECT_SOURCE_DIR} DESTINATION ${Simox_INSTALL_HEADER_DIR}
diff --git a/GraspPlanning/ExternalDependencies/qhull-2003.1/CMakeLists.txt b/GraspPlanning/ExternalDependencies/qhull-2003.1/CMakeLists.txt
index d8261631dc3153268530727d76c56ce73ac6e40a..97d07defd103a04613241a24248cf7fa7ecd00d1 100644
--- a/GraspPlanning/ExternalDependencies/qhull-2003.1/CMakeLists.txt
+++ b/GraspPlanning/ExternalDependencies/qhull-2003.1/CMakeLists.txt
@@ -6,9 +6,9 @@ MESSAGE (STATUS " **** Configuring qhull")
FILE(GLOB SRCS ${PROJECT_SOURCE_DIR}/src/*.c)
FILE(GLOB INCS ${PROJECT_SOURCE_DIR}/src/*.h)
-INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/include ${PROJECT_SOURCE_DIR}/src)
ADD_LIBRARY(${PROJECT_NAME} STATIC ${SRCS} ${INCS})
+TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PUBLIC ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/include ${PROJECT_SOURCE_DIR}/src)
SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES FOLDER "3rd_Party")
# .DLL path
diff --git a/GraspPlanning/examples/GraspPlanner/CMakeLists.txt b/GraspPlanning/examples/GraspPlanner/CMakeLists.txt
index 3aade73724f39f670c5b95641bb8cc62f991f657..9135c9938c8beb3cb46221a39473d9985ebb1160 100644
--- a/GraspPlanning/examples/GraspPlanner/CMakeLists.txt
+++ b/GraspPlanning/examples/GraspPlanner/CMakeLists.txt
@@ -1,9 +1,7 @@
PROJECT ( GraspPlanner )
-INCLUDE(${Simox_DIR}/CMakeModules/SimoxMacros.cmake)
+INCLUDE(${Simox_SOURCE_DIR}/CMakeModules/SimoxMacros.cmake)
-INCLUDE (Cxx11Test)
-SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CXX11_FLAG}")
IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
@@ -31,9 +29,9 @@ IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
+ RUNTIME DESTINATION bin COMPONENT bin
COMPONENT dev)
MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be placed into " ${Simox_BIN_DIR})
- MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " ${INSTALL_BIN_DIR})
+ MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " bin)
ENDIF()
diff --git a/GraspPlanning/examples/GraspQuality/CMakeLists.txt b/GraspPlanning/examples/GraspQuality/CMakeLists.txt
index a64dd5726179945860239997b5641d4d41ff7897..74b7906efe1e2ff748361d2dab4c2c460e93ad64 100644
--- a/GraspPlanning/examples/GraspQuality/CMakeLists.txt
+++ b/GraspPlanning/examples/GraspQuality/CMakeLists.txt
@@ -1,6 +1,6 @@
PROJECT ( GraspQuality )
-INCLUDE(${Simox_DIR}/CMakeModules/SimoxMacros.cmake)
+INCLUDE(${Simox_SOURCE_DIR}/CMakeModules/SimoxMacros.cmake)
IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
@@ -29,10 +29,10 @@ IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
+ RUNTIME DESTINATION bin COMPONENT bin
COMPONENT dev)
MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be placed into " ${Simox_BIN_DIR})
- MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " ${INSTALL_BIN_DIR})
+ MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " bin)
ENDIF()
diff --git a/MotionPlanning/CMakeLists.txt b/MotionPlanning/CMakeLists.txt
index 1948434c7f6f0bfee63954fd9af942c79ec809f4..348489c0233c7349e02d9052d974481059e0ee40 100644
--- a/MotionPlanning/CMakeLists.txt
+++ b/MotionPlanning/CMakeLists.txt
@@ -1,29 +1,18 @@
PROJECT ( Saba )
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6.2)
-CMAKE_POLICY(VERSION 2.6)
-if(POLICY CMP0020)
- cmake_policy(SET CMP0020 NEW) # qtmain add lib dependency (no effect in our case)
-endif()
-
MESSAGE (STATUS "***** CONFIGURING Simox project Saba *****")
-INCLUDE (Cxx11Test)
-SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CXX11_FLAG}")
########################### TESTING #####################################
MACRO(ADD_SABA_TEST TEST_NAME)
- include_directories(SYSTEM ${Simox_EXTERNAL_INCLUDE_DIRS})
- INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR})
- INCLUDE_DIRECTORIES("${PROJECT_SOURCE_DIR}/..")
- if (NOT Boost_USE_STATIC_LIBS)
- ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK)
- endif (NOT Boost_USE_STATIC_LIBS)
- ADD_DEFINITIONS(${Simox_EXTERNAL_LIBRARY_FLAGS})
ADD_EXECUTABLE(${TEST_NAME} ${CMAKE_CURRENT_SOURCE_DIR}/${TEST_NAME}.cpp)
- TARGET_LINK_LIBRARIES(${TEST_NAME} PRIVATE VirtualRobot Saba ${Simox_EXTERNAL_LIBRARIES} ${Boost_TEST_LIB})
+ target_include_directories(${TEST_NAME} PRIVATE ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/..)
+ if (NOT Boost_USE_STATIC_LIBS)
+ target_compile_definitions(${TEST_NAME} PRIVATE -DBOOST_TEST_DYN_LINK)
+ endif ()
+ TARGET_LINK_LIBRARIES(${TEST_NAME} PRIVATE VirtualRobot Saba boost_unit_test_framework)
SET_TARGET_PROPERTIES(${TEST_NAME} PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${Simox_TEST_DIR})
SET_TARGET_PROPERTIES(${TEST_NAME} PROPERTIES FOLDER "Saba Tests")
ADD_TEST(NAME Saba_${TEST_NAME}
@@ -88,14 +77,11 @@ if (Simox_USE_COIN_VISUALIZATION)
${INCLUDES}
Visualization/CoinVisualization/CoinRrtWorkspaceVisualization.h
)
-endif (Simox_USE_COIN_VISUALIZATION)
-
-include_directories(SYSTEM ${Simox_EXTERNAL_INCLUDE_DIRS})
-ADD_DEFINITIONS(${Simox_EXTERNAL_LIBRARY_FLAGS})
+endif ()
ADD_LIBRARY (Saba SHARED ${SOURCES} ${INCLUDES})
#MESSAGE(STATUS "VirtualRobot_ROBOT_LINK_LIBRARIES:" ${VirtualRobot_EXTERNAL_LIBRARIES})
-TARGET_LINK_LIBRARIES (Saba PUBLIC VirtualRobot ${Simox_EXTERNAL_LIBRARIES})
+TARGET_LINK_LIBRARIES (Saba PUBLIC VirtualRobot)
# .DLL path
SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${Simox_BIN_DIR})
@@ -121,9 +107,9 @@ endif()
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
- LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT shlib
- ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT library
+ RUNTIME DESTINATION bin COMPONENT bin
+ LIBRARY DESTINATION lib COMPONENT shlib
+ ARCHIVE DESTINATION lib COMPONENT library
COMPONENT dev)
INSTALL(DIRECTORY ${PROJECT_SOURCE_DIR} DESTINATION ${Simox_INSTALL_HEADER_DIR}
diff --git a/MotionPlanning/Planner/BiRrt.cpp b/MotionPlanning/Planner/BiRrt.cpp
index aa666c2f2ff0e337bab353388caca7e9a892ee20..07f4bde41a9733385519574f2f83acf014ec3b07 100644
--- a/MotionPlanning/Planner/BiRrt.cpp
+++ b/MotionPlanning/Planner/BiRrt.cpp
@@ -100,8 +100,8 @@ namespace Saba
robot->setUpdateVisualization(false);
}
- ExtensionResult extResultA;
- ExtensionResult extResultB;
+ ExtensionResult extResultA = eError;
+ ExtensionResult extResultB = eError;
bool switched = false;
int* lastIDA = &lastAddedID;
diff --git a/MotionPlanning/examples/GraspRRT/CMakeLists.txt b/MotionPlanning/examples/GraspRRT/CMakeLists.txt
index 3382419a8bdaa2218a9ab50e151c8bd7dc1b5239..e3704cef99569b0a41da7d577b225d24e89585f2 100644
--- a/MotionPlanning/examples/GraspRRT/CMakeLists.txt
+++ b/MotionPlanning/examples/GraspRRT/CMakeLists.txt
@@ -1,6 +1,6 @@
PROJECT ( GraspRrtDemo )
-INCLUDE(${Simox_DIR}/CMakeModules/SimoxMacros.cmake)
+INCLUDE(${Simox_SOURCE_DIR}/CMakeModules/SimoxMacros.cmake)
IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
@@ -30,10 +30,10 @@ IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
+ RUNTIME DESTINATION bin COMPONENT bin
COMPONENT dev)
MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be placed into " ${Simox_BIN_DIR})
- MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " ${INSTALL_BIN_DIR})
+ MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " bin)
ENDIF()
diff --git a/MotionPlanning/examples/IKRRT/CMakeLists.txt b/MotionPlanning/examples/IKRRT/CMakeLists.txt
index ed209afcd4e8770a143738d051de5ba1279e960b..122cc9a2cd75e2245b46f96c4ec966d481366f37 100644
--- a/MotionPlanning/examples/IKRRT/CMakeLists.txt
+++ b/MotionPlanning/examples/IKRRT/CMakeLists.txt
@@ -1,6 +1,6 @@
PROJECT ( IKRRT )
-INCLUDE(${Simox_DIR}/CMakeModules/SimoxMacros.cmake)
+INCLUDE(${Simox_SOURCE_DIR}/CMakeModules/SimoxMacros.cmake)
IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
@@ -33,10 +33,10 @@ IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
+ RUNTIME DESTINATION bin COMPONENT bin
COMPONENT dev)
MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be placed into " ${Simox_BIN_DIR})
- MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " ${INSTALL_BIN_DIR})
+ MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " bin)
ENDIF()
diff --git a/MotionPlanning/examples/MultiThreadedPlanning/CMakeLists.txt b/MotionPlanning/examples/MultiThreadedPlanning/CMakeLists.txt
index 778ad0142ad3a5e7553c60bcda394705fcf98b44..97f1993f8d31199e1ac38c9ba381bf0dd7a43017 100644
--- a/MotionPlanning/examples/MultiThreadedPlanning/CMakeLists.txt
+++ b/MotionPlanning/examples/MultiThreadedPlanning/CMakeLists.txt
@@ -1,6 +1,6 @@
PROJECT ( MultiThreadedPlanning )
-INCLUDE(${Simox_DIR}/CMakeModules/SimoxMacros.cmake)
+INCLUDE(${Simox_SOURCE_DIR}/CMakeModules/SimoxMacros.cmake)
IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
@@ -31,11 +31,11 @@ IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
+ RUNTIME DESTINATION bin COMPONENT bin
COMPONENT dev)
MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be placed into " ${Simox_BIN_DIR})
- MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " ${INSTALL_BIN_DIR})
+ MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " bin)
ENDIF()
diff --git a/MotionPlanning/examples/MultiThreadedPlanning/MTPlanningWindow.cpp b/MotionPlanning/examples/MultiThreadedPlanning/MTPlanningWindow.cpp
index d2c6dfdd999549b9633c2791c04ec30a05f6ae87..d7a4d41cfffde5eede13034dfc0db55a3fe3e07e 100644
--- a/MotionPlanning/examples/MultiThreadedPlanning/MTPlanningWindow.cpp
+++ b/MotionPlanning/examples/MultiThreadedPlanning/MTPlanningWindow.cpp
@@ -1,6 +1,7 @@
#include "MTPlanningWindow.h"
+#include "ui_MTPlanning.h"
#include <vector>
#include <iostream>
diff --git a/MotionPlanning/examples/PlatformDemo/CMakeLists.txt b/MotionPlanning/examples/PlatformDemo/CMakeLists.txt
index 59a271114863b949a98f3efcb7772131f8dcc706..24ff2268f23fa78ba42f8f7d9b7ccf4bec8d315f 100644
--- a/MotionPlanning/examples/PlatformDemo/CMakeLists.txt
+++ b/MotionPlanning/examples/PlatformDemo/CMakeLists.txt
@@ -1,6 +1,6 @@
PROJECT ( PlatformDemo )
-INCLUDE(${Simox_DIR}/CMakeModules/SimoxMacros.cmake)
+INCLUDE(${Simox_SOURCE_DIR}/CMakeModules/SimoxMacros.cmake)
IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
@@ -30,10 +30,10 @@ IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
+ RUNTIME DESTINATION bin COMPONENT bin
COMPONENT dev)
MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be placed into " ${Simox_BIN_DIR})
- MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " ${INSTALL_BIN_DIR})
+ MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " bin)
ENDIF()
diff --git a/MotionPlanning/examples/RRT/CMakeLists.txt b/MotionPlanning/examples/RRT/CMakeLists.txt
index c6a32aa40e46ad4c2e090258f89677b0dee56df5..467c6d1a8248b59344fcab067df8c3693c61e976 100644
--- a/MotionPlanning/examples/RRT/CMakeLists.txt
+++ b/MotionPlanning/examples/RRT/CMakeLists.txt
@@ -1,6 +1,6 @@
PROJECT ( RRTdemo )
-INCLUDE(${Simox_DIR}/CMakeModules/SimoxMacros.cmake)
+INCLUDE(${Simox_SOURCE_DIR}/CMakeModules/SimoxMacros.cmake)
IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
@@ -21,11 +21,11 @@ IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
+ RUNTIME DESTINATION bin COMPONENT bin
COMPONENT dev)
MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be placed into " ${Simox_BIN_DIR})
- MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " ${INSTALL_BIN_DIR})
+ MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " bin)
ELSE()
MESSAGE (STATUS "Simox_USE_COIN_VISUALIZATION not defined: Skipping ${PROJECT_NAME}")
diff --git a/MotionPlanning/examples/RrtGui/CMakeLists.txt b/MotionPlanning/examples/RrtGui/CMakeLists.txt
index 8c7cd969792cb3d1c56f0dfb5a34574b169f23d6..b78376977634aae401ee270d607b17b16cb5f43b 100644
--- a/MotionPlanning/examples/RrtGui/CMakeLists.txt
+++ b/MotionPlanning/examples/RrtGui/CMakeLists.txt
@@ -1,6 +1,6 @@
PROJECT ( RrtGui )
-INCLUDE(${Simox_DIR}/CMakeModules/SimoxMacros.cmake)
+INCLUDE(${Simox_SOURCE_DIR}/CMakeModules/SimoxMacros.cmake)
IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
@@ -29,10 +29,10 @@ IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
+ RUNTIME DESTINATION bin COMPONENT bin
COMPONENT dev)
MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be placed into " ${Simox_BIN_DIR})
- MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " ${INSTALL_BIN_DIR})
+ MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " bin)
ENDIF()
diff --git a/MotionPlanning/tests/CMakeLists.txt b/MotionPlanning/tests/CMakeLists.txt
index da5087a07816926457b089ec53564f5c90b1345a..745ed89aa1085e591690b8395a0e5d3d15311a4d 100644
--- a/MotionPlanning/tests/CMakeLists.txt
+++ b/MotionPlanning/tests/CMakeLists.txt
@@ -1,5 +1,5 @@
-if (VirtualRobot_VISUALIZATION)
+if (Simox_VISUALIZATION)
ADD_SABA_TEST( SabaCSpaceTest )
ADD_SABA_TEST( SabaShortcutProcessorTest )
endif()
diff --git a/SimDynamics/CMakeLists.txt b/SimDynamics/CMakeLists.txt
index cbb4b54b4c2a06bd47c20216b76de6699ea968a1..934aeca36e298143caf4bbf707320aab96e880ce 100644
--- a/SimDynamics/CMakeLists.txt
+++ b/SimDynamics/CMakeLists.txt
@@ -1,26 +1,21 @@
PROJECT ( SimDynamics )
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6.2)
-CMAKE_POLICY(VERSION 2.6)
-if(POLICY CMP0020)
- cmake_policy(SET CMP0020 NEW) # qtmain add lib dependency (no effect in our case)
-endif()
-
MESSAGE (STATUS "***** CONFIGURING Simox project SimDynamics *****")
+add_library(SimDynamics SHARED SimDynamics.h) # sources will be added later
+
+target_include_directories(SimDynamics PUBLIC
+ $<BUILD_INTERFACE:${Simox_SOURCE_DIR}>
+ $<BUILD_INTERFACE:${Simox_BINARY_DIR}>
+ $<INSTALL_INTERFACE:include>
+)
GET_FILENAME_COMPONENT (CurrentSimDynamicsPath ${CMAKE_CURRENT_LIST_FILE} PATH)
SET(SimDynamics_DIR ${CurrentSimDynamicsPath})
-
-INCLUDE (Cxx11Test)
-SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CXX11_FLAG}")
-
############################# SETUP PHYSICS ENGINE #############################
-OPTION(SimDynamics_USE_BULLET "Use Bullet Physics Engine" ON)
SET (SimDynamics_DYNAMICSENGINE FALSE)
-SET (SimDynamics_PHYSICS_LIBRARIES "")
if (SimDynamics_USE_BULLET)
@@ -32,97 +27,78 @@ if (SimDynamics_USE_BULLET)
SET (BULLET_ROOT ${BULLET_ROOT} CACHE PATH "Bullet Path")
Find_Package(Bullet)
if (BULLET_FOUND)
- MESSAGE (STATUS " ** Found Bullet at ${BULLET_INCLUDE_DIRS}")
-
-
+ MESSAGE (STATUS " ** Found Bullet at ${BULLET_INCLUDE_DIRS}")
- #MESSAGE (STATUS "BULLET_LIBRARIES: ${BULLET_LIBRARIES}")
- #MESSAGE (STATUS "BULLET_OPENGL_INCLUDE_DIR: ${BULLET_OPENGL_INCLUDE_DIR}")
- #MESSAGE (STATUS "BULLET_OpenGLSupport_LIBRARY_debug: ${BULLET_OpenGLSupport_LIBRARY_debug}")
- SET(SIMDYNAMICS_INCLUDE_DIRS "${BULLET_INCLUDE_DIRS}" "${BULLET_INCLUDE_DIRS}/bullet") # "${BULLET_DEMOS_INCLUDE_DIR}" "${BULLET_OPENGL_INCLUDE_DIR}")# PARENT_SCOPE)
-
- INCLUDE_DIRECTORIES(
- ${BULLET_INCLUDE_DIRS}
- ${BULLET_INCLUDE_DIRS}/bullet
- )
+ target_include_directories(SimDynamics PUBLIC ${BULLET_INCLUDE_DIRS})
+ if(EXISTS "${BULLET_INCLUDE_DIRS}/bullet")
+ target_include_directories(SimDynamics PUBLIC ${BULLET_INCLUDE_DIRS}/bullet)
+ endif()
- IF (WIN32)
- OPTION(SimDynamics_USE_BULLET_USE_GLUT "Use Glut" OFF)
- else()
- OPTION(SimDynamics_USE_BULLET_USE_GLUT "Use Glut" ON)
- endif()
+ IF (WIN32)
+ OPTION(SimDynamics_USE_BULLET_USE_GLUT "Use Glut" OFF)
+ else()
+ OPTION(SimDynamics_USE_BULLET_USE_GLUT "Use Glut" ON)
+ endif()
include(BulletCheckPrecision)
message(STATUS "BULLET_INCLUDE_DIRS ${BULLET_INCLUDE_DIRS}")
BulletCheckPrecision()
- IF( NOT BULLET_USE_SINGLE_PRECISION )
- ADD_DEFINITIONS( -DBT_USE_DOUBLE_PRECISION)
- LIST(APPEND SIMDYNAMICS_COMPILE_FLAGS "-DBT_USE_DOUBLE_PRECISION")
- ENDIF()
- #MESSAGE(STATUS "BULLET_LIBRARIES:${BULLET_LIBRARIES}")
- SET (SimDynamics_PHYSICS_LIBRARIES "${BULLET_LIBRARIES}")
- SET (SimDynamics_DYNAMICSENGINE TRUE)
+ target_link_libraries(SimDynamics PUBLIC ${BULLET_LIBRARIES})
+ SET (SimDynamics_DYNAMICSENGINE TRUE)
- FIND_PACKAGE(OpenGL)
- IF (OPENGL_FOUND)
- MESSAGE (STATUS " ** OPENGL FOUND lib:${OPENGL_gl_LIBRARY}")
- #check if there was a distuingish between optimized and debug libs:
- IF (SimDynamics_PHYSICS_LIBRARIES MATCHES "optimized;")
- LIST(APPEND SimDynamics_PHYSICS_LIBRARIES optimized ${OPENGL_gl_LIBRARY} debug ${OPENGL_gl_LIBRARY})
- ELSE()
- LIST(APPEND SimDynamics_PHYSICS_LIBRARIES ${OPENGL_gl_LIBRARY})
- ENDIF()
- ENDIF()
- IF (OPENGL_GLU_FOUND)
- MESSAGE (STATUS " ** OPENGL_GLU FOUND lib:${OPENGL_glu_LIBRARY}")
- #check if there was a distuingish between optimized and debug libs:
- IF (SimDynamics_PHYSICS_LIBRARIES MATCHES "optimized;")
- LIST(APPEND SimDynamics_PHYSICS_LIBRARIES optimized ${OPENGL_glu_LIBRARY} debug ${OPENGL_glu_LIBRARY})
- ELSE()
- LIST(APPEND SimDynamics_PHYSICS_LIBRARIES ${OPENGL_glu_LIBRARY})
- ENDIF()
- ENDIF()
-
- IF (SimDynamics_USE_BULLET_USE_GLUT)
+ FIND_PACKAGE(OpenGL)
+ IF (OPENGL_FOUND)
+ MESSAGE (STATUS " ** OPENGL FOUND lib:${OPENGL_gl_LIBRARY}")
+ #check if there was a distuingish between optimized and debug libs:
+ IF (BULLET_LIBRARIES MATCHES "optimized;")
+ target_link_libraries(SimDynamics PUBLIC optimized ${OPENGL_gl_LIBRARY} debug ${OPENGL_gl_LIBRARY})
+ ELSE()
+ target_link_libraries(SimDynamics PUBLIC ${OPENGL_gl_LIBRARY})
+ ENDIF()
+ ENDIF()
+ IF (OPENGL_GLU_FOUND)
+ MESSAGE (STATUS " ** OPENGL_GLU FOUND lib:${OPENGL_glu_LIBRARY}")
+ #check if there was a distuingish between optimized and debug libs:
+ IF (BULLET_LIBRARIES MATCHES "optimized;")
+ target_link_libraries(SimDynamics PUBLIC optimized ${OPENGL_glu_LIBRARY} debug ${OPENGL_glu_LIBRARY})
+ ELSE()
+ target_link_libraries(SimDynamics PUBLIC ${OPENGL_glu_LIBRARY})
+ ENDIF()
+ ENDIF()
+
+ IF (SimDynamics_USE_BULLET_USE_GLUT)
FIND_PACKAGE(GLUT)
IF (GLUT_FOUND)
MESSAGE(STATUS " ** GLUT FOUND: ${GLUT_glut_LIBRARY}")
- #check if there was a distuingish between optimized and debug libs:
- IF (SimDynamics_PHYSICS_LIBRARIES MATCHES "optimized;")
- LIST(APPEND SimDynamics_PHYSICS_LIBRARIES optimized ${GLUT_glut_LIBRARY} debug ${GLUT_glut_LIBRARY})
- ELSE()
- LIST(APPEND SimDynamics_PHYSICS_LIBRARIES ${GLUT_glut_LIBRARY} )
- ENDIF()
+ #check if there was a distuingish between optimized and debug libs:
+ IF (BULLET_LIBRARIES MATCHES "optimized;")
+ target_link_libraries(SimDynamics PUBLIC optimized ${GLUT_glut_LIBRARY} debug ${GLUT_glut_LIBRARY})
+ ELSE()
+ target_link_libraries(SimDynamics PUBLIC ${GLUT_glut_LIBRARY} )
+ ENDIF()
+
+ IF (WIN32)
+ target_include_directories(SimDynamics PUBLIC ${GLUT_INCLUDE_DIR})
+ ELSE ()
+ # This is the lines for linux. This should always work if everything is installed and working fine.
+ target_include_directories(SimDynamics PUBLIC /usr/include /usr/local/include ${GLUT_INCLUDE_DIR})
+ ENDIF ()
+ ELSE ()
+ SET( GLUT_glut_LIBRARY "" CACHE PATH "Glut library." )
+ ENDIF ()
+ ENDIF()
+
+ ADD_SUBDIRECTORY(DynamicsEngine/BulletEngine/BulletOpenGL)
- IF (WIN32)
- INCLUDE_DIRECTORIES(${GLUT_INCLUDE_DIR})
- SET(SIMDYNAMICS_INCLUDE_DIRS "${SIMDYNAMICS_INCLUDE_DIRS}" "${GLUT_INCLUDE_DIR}")# PARENT_SCOPE)
- ELSE (WIN32)
- # This is the lines for linux. This should always work if everything is installed and working fine.
- INCLUDE_DIRECTORIES(/usr/include /usr/local/include ${GLUT_INCLUDE_DIR})
- SET(SIMDYNAMICS_INCLUDE_DIRS "${SIMDYNAMICS_INCLUDE_DIRS}" "/usr/include" "/usr/local/include" "${GLUT_INCLUDE_DIR}")
- ENDIF (WIN32)
- ELSE (GLUT_FOUND)
- SET( GLUT_glut_LIBRARY "" CACHE PATH "Glut library." )
- ENDIF (GLUT_FOUND)
-
- #SET (SimDynamics_BULLET_OpenGL TRUE)
- ENDIF(SimDynamics_USE_BULLET_USE_GLUT)
-
- ADD_SUBDIRECTORY(DynamicsEngine/BulletEngine/BulletOpenGL)
-
- else()
- MESSAGE (STATUS " ** Could not find Bullet")
- endif()
+else()
+ MESSAGE (STATUS " ** Could not find Bullet")
+endif()
else()
MESSAGE ("No Physics engine selected...")
endif()
-MESSAGE (STATUS " ** SIMDYNAMICS_INCLUDE_DIRS: ${SIMDYNAMICS_INCLUDE_DIRS}")
-
-MESSAGE (STATUS " ** SimDynamics_PHYSICS_LIBRARIES: ${SimDynamics_PHYSICS_LIBRARIES}")
#######################################################################
@@ -130,11 +106,11 @@ MESSAGE (STATUS " ** SimDynamics_PHYSICS_LIBRARIES: ${SimDynamics_PHYSICS_LIBRAR
#######################################################################
MACRO(ADD_SIMDYNAMICS_TEST TEST_NAME)
- if (NOT Boost_USE_STATIC_LIBS)
- ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK)
- endif (NOT Boost_USE_STATIC_LIBS)
ADD_EXECUTABLE(${TEST_NAME} ${CMAKE_CURRENT_SOURCE_DIR}/${TEST_NAME}.cpp)
- TARGET_LINK_LIBRARIES(${TEST_NAME} PRIVATE VirtualRobot Saba GraspStudio SimDynamics ${Simox_EXTERNAL_LIBRARIES} ${SimDynamics_PHYSICS_LIBRARIES} ${Boost_TEST_LIB})
+ if (NOT Boost_USE_STATIC_LIBS)
+ target_compile_definitions(${TEST_NAME} PRIVATE -DBOOST_TEST_DYN_LINK)
+ endif ()
+ TARGET_LINK_LIBRARIES(${TEST_NAME} PRIVATE VirtualRobot Saba GraspStudio SimDynamics boost_unit_test_framework)
SET_TARGET_PROPERTIES(${TEST_NAME} PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${Simox_TEST_DIR})
SET_TARGET_PROPERTIES(${TEST_NAME} PROPERTIES FOLDER "SimDynamics Tests")
ADD_TEST(NAME SimDynamics_${TEST_NAME}
@@ -161,7 +137,6 @@ if (SimDynamics_DYNAMICSENGINE)
DynamicsEngine/DynamicsRobot.h
DynamicsEngine/DynamicsUtils.h
)
- # ${SimDynamics_SimoxDir}/VirtualRobot/definesVR.h
if (SimDynamics_USE_BULLET)
SET(SOURCES
@@ -212,28 +187,23 @@ if (SimDynamics_DYNAMICSENGINE)
DynamicsEngine/BulletEngine/BulletCoinQtViewer.h
)
else()
+ MESSAGE (STATUS "SOQT_FOUND : ${SOQT_FOUND}")
+ MESSAGE (STATUS "Simox_USE_COIN_VISUALIZATION: ${Simox_USE_COIN_VISUALIZATION}")
MESSAGE (STATUS " ** Qt/Coin3D disabled: Skipping BulletCoinQtViewer")
endif()
endif ()
-
- # this var is considered for generating Simox_INCLUDE_DIRS_
- SET(Simox_SimDynamics_INCLUDE_DIRS "${SIMDYNAMICS_INCLUDE_DIRS}" PARENT_SCOPE)
- SET(Simox_SimDynamics_EXTERNAL_LIBRARIES "${SimDynamics_PHYSICS_LIBRARIES}" PARENT_SCOPE)
- SET(Simox_SimDynamics_COMPILE_FLAGS "${SIMDYNAMICS_COMPILE_FLAGS}" PARENT_SCOPE)
- #INCLUDE_DIRECTORIES(${SimDynamics_SimoxDir})
- #INCLUDE_DIRECTORIES(${SimDynamics_DIR})
-
- include_directories(SYSTEM ${Simox_EXTERNAL_INCLUDE_DIRS})
- ADD_DEFINITIONS(${Simox_EXTERNAL_LIBRARY_FLAGS})
+ set_target_properties(SimDynamics PROPERTIES SOURCES "${SOURCES};${INCLUDES}")
- ADD_LIBRARY (SimDynamics SHARED ${SOURCES} ${INCLUDES})
if (SimDynamics_BULLET_OpenGL)
TARGET_LINK_LIBRARIES (SimDynamics PUBLIC BulletOpenGLSupport)
SET (SimDynamics_BULLET_OpenGL TRUE PARENT_SCOPE) # inform parent scope about BulletOpenGLSupport
ENDIF(SimDynamics_BULLET_OpenGL)
- TARGET_LINK_LIBRARIES (SimDynamics PUBLIC ${Simox_EXTERNAL_LIBRARIES} VirtualRobot ${SimDynamics_PHYSICS_LIBRARIES})
+ TARGET_LINK_LIBRARIES (SimDynamics PUBLIC VirtualRobot)
+ if (SimDynamics_USE_BULLET AND NOT BULLET_USE_SINGLE_PRECISION )
+ target_compile_definitions(SimDynamics PUBLIC -DBT_USE_DOUBLE_PRECISION)
+ endif()
# .DLL path
SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${Simox_BIN_DIR})
# .so path
@@ -262,9 +232,9 @@ if (SimDynamics_DYNAMICSENGINE)
INSTALL(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
- LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT shlib
- ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT library
+ RUNTIME DESTINATION bin COMPONENT bin
+ LIBRARY DESTINATION lib COMPONENT shlib
+ ARCHIVE DESTINATION lib COMPONENT library
COMPONENT dev)
INSTALL(DIRECTORY ${PROJECT_SOURCE_DIR} DESTINATION ${Simox_INSTALL_HEADER_DIR}
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletCoinQtViewer.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletCoinQtViewer.cpp
index 5346d5ffc2d6546b6d489e88b5393c6cfa5cdf7d..b5baffd3da865c395d8c2e3727a9a446664d6489 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletCoinQtViewer.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletCoinQtViewer.cpp
@@ -19,7 +19,7 @@ namespace SimDynamics
BulletCoinQtViewer::BulletCoinQtViewer(DynamicsWorldPtr world)
- : warned_norealtime(false), simModeFixedTimeStep(false)
+ : simModeFixedTimeStep(false), warned_norealtime(false)
{
bulletTimeStepMsec = 16; // 60FPS
bulletMaxSubSteps = 1;
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/CMakeLists.txt b/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/CMakeLists.txt
index 764f5c4864f40940564f9d929971bb493addcc9c..3f192de7e365ac1c19c4341b154dba22914c7727 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/CMakeLists.txt
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/CMakeLists.txt
@@ -12,9 +12,13 @@ MESSAGE (STATUS " **** Configuring BulletOpenGLSupport")
FILE(GLOB SRCS ${PROJECT_SOURCE_DIR}/*.cpp)
FILE(GLOB INCS ${PROJECT_SOURCE_DIR}/*.h)
-INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR})
-
ADD_LIBRARY(${PROJECT_NAME} STATIC ${SRCS} ${INCS})
+TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PRIVATE ${PROJECT_SOURCE_DIR})
+target_include_directories(${PROJECT_NAME} PUBLIC ${BULLET_INCLUDE_DIRS})
+if(EXISTS "${BULLET_INCLUDE_DIRS}/bullet")
+ target_include_directories(${PROJECT_NAME} PUBLIC ${BULLET_INCLUDE_DIRS}/bullet)
+endif()
+
SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES FOLDER "3rd_Party")
IF(UNIX)
# We are on Linux
@@ -42,12 +46,11 @@ SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES ARCHIVE_OUTPUT_DIRECTORY ${Simo
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
- LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT shlib
- ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT library
+ RUNTIME DESTINATION bin COMPONENT bin
+ LIBRARY DESTINATION lib COMPONENT shlib
+ ARCHIVE DESTINATION lib COMPONENT library
COMPONENT dev)
-# PUBLIC_HEADER DESTINATION "${INSTALL_INCLUDE_DIR}/VirtualRobot"
else()
MESSAGE (STATUS " **** Not compiling BulletOpenGL support")
-endif()
\ No newline at end of file
+endif()
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/GL_ShapeDrawer.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/GL_ShapeDrawer.cpp
index c8d55bce48264eea8259b9e900cd3f7895d83cca..09a67847edff7f806d50a143debd1139b48ad81d 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/GL_ShapeDrawer.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/GL_ShapeDrawer.cpp
@@ -534,7 +534,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
{
const int s = x >> 4;
const GLubyte b = 180;
- GLubyte c = b + ((s + t & 1) & 1) * (255 - b);
+ GLubyte c = b + (((s + t) & 1) & 1) * (255 - b);
pi[0] = pi[1] = pi[2] = c;
pi += 3;
}
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp b/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp
index 1e65be5bd56b6947861d98f2ff2af39e6d751526..e93f3af10c8139a0febf873370b36da038c4bc4d 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/BulletRobot.cpp
@@ -441,7 +441,13 @@ namespace SimDynamics
links.push_back(i);
#ifndef DEBUG_FIXED_OBJECTS
- if (enableJointMotors && (joint->isRotationalJoint() || (joint->isTranslationalJoint()) && !ignoreTranslationalJoints))
+ if (
+ enableJointMotors &&
+ (
+ joint->isRotationalJoint() ||
+ (joint->isTranslationalJoint() && !ignoreTranslationalJoints)
+ )
+ )
{
// start standard actuator
actuateNode(joint, joint->getJointValue());
@@ -1092,6 +1098,7 @@ namespace SimDynamics
return slider->getTargetLinMotorVelocity() * 1000; // / BulletObject::ScaleFactor; m -> mm
}
+ return 0;
}
double BulletRobot::getJointSpeed(VirtualRobot::RobotNodePtr rn)
diff --git a/SimDynamics/DynamicsEngine/BulletEngine/SimoxCollisionDispatcher.cpp b/SimDynamics/DynamicsEngine/BulletEngine/SimoxCollisionDispatcher.cpp
index d18fbf9ef4797b11077f585924f20fe6856c22ec..b40a0e56b07287413aeb2e896cd9bf25e2bd5dce 100644
--- a/SimDynamics/DynamicsEngine/BulletEngine/SimoxCollisionDispatcher.cpp
+++ b/SimDynamics/DynamicsEngine/BulletEngine/SimoxCollisionDispatcher.cpp
@@ -10,7 +10,7 @@ namespace SimDynamics
SimoxCollisionDispatcher::SimoxCollisionDispatcher(BulletEngine* engine, btCollisionConfiguration* collisionConfiguration)
- : engine(engine), btCollisionDispatcher(collisionConfiguration)
+ : btCollisionDispatcher(collisionConfiguration), engine(engine)
{
}
diff --git a/SimDynamics/examples/BulletDebugViewer/CMakeLists.txt b/SimDynamics/examples/BulletDebugViewer/CMakeLists.txt
index a5cbe5dfab2907e23a1125a8ad4d97d46524116b..87a98e2c85d6cf2a9b191e229710f67e8190683b 100644
--- a/SimDynamics/examples/BulletDebugViewer/CMakeLists.txt
+++ b/SimDynamics/examples/BulletDebugViewer/CMakeLists.txt
@@ -1,19 +1,19 @@
PROJECT ( BulletDebugViewer )
-INCLUDE(${Simox_DIR}/CMakeModules/SimoxMacros.cmake)
+INCLUDE(${Simox_SOURCE_DIR}/CMakeModules/SimoxMacros.cmake)
IF (SimDynamics_USE_BULLET_USE_GLUT)
include_directories(${GLUT_INCLUDE_DIR})
message("GLUT_INCLUDE_DIR:${GLUT_INCLUDE_DIR}")
# create the executable
SimoxApplication(${PROJECT_NAME} "BulletDebugViewerGlut.cpp" "")
- TARGET_LINK_LIBRARIES(${PROJECT_NAME} PRIVATE SimDynamics BulletOpenGLSupport ${Simox_EXTERNAL_LIBRARIES})
+ TARGET_LINK_LIBRARIES(${PROJECT_NAME} PRIVATE SimDynamics BulletOpenGLSupport)
ELSE(SimDynamics_USE_BULLET_USE_GLUT)
IF(WIN32)
SET (SRC
"BulletDebugViewerWin32.cpp"
- "${Simox_DIR}/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/Win32AppMain.cpp"
+ "${Simox_SOURCE_DIR}/SimDynamics/DynamicsEngine/BulletEngine/BulletOpenGL/Win32AppMain.cpp"
)
#"Win32BasicDemo.cpp"
SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /subsystem:windows")
@@ -34,8 +34,8 @@ SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${Simo
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
+ RUNTIME DESTINATION bin COMPONENT bin
COMPONENT dev)
MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be placed into " ${Simox_BIN_DIR})
-MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " ${INSTALL_BIN_DIR})
+MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " bin)
diff --git a/SimDynamics/examples/SimDynamicsViewer/CMakeLists.txt b/SimDynamics/examples/SimDynamicsViewer/CMakeLists.txt
index 55140740f352ac5a038b8581592bcec89ffc2cb0..197942b0551a5769b01ec46fe47e54f506bc4f33 100644
--- a/SimDynamics/examples/SimDynamicsViewer/CMakeLists.txt
+++ b/SimDynamics/examples/SimDynamicsViewer/CMakeLists.txt
@@ -1,6 +1,6 @@
PROJECT ( SimDynamicsViewer )
-INCLUDE(${Simox_DIR}/CMakeModules/SimoxMacros.cmake)
+INCLUDE(${Simox_SOURCE_DIR}/CMakeModules/SimoxMacros.cmake)
IF(Simox_USE_COIN_VISUALIZATION)
@@ -16,7 +16,7 @@ IF(Simox_USE_COIN_VISUALIZATION)
)
SimoxQtApplication("${PROJECT_NAME}" "${demo_SRCS}" "${demo_INCS}" "${GUI_MOC_HDRS}" "${GUI_UIS}")
- TARGET_LINK_LIBRARIES(${PROJECT_NAME} PRIVATE SimDynamics ${Simox_EXTERNAL_LIBRARIES})
+ TARGET_LINK_LIBRARIES(${PROJECT_NAME} PRIVATE SimDynamics)
SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES FOLDER "Examples")
SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${Simox_BIN_DIR})
@@ -28,9 +28,9 @@ IF(Simox_USE_COIN_VISUALIZATION)
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
+ RUNTIME DESTINATION bin COMPONENT bin
COMPONENT dev)
MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be placed into " ${Simox_BIN_DIR})
- MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " ${INSTALL_BIN_DIR})
+ MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " bin)
ENDIF()
diff --git a/VirtualRobot/CMakeLists.txt b/VirtualRobot/CMakeLists.txt
index e3c3b55fca869383dc97b5950e80ae6d5f3bfd34..442082f155235a94b5b24d2f31e5817bb05cb506 100644
--- a/VirtualRobot/CMakeLists.txt
+++ b/VirtualRobot/CMakeLists.txt
@@ -1,19 +1,172 @@
PROJECT ( VirtualRobot )
-MESSAGE (STATUS "\n***** CONFIGURING Simox project VirtualRobot *****")
+add_library(VirtualRobot SHARED VirtualRobot.h) # sources will be added later
+
+target_include_directories(VirtualRobot PUBLIC
+ $<BUILD_INTERFACE:${Simox_SOURCE_DIR}>
+ $<BUILD_INTERFACE:${Simox_BINARY_DIR}>
+ $<INSTALL_INTERFACE:include>
+)
+
+target_compile_options(VirtualRobot PUBLIC ${Simox_OS_compile_options})
+
+#######################################################################
+# Setup dependencies
+#######################################################################
+### RBDL
+if (Simox_USE_RBDL)
+ FIND_PACKAGE (RBDL)
+ if (RBDL_FOUND)
+ MESSAGE(STATUS "RBDL found at: ${RBDL_INCLUDE_DIR}")
+ target_include_directories(VirtualRobot PUBLIC ${RBDL_INCLUDE_DIR})
+ target_link_libraries(VirtualRobot PUBLIC ${RBDL_LIBRARIES})
+ else ()
+ MESSAGE(STATUS "RBDL not found!")
+ endif ()
+endif()
+
+#### NLOPT
+if (Simox_USE_NLOPT)
+ FIND_PACKAGE(NLOPT)
+ if (NLOPT_FOUND)
+ MESSAGE(STATUS "NLOPT found at: ${NLOPT_INCLUDE_DIRS}")
+ target_include_directories(VirtualRobot PUBLIC ${NLOPT_INCLUDE_DIRS})
+ target_link_libraries(VirtualRobot PUBLIC ${NLOPT_LIBRARIES})
+ else ()
+ MESSAGE(STATUS "NLOPT not found")
+ endif ()
+endif ()
+
+#### Eigen
+FIND_PACKAGE (Eigen3 REQUIRED)
+target_include_directories(VirtualRobot SYSTEM PUBLIC ${Eigen3_INCLUDE_DIR})
+
+#### BOOST
+FIND_PACKAGE(Boost COMPONENTS filesystem system program_options thread REQUIRED)
+MESSAGE (STATUS "Boost found at: ${Boost_INCLUDE_DIR}")
+
+target_include_directories(VirtualRobot PUBLIC ${Boost_INCLUDE_DIR})
+target_link_libraries(VirtualRobot PUBLIC ${Boost_LIBRARIES})
+# disable boost auto linking
+if (Boost_USE_STATIC_LIBS)
+ target_compile_definitions(VirtualRobot PUBLIC -DBOOST_ALL_NO_LIB -DBOOST_TEST_MAIN)
+else (Boost_USE_STATIC_LIBS)
+ # enable dynamic linking for specific boost libraries
+ target_compile_definitions(VirtualRobot PUBLIC
+ -DBOOST_ALL_NO_LIB
+ -DBOOST_PROGRAM_OPTIONS_DYN_LINK
+ -DBOOST_FILESYSTEM_DYN_LINK
+ -DBOOST_SYSTEM_DYN_LINK
+ -DBOOST_THREAD_DYN_LINK)
+endif ()
+
+
+##########################################
+#### VISUALIZATION Coin3D+Qt+SoQt / OSG+Qt
+
+
+if (Simox_USE_COIN_VISUALIZATION)
+ MESSAGE(STATUS "Searching Coin3D, Qt and SoQt...")
+
+ ##### Coin3D
+ FIND_PACKAGE(Coin3D REQUIRED)
+ if (COIN3D_FOUND)
+ MESSAGE (STATUS "Found Coin3D: " ${COIN3D_INCLUDE_DIRS})
+ set(Simox_VISUALIZATION TRUE CACHE BOOL "")
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6.2)
-CMAKE_POLICY(VERSION 2.6)
+ target_include_directories(VirtualRobot PUBLIC ${COIN3D_INCLUDE_DIRS})
+ target_link_libraries(VirtualRobot PUBLIC ${COIN3D_LIBRARIES})
+ target_compile_definitions(VirtualRobot PUBLIC -DCOIN_DLL)
+ endif ()
-if(NOT ("${CMAKE_VERSION}" VERSION_LESS 2.8.12))
- cmake_policy(SET CMP0022 OLD) # avoid INTERFACE_LINK_LIBRARIES warnings
-ENDIF()
-if(POLICY CMP0020)
- cmake_policy(SET CMP0020 NEW) # qtmain add lib dependency (no effect in our case)
+
+ if ( Qt5_FOUND )
+ MESSAGE (STATUS "Found Qt5: " ${Qt5Gui_INCLUDE_DIRS} ${Qt5OpenGL_INCLUDE_DIRS} )
+ target_link_libraries(VirtualRobot PUBLIC Qt5::Core Qt5::Gui Qt5::OpenGL Qt5::Widgets)
+ else ( )
+ MESSAGE (STATUS "Did not find Qt. Disabling Qt/SoQt support.")
+ endif ( )
+
+ if (Qt5_FOUND AND COIN3D_FOUND)
+ #### SoQt
+ # This will set SoQt_INCLUDE_DIRS and SoQt_LIBRARIES
+ FIND_PACKAGE(SoQt)
+ set(SOQT_FOUND ${SOQT_FOUND} CACHE INTERNAL "")
+
+ if (NOT SOQT_FOUND)
+ MESSAGE (STATUS "Did not find SoQt. Disabling SoQt support.")
+ else ()
+ MESSAGE (STATUS "Found SoQt:" ${SoQt_INCLUDE_DIRS})
+ MESSAGE (STATUS "Enabling Coin3D/Qt/SoQt support")
+
+ set(Simox_VISUALIZATION TRUE CACHE BOOL "")
+ set(Simox_BUILD_EXAMPLES ON CACHE BOOL "Build example applications")
+
+ target_include_directories(VirtualRobot PUBLIC ${SoQt_INCLUDE_DIRS})
+ target_link_libraries(VirtualRobot PUBLIC ${SoQt_LIBRARIES})
+ target_compile_definitions(VirtualRobot PUBLIC -DSOQT_DLL -DSIMOX_USE_SOQT)
+
+ if (NOT UNIX)
+ target_link_libraries(VirtualRobot PUBLIC opengl32)
+ endif()
+ endif()
+ endif()
+elseif (Simox_USE_OPENSCENEGRAPH_VISUALIZATION)
+ MESSAGE(STATUS "Searching OSG and Qt...")
+ FIND_PACKAGE(OpenSceneGraph REQUIRED osgViewer osgUtil osgDB osgGA)
+
+ if (Qt5_FOUND AND OPENSCENEGRAPH_FOUND)
+ MESSAGE (STATUS "Enabling OSG/Qt support")
+ ### a little hack is needed here since osgQt is not supported in the FindOSG script
+ MESSAGE(STATUS "OPENSCENEGRAPH_LIBRARIES: ${OPENSCENEGRAPH_LIBRARIES}")
+ LIST(GET OPENSCENEGRAPH_LIBRARIES 1 firstOsgLib)
+ MESSAGE(STATUS "firstOsgLib: ${firstOsgLib}")
+ GET_FILENAME_COMPONENT(osgLibPath ${firstOsgLib} PATH)
+ MESSAGE(STATUS "osgLibPath: ${osgLibPath}")
+ if (UNIX)
+ list(APPEND OPENSCENEGRAPH_LIBRARIES ${osgLibPath}/libosgQt.so)
+ else()
+ list(APPEND OPENSCENEGRAPH_LIBRARIES optimized)
+ list(APPEND OPENSCENEGRAPH_LIBRARIES ${osgLibPath}/osgQt.lib)
+ list(APPEND OPENSCENEGRAPH_LIBRARIES debug)
+ list(APPEND OPENSCENEGRAPH_LIBRARIES ${osgLibPath}/osgQtd.lib)
+ endif()
+ MESSAGE(STATUS "OPENSCENEGRAPH_LIBRARIES: ${OPENSCENEGRAPH_LIBRARIES}")
+ set(Simox_VISUALIZATION TRUE CACHE BOOL "")
+
+
+ target_include_directories(VirtualRobot PUBLIC ${OPENSCENEGRAPH_INCLUDE_DIRS})
+ target_link_libraries(VirtualRobot PUBLIC ${OPENSCENEGRAPH_LIBRARIES})
+ endif()
+else()
+ MESSAGE(STATUS "Visualization disabled")
endif()
-INCLUDE (Cxx11Test)
-SET (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${CXX11_FLAG}")
+if (Simox_USE_COLLADA)
+ MESSAGE(STATUS "Searching for Collada...")
+ FIND_PACKAGE(COLLADA_DOM REQUIRED 2.4)
+
+ IF(COLLADA_DOM_FOUND)
+ MESSAGE (STATUS "Found Collada")
+ MESSAGE (STATUS "* Collada COLLADA_DOM_ROOT_DIR : ${COLLADA_DOM_ROOT_DIR}")
+ MESSAGE (STATUS "* Collada Include DIRS: ${COLLADA_DOM_INCLUDE_DIRS}")
+ MESSAGE (STATUS "* Collada Libs: ${COLLADA_DOM_LIBRARIES}")
+ MESSAGE (STATUS "* Collada COLLADA_DOM_LIBRARY_DIRS: ${COLLADA_DOM_LIBRARY_DIRS}")
+
+ FIND_LIBRARY(COLLADA_LIBRARY ${COLLADA_DOM_LIBRARIES} ${COLLADA_DOM_LIBRARY_DIRS})
+ MESSAGE (STATUS "Collada Full Collada lib: ${COLLADA_LIBRARY}")
+
+ target_include_directories(VirtualRobot PUBLIC ${COLLADA_DOM_INCLUDE_DIRS})
+ target_link_libraries(VirtualRobot PUBLIC ${COLLADA_LIBRARY})
+ target_compile_definitions(VirtualRobot PUBLIC -DDOM_DYNAMIC )
+ ENDIF()
+endif()
+
+##########################################################################################################
+##########################################################################################################
+##########################################################################################################
+
+MESSAGE (STATUS "\n***** CONFIGURING Simox project VirtualRobot *****")
if (Simox_USE_RBDL)
FIND_PACKAGE (RBDL)
@@ -21,22 +174,16 @@ endif()
if (Simox_USE_NLOPT)
FIND_PACKAGE (NLOPT)
- if (NLOPT_FOUND)
- ADD_DEFINITIONS(-DUSE_NLOPT)
- endif()
endif()
########################### TESTING #####################################
MACRO(ADD_VR_TEST TEST_NAME)
- INCLUDE_DIRECTORIES(SYSTEM ${Simox_EXTERNAL_INCLUDE_DIRS})
- INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR})
- INCLUDE_DIRECTORIES("${PROJECT_SOURCE_DIR}/..")
- ADD_DEFINITIONS(${Simox_EXTERNAL_LIBRARY_FLAGS})
- if (NOT Boost_USE_STATIC_LIBS)
- ADD_DEFINITIONS(-DBOOST_TEST_DYN_LINK)
- endif (NOT Boost_USE_STATIC_LIBS)
ADD_EXECUTABLE(${TEST_NAME} ${CMAKE_CURRENT_SOURCE_DIR}/${TEST_NAME}.cpp)
- TARGET_LINK_LIBRARIES(${TEST_NAME} PRIVATE VirtualRobot ${Simox_EXTERNAL_LIBRARIES} ${Boost_TEST_LIB})
+ TARGET_LINK_LIBRARIES(${TEST_NAME} PRIVATE VirtualRobot boost_unit_test_framework)
+ target_include_directories(${TEST_NAME} PRIVATE ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/..)
+ if (NOT Boost_USE_STATIC_LIBS)
+ target_compile_definitions(${TEST_NAME} PRIVATE -DBOOST_TEST_DYN_LINK)
+ endif ()
SET_TARGET_PROPERTIES(${TEST_NAME} PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${Simox_TEST_DIR})
SET_TARGET_PROPERTIES(${TEST_NAME} PROPERTIES FOLDER "VirtualRobot Tests")
ADD_TEST(NAME VirtualRobot_${TEST_NAME}
@@ -393,8 +540,11 @@ if (Simox_USE_NLOPT AND NLOPT_FOUND)
)
endif ()
-if (Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
-
+MESSAGE (STATUS "Simox_VISUALIZATION : ${Simox_VISUALIZATION}")
+MESSAGE (STATUS "Simox_USE_COIN_VISUALIZATION : ${Simox_USE_COIN_VISUALIZATION}")
+MESSAGE (STATUS "Simox_USE_OPENSCENEGRAPH_VISUALIZATION: ${Simox_USE_OPENSCENEGRAPH_VISUALIZATION}")
+if (Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
+ MESSAGE (STATUS "adding Coin3d visualzation")
SET(SOURCES
${SOURCES}
Visualization/CoinVisualization/CoinVisualizationFactory.cpp
@@ -444,61 +594,19 @@ elseif (Simox_VISUALIZATION AND Simox_USE_OPENSCENEGRAPH_VISUALIZATION)
Visualization/OSGVisualization/osgQtWidget/osgViewerWidget.h
)
- set(GUI_MOC_HDRS
- Visualization/OSGVisualization/osgQtWidget/osgViewerWidget.h
- )
- if (Simox_USE_QT4)
- qt4_wrap_cpp(SOURCES ${GUI_MOC_HDRS})
- else()
- qt5_wrap_cpp(SOURCES ${GUI_MOC_HDRS})
- endif()
-
if(BUILD_TESTING)
ADD_SUBDIRECTORY(Visualization/OSGVisualization/tests)
endif()
endif ()
-#if (Simox_USE_COLLADA)
-#
-# SET(SOURCES
-# ${SOURCES}
-# Import/SimoxCOLLADAFactory.cpp
-# COLLADA/ColladaIO.cpp
-# COLLADA/ColladaParser.cpp
-# )
-#
-# SET(INCLUDES
-# ${INCLUDES}
-# Import/SimoxCOLLADAFactory.h
-# COLLADA/ColladaIO.h
-# COLLADA/ColladaIterators.h
-# COLLADA/ColladaParser.h
-# )
-#endif ()
-
-
#check for URDF
if (Simox_USE_URDF)
include(SearchForTinyXML)
FIND_PACKAGE(urdfdom)
- #FIND_PACKAGE(PkgConfig)
- #PKG_CHECK_MODULES(URDFDOM REQUIRED urdfdom>=0.2.9)
- #PKG_CHECK_MODULES(URDFDOM_HEADERS REQUIRED urdfdom_headers>=0.2.3)
if (tinyxml_library AND URDF_FOUND)
MESSAGE(STATUS " ** Including URDF importer")
- include_directories(SYSTEM ${tinyxml_include_dirs})
- link_directories(${tinyxml_library_dirs})
- add_definitions(${tinyxml_cflags})
- add_definitions(" -DTIXML_USE_STL ")
-
- INCLUDE_DIRECTORIES (SYSTEM
- ${URDFDOM_INCLUDE_DIRS}
- ${URDFDOM_PARSER_INCLUDE_DIRS}
- ${URDFDOM_HEADERS_INCLUDE_DIRS}
- )
-
SET(SOURCES
${SOURCES}
Import/URDF/SimoxURDFFactory.cpp
@@ -508,7 +616,7 @@ if (Simox_USE_URDF)
Import/URDF/SimoxURDFFactory.h
)
- SET(Simox_EXTERNAL_LIBRARIES ${Simox_EXTERNAL_LIBRARIES} ${URDFDOM_LIBRARIES})
+ target_link_libraries(VirtualRobot PUBLIC ${URDFDOM_LIBRARIES})
else()
MESSAGE(STATUS " *** urdfDom or TinyXML not found: skipping URDF importer...")
endif()
@@ -532,35 +640,39 @@ endif()
# Adding the UI files to the library
if (Simox_USE_COIN_VISUALIZATION AND SOQT_FOUND)
MESSAGE (STATUS " ** Adding GraspEditor gui")
- set(UI
- Grasping/GraspEditor/GraspEditor.ui
- )
-
- if (Simox_USE_QT4)
- QT4_WRAP_UI(UI_HEADERS ${UI})
- QT4_WRAP_CPP(MOC_SRC
- Grasping/GraspEditor/GraspEditorWindow.h
- )
- else()
- QT5_WRAP_UI(UI_HEADERS ${UI})
- QT5_WRAP_CPP(MOC_SRC
- Grasping/GraspEditor/GraspEditorWindow.h
- )
- endif()
-
- set(INCLUDES ${INCLUDES} ${UI_HEADERS})
- SET(SOURCES ${SOURCES} ${MOC_SRC} "Grasping/GraspEditor/GraspEditorWindow.cpp")
- SET(INCLUDES ${INCLUDES} "Grasping/GraspEditor/GraspEditorWindow.h")
+ SET(SOURCES ${SOURCES} Grasping/GraspEditor/GraspEditorWindow.cpp)
+ SET(INCLUDES ${INCLUDES}
+ Grasping/GraspEditor/GraspEditorWindow.h
+ Grasping/GraspEditor/GraspEditor.ui
+ )
endif()
# Finished adding UI files
#-----------------------------------------------------------------------------------
+set_target_properties(VirtualRobot PROPERTIES SOURCES "${SOURCES};${INCLUDES}")
-ADD_LIBRARY (VirtualRobot SHARED ${SOURCES} ${INCLUDES})
-TARGET_LINK_LIBRARIES(VirtualRobot PUBLIC ColCheckerPQP ${Simox_EXTERNAL_LIBRARIES})
-target_include_directories(VirtualRobot SYSTEM PUBLIC ${Simox_EXTERNAL_INCLUDE_DIRS})
+target_compile_definitions(VirtualRobot PUBLIC
+ "-DVirtualRobot_SRC_DATA_PATH=\"${Simox_DATA_DIR}\""
+ "-DSimox_DATA_PATH=\"${Simox_INSTALL_DATA_DIR}\""
+)
+if (Simox_USE_NLOPT AND NLOPT_FOUND)
+ target_compile_definitions(VirtualRobot PUBLIC -DUSE_NLOPT)
+endif()
+
+
+if (Simox_USE_URDF AND tinyxml_library AND URDF_FOUND)
+ target_include_directories(VirtualRobot SYSTEM PUBLIC ${tinyxml_include_dirs})
+ target_compile_options(VirtualRobot PUBLIC ${tinyxml_library_dirs})
+ target_compile_definitions(VirtualRobot PUBLIC ${tinyxml_cflags} -DTIXML_USE_STL)
+
+ target_include_directories(VirtualRobot SYSTEM PUBLIC
+ ${URDFDOM_INCLUDE_DIRS}
+ ${URDFDOM_PARSER_INCLUDE_DIRS}
+ ${URDFDOM_HEADERS_INCLUDE_DIRS}
+ )
+endif()
# against undefined reference to boost::filesystem::detail::copy_file
# source: https://stackoverflow.com/a/3500721
@@ -581,17 +693,13 @@ SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES ARCHIVE_OUTPUT_DIRECTORY ${Simo
############################ Setup for installation ###################################
#######################################################################################
-#set_target_properties(${PROJECT_NAME} PROPERTIES
-# PUBLIC_HEADER "${INCLUDES}")
-
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
- LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT shlib
- ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT library
+ RUNTIME DESTINATION bin COMPONENT bin
+ LIBRARY DESTINATION lib COMPONENT shlib
+ ARCHIVE DESTINATION lib COMPONENT library
COMPONENT dev)
- # PUBLIC_HEADER DESTINATION "${INSTALL_INCLUDE_DIR}/VirtualRobot"
INSTALL(DIRECTORY ${PROJECT_SOURCE_DIR} ${CMAKE_CURRENT_BINARY_DIR} DESTINATION "${Simox_INSTALL_HEADER_DIR}"
COMPONENT Headers
diff --git a/VirtualRobot/CollisionDetection/CMakeLists.txt b/VirtualRobot/CollisionDetection/CMakeLists.txt
index 8f41cbf5e41bbd462c66d8f7cd0714499da4c3a2..3298b79f43778a59c09a350a5694b2529e47f200 100644
--- a/VirtualRobot/CollisionDetection/CMakeLists.txt
+++ b/VirtualRobot/CollisionDetection/CMakeLists.txt
@@ -3,7 +3,6 @@
FILE(GLOB SRCS ${PROJECT_SOURCE_DIR}/*.cpp)
# check for requested collision detection wrappers
-OPTION(Simox_COLLISION_CHECKER_PQP "Build and use the PQP Collision Detection library (located in ExternalDependencies)" ON)
IF (Simox_COLLISION_CHECKER_PQP)
MESSAGE (STATUS " ** COLLISION DETECTION: PQP")
SET (COL_CHECKER_WRAPPER_DIR ${PROJECT_SOURCE_DIR}/CollisionDetection/PQP)
@@ -13,13 +12,14 @@ IF (Simox_COLLISION_CHECKER_PQP)
SET(COLLISIONDETECTION_INC_DIR ${COLLISIONDETECTION_DIR})
SET(COLLISIONDETECTION_LIB_DIR ${Simox_LIB_DIR})
- # create PQP lib
- ADD_SUBDIRECTORY(${COLLISIONDETECTION_DIR})
+ # create PQP lib
+ ADD_SUBDIRECTORY(${COLLISIONDETECTION_DIR})
+ target_link_libraries(VirtualRobot PUBLIC ColCheckerPQP)
ELSE()
# DUMMY
MESSAGE (STATUS "WARNING: NO LIBRARY DEFINED FOR COLLISION DETECTION: COLLISION DETECTION IS DISABLED!")
SET (COL_CHECKER_WRAPPER_DIR ${PROJECT_SOURCE_DIR}/CollisionDetection/Dummy)
- SET(COLLISIONDETECTION_DIR ${Simox_DIR}/VirtualRobot/CollisionDetection/Dummy)
+ SET(COLLISIONDETECTION_DIR ${Simox_SOURCE_DIR}/VirtualRobot/CollisionDetection/Dummy)
SET(COLLISIONDETECTION_INC_DIR ${COLLISIONDETECTION_DIR})
SET(COLLISIONDETECTION_LIB_DIR ${Simox_LIB_DIR})
ENDIF ()
@@ -31,6 +31,7 @@ FILE (GLOB INCS_COL ${COL_CHECKER_WRAPPER_DIR}/*.h)
SET (SOURCES ${SOURCES} ${SRCS_COL})
SET (INCLUDES ${INCLUDES} ${INCS_COL})
-LINK_DIRECTORIES(${COLLISIONDETECTION_LIB_DIR})
-INCLUDE_DIRECTORIES(${COL_CHECKER_WRAPPER_DIR} ${COLLISIONDETECTION_INC_DIR})
+target_include_directories(VirtualRobot PRIVATE ${COL_CHECKER_WRAPPER_DIR} ${COLLISIONDETECTION_INC_DIR})
+
+
diff --git a/VirtualRobot/CollisionDetection/PQP/PQP++/CMakeLists.txt b/VirtualRobot/CollisionDetection/PQP/PQP++/CMakeLists.txt
index 74c929302202bde930a21ae2624de2ea6750ee51..e912235271d8eecb9a70d4f38c715830f8f0c4c8 100644
--- a/VirtualRobot/CollisionDetection/PQP/PQP++/CMakeLists.txt
+++ b/VirtualRobot/CollisionDetection/PQP/PQP++/CMakeLists.txt
@@ -2,47 +2,36 @@ PROJECT(ColCheckerPQP)
MESSAGE (STATUS " **** Configuring PQP")
-ADD_DEFINITIONS(-DUSE_PQP)
-
# Specify headers and sources
FILE(GLOB SRCS ${PROJECT_SOURCE_DIR}/*.cpp)
FILE(GLOB INCS ${PROJECT_SOURCE_DIR}/*.h)
-INCLUDE_DIRECTORIES(${PROJECT_SOURCE_DIR})
-
ADD_LIBRARY(${PROJECT_NAME} STATIC ${SRCS} ${INCS})
+TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} PRIVATE ${PROJECT_SOURCE_DIR})
+
+target_compile_definitions(${PROJECT_NAME} PUBLIC -DUSE_PQP)
SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES FOLDER "3rd_Party")
IF(UNIX)
- # We are on Linux
- ADD_DEFINITIONS(-fPIC)
-ENDIF(UNIX)
+ # We are on Linux
+ target_compile_options(${PROJECT_NAME} PUBLIC -fPIC)
+ENDIF()
MESSAGE(STATUS " ** ${PROJECT_NAME} will be placed into " ${Simox_LIB_DIR})
-
# .DLL path
SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${Simox_BIN_DIR})
# .so path
SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${Simox_LIB_DIR})
# .lib path (this is needed for setting the DLL-import library path on windows)
SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES ARCHIVE_OUTPUT_DIRECTORY ${Simox_LIB_DIR})
-
-
-
#######################################################################################
############################ Setup for installation ###################################
#######################################################################################
-
-
-#set_target_properties(${PROJECT_NAME} PROPERTIES
-# PUBLIC_HEADER "${INCS}")
-
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
- LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT shlib
- ARCHIVE DESTINATION "${INSTALL_LIB_DIR}" COMPONENT library
+ RUNTIME DESTINATION bin COMPONENT bin
+ LIBRARY DESTINATION lib COMPONENT shlib
+ ARCHIVE DESTINATION lib COMPONENT library
COMPONENT dev)
-# PUBLIC_HEADER DESTINATION "${INSTALL_INCLUDE_DIR}/VirtualRobot"
diff --git a/VirtualRobot/CollisionDetection/PQP/PQP++/TriDist.cpp b/VirtualRobot/CollisionDetection/PQP/PQP++/TriDist.cpp
index c38e066b7b16f6413ade9fd29e3839aaa442bf4d..40182092082d879ab3a58af1779ecfd770021c65 100644
--- a/VirtualRobot/CollisionDetection/PQP/PQP++/TriDist.cpp
+++ b/VirtualRobot/CollisionDetection/PQP/PQP++/TriDist.cpp
@@ -234,9 +234,11 @@ namespace PQP
// Even if these tests fail, it may be helpful to know the closest
// points found, and whether the triangles were shown disjoint
- PQP_REAL V[3];
- PQP_REAL Z[3];
- PQP_REAL minP[3], minQ[3], mindd;
+ PQP_REAL V[3] = {0,0,0};
+ PQP_REAL Z[3] = {0,0,0};
+ PQP_REAL minP[3] = {0,0,0};
+ PQP_REAL minQ[3] = {0,0,0};
+ PQP_REAL mindd = 0;
int shown_disjoint = 0;
mindd = pqp_math.VdistV2(S[0], T[0]) + 1; // Set first minimum safely high
diff --git a/VirtualRobot/Grasping/GraspEditor/GraspEditorWindow.cpp b/VirtualRobot/Grasping/GraspEditor/GraspEditorWindow.cpp
index a3005f9dd79542efca86f045de47cf2b084999fb..43524368baca28c98871a0d39eb242a971cba7bc 100644
--- a/VirtualRobot/Grasping/GraspEditor/GraspEditorWindow.cpp
+++ b/VirtualRobot/Grasping/GraspEditor/GraspEditorWindow.cpp
@@ -27,7 +27,7 @@
#include <sstream>
-#include <VirtualRobot/ui_GraspEditor.h>
+#include "ui_GraspEditor.h"
using namespace std;
diff --git a/VirtualRobot/Import/COLLADA-light/Example/CMakeLists.txt b/VirtualRobot/Import/COLLADA-light/Example/CMakeLists.txt
index 7b8deeba7e694046b8eb7ac7f075805335e0628d..0fa202aa44b9c174789d666451990af95ea4e067 100644
--- a/VirtualRobot/Import/COLLADA-light/Example/CMakeLists.txt
+++ b/VirtualRobot/Import/COLLADA-light/Example/CMakeLists.txt
@@ -1,10 +1,11 @@
cmake_minimum_required (VERSION 2.6)
project (collada)
-include_directories( "../pugixml" "/usr/include/qt4" "/usr/include/qt4/QT" "/usr/include/qt4/QtCore" "/usr/include/eigen3" )
add_executable(collada ../collada.cpp ../inventor.cpp viewer.cpp ../pugixml/pugixml.cpp)
+
+TARGET_INCLUDE_DIRECTORIES(collada PUBLIC "../pugixml" "/usr/include/qt4" "/usr/include/qt4/QT" "/usr/include/qt4/QtCore" "/usr/include/eigen3" )
target_link_libraries(collada Coin SoQt boost_system boost_timer)
-add_definitions(-DTIMER_DEBUG)
+target_compile_definitions(collada PUBLIC -DTIMER_DEBUG)
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -g")
find_package(Doxygen)
diff --git a/VirtualRobot/Import/URDF/CMakeLists.txt b/VirtualRobot/Import/URDF/CMakeLists.txt
index f01dc5cb375b3aa10e093a4a7b5584bea58a5f36..e46f64c1df98ad28a4856c4513988f836d021097 100644
--- a/VirtualRobot/Import/URDF/CMakeLists.txt
+++ b/VirtualRobot/Import/URDF/CMakeLists.txt
@@ -4,44 +4,39 @@ LIST( APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/CMake )
include(SearchForTinyXML)
FIND_PACKAGE(urdfdom)
-#FIND_PACKAGE(PkgConfig)
-#PKG_CHECK_MODULES(URDFDOM REQUIRED urdfdom>=0.2.9)
-#PKG_CHECK_MODULES(URDFDOM_HEADERS REQUIRED urdfdom_headers>=0.2.3)
if (tinyxml_library AND URDF_FOUND)
+ SET ( URDFIMPORT_SOURCES
+ SimoxURDFFactory.cpp
+ )
+ SET ( URDFIMPORT_HEADERS
+ SimoxURDFFactory.h
+ )
+
+ ADD_LIBRARY ( simox_urdfimport SHARED ${URDFIMPORT_SOURCES} ${URDFIMPORT_HEADERS} )
- include_directories(SYSTEM ${tinyxml_include_dirs})
- link_directories(${tinyxml_library_dirs})
- add_definitions(${tinyxml_cflags})
- add_definitions("-DTIXML_USE_STL")
+ target_include_directories(simox_urdfimport SYSTEM PUBLIC ${tinyxml_include_dirs})
+ #arget_link_directories(${tinyxml_library_dirs})
+ target_compile_definitions(simox_urdfimport PUBLIC ${tinyxml_cflags})
+ target_compile_definitions(simox_urdfimport PUBLIC "-DTIXML_USE_STL")
FIND_PACKAGE(simox REQUIRED)
- INCLUDE_DIRECTORIES (
+
+ target_INCLUDE_DIRECTORIES (simox_urdfimport PUBLIC
${URDFDOM_INCLUDE_DIRS}
${URDFDOM_PARSER_INCLUDE_DIRS}
${URDFDOM_HEADERS_INCLUDE_DIRS}
)
- setupSimoxExternalLibraries()
-
SET (CMAKE_SKIP_BUILD_RPATH FALSE)
SET (CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
SET (CMAKE_INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib")
SET (CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
- SET ( URDFIMPORT_SOURCES
- SimoxURDFFactory.cpp
- )
- SET ( URDFIMPORT_HEADERS
- SimoxURDFFactory.h
- )
- ADD_LIBRARY ( simox_urdfimport SHARED ${URDFIMPORT_SOURCES} ${URDFIMPORT_HEADERS} )
-
- add_definitions("-DDEMO_BASE_PATH=\"${PROJECT_SOURCE_DIR}\"")
ADD_EXECUTABLE (loadURDFobot loadURDFobot.cpp)
+ target_compile_definitions(loadURDFobot PUBLIC "-DDEMO_BASE_PATH=\"${PROJECT_SOURCE_DIR}\"")
TARGET_LINK_LIBRARIES (simox_urdfimport VirtualRobot ${URDFDOM_LIBRARIES})
TARGET_LINK_LIBRARIES(loadURDFobot simox_urdfimport VirtualRobot ${URDFDOM_LIBRARIES})
-
endif()
diff --git a/VirtualRobot/MathTools.h b/VirtualRobot/MathTools.h
index 109cb6d450c667df02dc71ff414c59d7e3bc57bf..4880d89c01b580bc9eec04c2873e6296bc4186c5 100644
--- a/VirtualRobot/MathTools.h
+++ b/VirtualRobot/MathTools.h
@@ -392,9 +392,9 @@ namespace VirtualRobot
*/
struct ContactPoint
{
- Eigen::Vector3f p; // point
- Eigen::Vector3f n; // normal
- float force;
+ Eigen::Vector3f p = Eigen::Vector3f::Zero(); // point
+ Eigen::Vector3f n = Eigen::Vector3f::Zero(); // normal
+ float force = 0;
};
struct TriangleFace
diff --git a/VirtualRobot/TimeOptimalTrajectory/Path.cpp b/VirtualRobot/TimeOptimalTrajectory/Path.cpp
index fe51f30425a256a40943b5cca2baa67f646b50f6..cc792aa93757d13f73d7cd9facc31c5d70711867 100644
--- a/VirtualRobot/TimeOptimalTrajectory/Path.cpp
+++ b/VirtualRobot/TimeOptimalTrajectory/Path.cpp
@@ -53,9 +53,9 @@ namespace VirtualRobot
{
public:
LinearPathSegment(const Eigen::VectorXd &start, const Eigen::VectorXd &end) :
+ PathSegment((end-start).norm()),
start(start),
- end(end),
- PathSegment((end-start).norm())
+ end(end)
{
}
diff --git a/VirtualRobot/TimeOptimalTrajectory/TimeOptimalTrajectory.cpp b/VirtualRobot/TimeOptimalTrajectory/TimeOptimalTrajectory.cpp
index bfbd33daa8691eb7bf731c786faa1d9869047bbe..40226d2d773ecaf69137b03774d2b858da82b025 100644
--- a/VirtualRobot/TimeOptimalTrajectory/TimeOptimalTrajectory.cpp
+++ b/VirtualRobot/TimeOptimalTrajectory/TimeOptimalTrajectory.cpp
@@ -326,7 +326,7 @@ namespace VirtualRobot
list<TimeOptimalTrajectoryStep>::iterator start1 = start2;
start1--;
list<TimeOptimalTrajectoryStep> trajectory;
- double slope;
+ double slope = 0;
assert(start1->pathPos <= pathPos);
while(start1 != startTrajectory.begin() || pathPos >= 0.0)
diff --git a/VirtualRobot/Workspace/VoxelTreeND.hpp b/VirtualRobot/Workspace/VoxelTreeND.hpp
index ab7fd8aeb741e8cf91cfee4a25fc0fb20fae3a53..ea58bfa23d7cbaa2c0d44cd242ecf25813e5d981 100644
--- a/VirtualRobot/Workspace/VoxelTreeND.hpp
+++ b/VirtualRobot/Workspace/VoxelTreeND.hpp
@@ -76,7 +76,7 @@ namespace VirtualRobot
memcpy(this->maxExtend, maxExtend, sizeof(float)*N);
memcpy(this->discretization, discretization, sizeof(float)*N);
- for (int i = 0; i < N; i++)
+ for (unsigned int i = 0; i < N; i++)
{
size[i] = maxExtend[i] - minExtend[i];
THROW_VR_EXCEPTION_IF(size[i] <= 0.0f, "Invalid extend parameters?!");
@@ -85,7 +85,7 @@ namespace VirtualRobot
int maxSteps = 0;
- for (int i = 0; i < N; i++)
+ for (unsigned int i = 0; i < N; i++)
{
int steps = (int)(size[i] / discretization[i] + 0.5f);
@@ -105,9 +105,9 @@ namespace VirtualRobot
float newExtend[N];
memcpy(newExtend, size, sizeof(float)*N);
- for (int a = 0; a < maxLevels; a++)
+ for (unsigned int a = 0; a < maxLevels; a++)
{
- for (int b = 0; b < N; b++)
+ for (unsigned int b = 0; b < N; b++)
{
elementExtends(a, b) = newExtend[b];
newExtend[b] *= 0.5f;
@@ -123,7 +123,7 @@ namespace VirtualRobot
VR_INFO << "Extends (min/max/size):" << endl;
std::streamsize pr = std::cout.precision(2);
- for (int i = 0; i < N; i++)
+ for (unsigned int i = 0; i < N; i++)
{
cout << std::fixed << minExtend[i] << "," << maxExtend[i] << " -> " << size[i] << endl;
cout << std::fixed << "\tdiscretization:" << discretization[i] << ". Max leafs:" << (int)(size[i] / discretization[i] + 0.5f) << endl;
@@ -300,7 +300,7 @@ namespace VirtualRobot
int64_t nrElements = FileIO::read<int64_t>(file);
// id
- int64_t expectedID = FileIO::read<int64_t>(file);
+ /*int64_t expectedID = */FileIO::read<int64_t>(file);
// create dummy elements to be filled afterwards
float p[N];
@@ -332,7 +332,7 @@ namespace VirtualRobot
size_t dataSize = sizeof(unsigned int);
bzip2->read((void*)(&(d.id)), dataSize, n);
- if (n != dataSize)
+ if (static_cast<size_t>(n) != dataSize)
{
VR_ERROR << "Invalid number of bytes?!" << endl;
bzip2->close();
@@ -379,7 +379,7 @@ namespace VirtualRobot
dataSize = sizeof(bool);
bzip2->read((void*)(&(leaf)), dataSize, n);
- if (n != dataSize)
+ if (static_cast<size_t>(n) != dataSize)
{
VR_ERROR << "Invalid number of bytes?!" << endl;
bzip2->close();
@@ -396,7 +396,7 @@ namespace VirtualRobot
dataSize = sizeof(T);
bzip2->read((void*)(&(d.entry)), dataSize, n);
- if (n != dataSize)
+ if (static_cast<size_t>(n) != dataSize)
{
VR_ERROR << "Invalid number of bytes?!" << endl;
bzip2->close();
@@ -412,7 +412,7 @@ namespace VirtualRobot
bzip2->read((void*)(&(childIDs[0])), dataSize, n);
- if (n != dataSize)
+ if (static_cast<size_t>(n) != dataSize)
{
VR_ERROR << "Invalid number of bytes?!" << endl;
bzip2->close();
@@ -557,7 +557,7 @@ namespace VirtualRobot
{
// write children ids
dataSize = sizeof(unsigned int) * numChildren;
- THROW_VR_EXCEPTION_IF(numChildren != d.children.size(), "Internal error, numChildren wrong...");
+ THROW_VR_EXCEPTION_IF(static_cast<size_t>(numChildren) != d.children.size(), "Internal error, numChildren wrong...");
for (int j = 0; j < numChildren; j++)
{
@@ -806,7 +806,7 @@ namespace VirtualRobot
*/
float getExtends(int level, int dim)
{
- THROW_VR_EXCEPTION_IF(dim >= N || dim < 0, "Index out of bounds");
+ THROW_VR_EXCEPTION_IF(static_cast<size_t>(dim) >= N || dim < 0, "Index out of bounds");
return elementExtends(level, dim);
}
int getNumChildren()
@@ -850,5 +850,4 @@ namespace VirtualRobot
-} // namespace
-
+}
diff --git a/VirtualRobot/examples/CameraViewer/CMakeLists.txt b/VirtualRobot/examples/CameraViewer/CMakeLists.txt
index cddcb8f3bca1c7cdf0b96f4a18fd99d2f18f8bbe..7f715c375da6fa82f230de3241eb8621580eb360 100644
--- a/VirtualRobot/examples/CameraViewer/CMakeLists.txt
+++ b/VirtualRobot/examples/CameraViewer/CMakeLists.txt
@@ -1,6 +1,6 @@
PROJECT ( CameraViewer )
-INCLUDE(${Simox_DIR}/CMakeModules/SimoxMacros.cmake)
+INCLUDE(${Simox_SOURCE_DIR}/CMakeModules/SimoxMacros.cmake)
IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
@@ -32,7 +32,7 @@ IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
find_package(OpenGL REQUIRED)
if(OPENGL_FOUND)
- include_directories(SYSTEM ${OPENGL_INCLUDE_DIR})
+ target_include_directories(${PROJECT_NAME} SYSTEM PRIVATE ${OPENGL_INCLUDE_DIR})
TARGET_LINK_LIBRARIES(${PROJECT_NAME} PRIVATE ${OPENGL_LIBRARIES})
endif(OPENGL_FOUND)
@@ -46,10 +46,10 @@ IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
+ RUNTIME DESTINATION bin COMPONENT bin
COMPONENT dev)
MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be placed into " ${Simox_BIN_DIR})
- MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " ${INSTALL_BIN_DIR})
+ MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " bin)
ENDIF()
diff --git a/VirtualRobot/examples/ConstrainedIK/CMakeLists.txt b/VirtualRobot/examples/ConstrainedIK/CMakeLists.txt
index ec7b407c074944d4c23c697a66fd54204c25eb46..772a3c328af36f6c075f86585d7cdcd30002e8f1 100644
--- a/VirtualRobot/examples/ConstrainedIK/CMakeLists.txt
+++ b/VirtualRobot/examples/ConstrainedIK/CMakeLists.txt
@@ -1,6 +1,6 @@
PROJECT ( ConstrainedIKDemo )
-INCLUDE(${Simox_DIR}/CMakeModules/SimoxMacros.cmake)
+INCLUDE(${Simox_SOURCE_DIR}/CMakeModules/SimoxMacros.cmake)
IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION AND NLOPT_FOUND)
@@ -23,10 +23,10 @@ IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION AND NLOPT_FOUND)
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
+ RUNTIME DESTINATION bin COMPONENT bin
COMPONENT dev
)
MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be placed into " ${Simox_BIN_DIR})
- MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " ${INSTALL_BIN_DIR})
+ MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " bin)
ENDIF()
diff --git a/VirtualRobot/examples/GenericIK/CMakeLists.txt b/VirtualRobot/examples/GenericIK/CMakeLists.txt
index 23ce6bb98a205ff6dd160430d86260dbcb652a2f..ced985e7b93a32e782d174781dfd53b26c849331 100644
--- a/VirtualRobot/examples/GenericIK/CMakeLists.txt
+++ b/VirtualRobot/examples/GenericIK/CMakeLists.txt
@@ -1,6 +1,6 @@
PROJECT ( GenericIKDemo )
-INCLUDE(${Simox_DIR}/CMakeModules/SimoxMacros.cmake)
+INCLUDE(${Simox_SOURCE_DIR}/CMakeModules/SimoxMacros.cmake)
IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
@@ -29,9 +29,9 @@ IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
+ RUNTIME DESTINATION bin COMPONENT bin
COMPONENT dev)
MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be placed into " ${Simox_BIN_DIR})
- MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " ${INSTALL_BIN_DIR})
+ MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " bin)
ENDIF()
diff --git a/VirtualRobot/examples/GraspEditor/CMakeLists.txt b/VirtualRobot/examples/GraspEditor/CMakeLists.txt
index a2ba102aa21c4f5edbfa142d50bb4b3de502b855..f645bdb9e8626dae2cc5afc5b2b921aca37e9b7f 100644
--- a/VirtualRobot/examples/GraspEditor/CMakeLists.txt
+++ b/VirtualRobot/examples/GraspEditor/CMakeLists.txt
@@ -1,6 +1,6 @@
PROJECT ( GraspEditor )
-INCLUDE(${Simox_DIR}/CMakeModules/SimoxMacros.cmake)
+INCLUDE(${Simox_SOURCE_DIR}/CMakeModules/SimoxMacros.cmake)
IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
@@ -20,11 +20,11 @@ IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
+ RUNTIME DESTINATION bin COMPONENT bin
COMPONENT dev)
MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be placed into " ${Simox_BIN_DIR})
- MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " ${INSTALL_BIN_DIR})
+ MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " bin)
ENDIF()
diff --git a/VirtualRobot/examples/Jacobi/CMakeLists.txt b/VirtualRobot/examples/Jacobi/CMakeLists.txt
index cf168c3d59288583ccd4eec0998a9f6bc1e5bedf..ac35755d4e1e185bb7d85c4364c57c1635a4be05 100644
--- a/VirtualRobot/examples/Jacobi/CMakeLists.txt
+++ b/VirtualRobot/examples/Jacobi/CMakeLists.txt
@@ -1,6 +1,6 @@
PROJECT ( JacobiDemo )
-INCLUDE(${Simox_DIR}/CMakeModules/SimoxMacros.cmake)
+INCLUDE(${Simox_SOURCE_DIR}/CMakeModules/SimoxMacros.cmake)
IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
@@ -30,9 +30,9 @@ IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
+ RUNTIME DESTINATION bin COMPONENT bin
COMPONENT dev)
MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be placed into " ${Simox_BIN_DIR})
- MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " ${INSTALL_BIN_DIR})
+ MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " bin)
ENDIF()
diff --git a/VirtualRobot/examples/Legacy/ColladaViewer/CMakeLists.txt b/VirtualRobot/examples/Legacy/ColladaViewer/CMakeLists.txt
index f1f9f1a669298675dae50b2b186bfdc1cff50b43..df6a46c25077ba3502cf76634803634abd03b5b9 100644
--- a/VirtualRobot/examples/Legacy/ColladaViewer/CMakeLists.txt
+++ b/VirtualRobot/examples/Legacy/ColladaViewer/CMakeLists.txt
@@ -6,7 +6,6 @@ IF(Simox_USE_COIN_VISUALIZATION AND Simox_USE_COLLADA)
GET_FILENAME_COMPONENT (CurrentPath ${CMAKE_CURRENT_LIST_FILE} PATH)
SET(DEMO_BASE_DIR ${PROJECT_SOURCE_DIR})
- ADD_DEFINITIONS(-DDEMO_BASE_DIR="${DEMO_BASE_DIR}")
FILE(GLOB demo_SRCS ${PROJECT_SOURCE_DIR}/RobotViewer.cpp
${PROJECT_SOURCE_DIR}/showRobotWindow.cpp
@@ -29,17 +28,16 @@ IF(Simox_USE_COIN_VISUALIZATION AND Simox_USE_COLLADA)
${PROJECT_SOURCE_DIR}/RobotViewer.ui
)
-
-
-
- add_definitions( -DDEMO_PATH=\"${PROJECT_SOURCE_DIR}\" )
- add_definitions( " -DDOM_DYNAMIC " )
-
# create the executable
VirtualRobotQtApplication(${PROJECT_NAME} "${demo_SRCS}" "${demo_INCS}" "${mocFiles}" "${uiFiles}")
SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${Simox_BIN_DIR})
SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES FOLDER "Examples")
-
+
+ TARGET_COMPILE_DEFINITIONS(${PROJECT_NAME} PUBLIC
+ -DDEMO_BASE_DIR="${DEMO_BASE_DIR}"
+ -DDEMO_PATH="${PROJECT_SOURCE_DIR}"
+ -DDOM_DYNAMIC
+ )
#######################################################################################
############################ Setup for installation ###################################
#######################################################################################
diff --git a/VirtualRobot/examples/ReachabilityMap/CMakeLists.txt b/VirtualRobot/examples/ReachabilityMap/CMakeLists.txt
index 2a88854e0fa5782ba83e627aed8699583226add6..628a3f00a148e6f885b45caddc7ddf71ecd78bbf 100644
--- a/VirtualRobot/examples/ReachabilityMap/CMakeLists.txt
+++ b/VirtualRobot/examples/ReachabilityMap/CMakeLists.txt
@@ -1,6 +1,6 @@
PROJECT ( ReachabilityMapDemo )
-INCLUDE(${Simox_DIR}/CMakeModules/SimoxMacros.cmake)
+INCLUDE(${Simox_SOURCE_DIR}/CMakeModules/SimoxMacros.cmake)
IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
@@ -27,11 +27,11 @@ IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
+ RUNTIME DESTINATION bin COMPONENT bin
COMPONENT dev)
MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be placed into " ${Simox_BIN_DIR})
- MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " ${INSTALL_BIN_DIR})
+ MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " bin)
ENDIF()
diff --git a/VirtualRobot/examples/RobotViewer/CMakeLists.txt b/VirtualRobot/examples/RobotViewer/CMakeLists.txt
index c1526259d0e8b7d9d4d0cd96efcaf01654b3c3ce..a5d3a4ad1447abdfbb907e2e99c9f3537d5ff02d 100644
--- a/VirtualRobot/examples/RobotViewer/CMakeLists.txt
+++ b/VirtualRobot/examples/RobotViewer/CMakeLists.txt
@@ -1,6 +1,6 @@
PROJECT ( RobotViewer )
-INCLUDE(${Simox_DIR}/CMakeModules/SimoxMacros.cmake)
+INCLUDE(${Simox_SOURCE_DIR}/CMakeModules/SimoxMacros.cmake)
IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
@@ -30,10 +30,10 @@ IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
+ RUNTIME DESTINATION bin COMPONENT bin
COMPONENT dev)
MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be placed into " ${Simox_BIN_DIR})
- MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " ${INSTALL_BIN_DIR})
+ MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " bin)
ENDIF()
diff --git a/VirtualRobot/examples/RobotViewerOSG/CMakeLists.txt b/VirtualRobot/examples/RobotViewerOSG/CMakeLists.txt
index a93207e64687725311e0682da5df412838c3a953..2a3968865f1efd24f3a0d62ebed5bfd47061b95b 100644
--- a/VirtualRobot/examples/RobotViewerOSG/CMakeLists.txt
+++ b/VirtualRobot/examples/RobotViewerOSG/CMakeLists.txt
@@ -1,6 +1,6 @@
PROJECT ( RobotViewerOSG )
-INCLUDE(${Simox_DIR}/CMakeModules/SimoxMacros.cmake)
+INCLUDE(${Simox_SOURCE_DIR}/CMakeModules/SimoxMacros.cmake)
IF(Simox_VISUALIZATION AND Simox_USE_OPENSCENEGRAPH_VISUALIZATION)
@@ -33,35 +33,9 @@ IF(Simox_VISUALIZATION AND Simox_USE_OPENSCENEGRAPH_VISUALIZATION)
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
+ RUNTIME DESTINATION bin COMPONENT bin
COMPONENT dev)
MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be placed into " ${Simox_BIN_DIR})
- MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " ${INSTALL_BIN_DIR})
-
- #qt4_wrap_cpp(demo_SRCS ${GUI_MOC_HDRS})
- #qt4_wrap_ui(UI_HEADER ${GUI_UIS})
- #get_filename_component(UI_HEADER_DIR ${UI_HEADER} PATH)
- #list(APPEND demo_INCS ${UI_HEADER})
-
- #include_directories(${UI_HEADER_DIR})
-
-
- #ADD_EXECUTABLE(${PROJECT_NAME} ${demo_SRCS} ${demo_INCS})
- #SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES FOLDER "Examples")
- #SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${Simox_BIN_DIR})
-
- #TARGET_LINK_LIBRARIES(${PROJECT_NAME} VirtualRobot ${VirtualRobot_VISUALIZATION_LIBS})
- #INCLUDE_DIRECTORIES(${VirtualRobot_VISUALIZATION_INCLUDE_PATHS})
- #INCLUDE_DIRECTORIES(${COLLADA_DOM_INCLUDE_DIRS})
- #INCLUDE(${QT_USE_FILE})
- #ADD_DEFINITIONS(${VirtualRobot_VISUALIZATION_COMPILE_FLAGS})
-
- #INSTALL(TARGETS ${PROJECT_NAME}
- # DESTINATION ${VirtualRobot_INSTALL_BIN_DIR}
- # COMPONENT Applications
- #)
-
- # MESSAGE( STATUS ${PROJECT_NAME} " will be placed into " ${VirtualRobot_BIN_DIR})
- # MESSAGE( STATUS ${PROJECT_NAME} " will be installed into " ${VirtualRobot_INSTALL_BIN_DIR})
+ MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " bin)
ENDIF()
diff --git a/VirtualRobot/examples/SceneViewer/CMakeLists.txt b/VirtualRobot/examples/SceneViewer/CMakeLists.txt
index b79a97a76382879705142953a5c795c4aebbd67b..c1130e63c9672005554491525362ecf957bc1e98 100644
--- a/VirtualRobot/examples/SceneViewer/CMakeLists.txt
+++ b/VirtualRobot/examples/SceneViewer/CMakeLists.txt
@@ -1,6 +1,6 @@
PROJECT ( SimoxSceneViewer )
-INCLUDE(${Simox_DIR}/CMakeModules/SimoxMacros.cmake)
+INCLUDE(${Simox_SOURCE_DIR}/CMakeModules/SimoxMacros.cmake)
IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
@@ -29,10 +29,10 @@ IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
+ RUNTIME DESTINATION bin COMPONENT bin
COMPONENT dev)
MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be placed into " ${Simox_BIN_DIR})
- MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " ${INSTALL_BIN_DIR})
+ MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " bin)
ENDIF()
diff --git a/VirtualRobot/examples/Simox2Mjcf/CMakeLists.txt b/VirtualRobot/examples/Simox2Mjcf/CMakeLists.txt
index c5eced7f21ef61d66ff355252275073d3bec3e1a..744f005d58fac70907d5dd13273df90634181427 100644
--- a/VirtualRobot/examples/Simox2Mjcf/CMakeLists.txt
+++ b/VirtualRobot/examples/Simox2Mjcf/CMakeLists.txt
@@ -41,10 +41,10 @@ if (Boost_FOUND)
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
+ RUNTIME DESTINATION bin COMPONENT bin
COMPONENT dev)
message( STATUS " ** Simox application ${PROJECT_NAME} will be placed into " ${Simox_BIN_DIR})
- message( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " ${INSTALL_BIN_DIR})
+ message( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " bin)
endif()
diff --git a/VirtualRobot/examples/loadRobot/CMakeLists.txt b/VirtualRobot/examples/loadRobot/CMakeLists.txt
index c09c20c43137994325cb51c8537973527bd42c29..714188e4f7f4e3104c8ddf3c1a5667d5dd705924 100644
--- a/VirtualRobot/examples/loadRobot/CMakeLists.txt
+++ b/VirtualRobot/examples/loadRobot/CMakeLists.txt
@@ -14,8 +14,8 @@ TARGET_LINK_LIBRARIES(${PROJECT_NAME} PRIVATE VirtualRobot)
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
+ RUNTIME DESTINATION bin COMPONENT bin
COMPONENT dev)
MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be placed into " ${Simox_BIN_DIR})
-MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " ${INSTALL_BIN_DIR})
+MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " bin)
diff --git a/VirtualRobot/examples/loadURDFRobot/CMakeLists.txt b/VirtualRobot/examples/loadURDFRobot/CMakeLists.txt
index d900a34aed9e32f78a65d5356d593e145079ae3b..c6ad82d1811e4fc06dcd0376e548dc78ff1d4f44 100644
--- a/VirtualRobot/examples/loadURDFRobot/CMakeLists.txt
+++ b/VirtualRobot/examples/loadURDFRobot/CMakeLists.txt
@@ -1,24 +1,12 @@
PROJECT ( loadURDFRobot )
if (tinyxml_library AND URDF_FOUND)
-
- include_directories(SYSTEM ${tinyxml_include_dirs})
- link_directories(${tinyxml_library_dirs})
- add_definitions(${tinyxml_cflags})
- add_definitions(" -DTIXML_USE_STL ")
-
- INCLUDE_DIRECTORIES (SYSTEM
- ${URDFDOM_INCLUDE_DIRS}
- ${URDFDOM_PARSER_INCLUDE_DIRS}
- ${URDFDOM_HEADERS_INCLUDE_DIRS}
- )
- add_definitions("-DDEMO_BASE_PATH=\"${PROJECT_SOURCE_DIR}\"")
ADD_EXECUTABLE(${PROJECT_NAME} loadURDFobot.cpp)
SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${Simox_BIN_DIR})
SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES FOLDER "Examples")
TARGET_LINK_LIBRARIES(${PROJECT_NAME} PRIVATE VirtualRobot ${URDFDOM_LIBRARIES})
-
+ target_compile_definitions(${PROJECT_NAME} PRIVATE "-DDEMO_BASE_PATH=\"${PROJECT_SOURCE_DIR}\"")
#######################################################################################
############################ Setup for installation ###################################
@@ -27,11 +15,11 @@ if (tinyxml_library AND URDF_FOUND)
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
+ RUNTIME DESTINATION bin COMPONENT bin
COMPONENT dev)
MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be placed into " ${Simox_BIN_DIR})
- MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " ${INSTALL_BIN_DIR})
+ MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " bin)
endif()
diff --git a/VirtualRobot/examples/reachability/CMakeLists.txt b/VirtualRobot/examples/reachability/CMakeLists.txt
index 3331f40d6d42b5fc9fc426eb61003c3be171cb52..e8a71b5d809b26b080d9a66fb06f072fe6a5ddf2 100644
--- a/VirtualRobot/examples/reachability/CMakeLists.txt
+++ b/VirtualRobot/examples/reachability/CMakeLists.txt
@@ -1,6 +1,6 @@
PROJECT ( ReachabilityDemo )
-INCLUDE(${Simox_DIR}/CMakeModules/SimoxMacros.cmake)
+INCLUDE(${Simox_SOURCE_DIR}/CMakeModules/SimoxMacros.cmake)
IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
@@ -30,10 +30,10 @@ IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
+ RUNTIME DESTINATION bin COMPONENT bin
COMPONENT dev)
MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be placed into " ${Simox_BIN_DIR})
- MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " ${INSTALL_BIN_DIR})
+ MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " bin)
ENDIF()
diff --git a/VirtualRobot/examples/stability/CMakeLists.txt b/VirtualRobot/examples/stability/CMakeLists.txt
index 9ea56cff1be08de497d9dad8f1d291d4e99eb74d..6949f7fcfc5b0d457fd52993d760dd3fc824445a 100644
--- a/VirtualRobot/examples/stability/CMakeLists.txt
+++ b/VirtualRobot/examples/stability/CMakeLists.txt
@@ -1,6 +1,6 @@
PROJECT ( StabilityDemo )
-INCLUDE(${Simox_DIR}/CMakeModules/SimoxMacros.cmake)
+INCLUDE(${Simox_SOURCE_DIR}/CMakeModules/SimoxMacros.cmake)
IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
@@ -30,10 +30,10 @@ IF(Simox_VISUALIZATION AND Simox_USE_COIN_VISUALIZATION)
install(TARGETS ${PROJECT_NAME}
# IMPORTANT: Add the library to the "export-set"
EXPORT SimoxTargets
- RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin
+ RUNTIME DESTINATION bin COMPONENT bin
COMPONENT dev)
MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be placed into " ${Simox_BIN_DIR})
- MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " ${INSTALL_BIN_DIR})
+ MESSAGE( STATUS " ** Simox application ${PROJECT_NAME} will be installed into " bin)
ENDIF()
diff --git a/VirtualRobot/tests/CMakeLists.txt b/VirtualRobot/tests/CMakeLists.txt
index 36cea17a9ec85b44d1cf7044ec1c479b9c544f20..112052c6fb14f0f5ec8e3b8b5339d37f2507e058 100644
--- a/VirtualRobot/tests/CMakeLists.txt
+++ b/VirtualRobot/tests/CMakeLists.txt
@@ -5,7 +5,7 @@ ADD_VR_TEST( VirtualRobotRobotTest )
ADD_VR_TEST( VirtualRobotTransformationTest )
-if (VirtualRobot_VISUALIZATION)
+if (Simox_VISUALIZATION)
ADD_VR_TEST( VirtualRobotCollisionTest )
endif()
diff --git a/config.cmake b/config.cmake
deleted file mode 100644
index 49608f6fe8fc0cc88cd000c192170355eecb1c3d..0000000000000000000000000000000000000000
--- a/config.cmake
+++ /dev/null
@@ -1,406 +0,0 @@
-
-IF (NOT Simox_CONFIGURED)
-
- # defines Simox_CONFIGURED variable which indicates that this config file has already been included
- SET(Simox_CONFIGURED TRUE)
-
- # Set up build type
- IF(NOT CMAKE_BUILD_TYPE)
- SET(CMAKE_BUILD_TYPE RelWithDebInfo CACHE STRING
- "Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel."
- FORCE)
- ENDIF()
-
- GET_FILENAME_COMPONENT (CurrentSimoxPath ${CMAKE_CURRENT_LIST_FILE} PATH)
- MESSAGE (STATUS "** Simox_DIR: ${CurrentSimoxPath}")
- SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CurrentSimoxPath}/CMakeModules)
- SET(Simox_BUILD_DIRECTORY ${CMAKE_BINARY_DIR})
- SET(Simox_DIR ${CurrentSimoxPath})
-
- # Offer the user the choice of overriding the installation directories
- set(INSTALL_LIB_DIR lib CACHE PATH "Installation directory for libraries")
- set(INSTALL_BIN_DIR bin CACHE PATH "Installation directory for executables")
- set(INSTALL_INCLUDE_DIR include CACHE PATH
- "Installation directory for header files")
- if(WIN32 AND NOT CYGWIN)
- set(DEF_INSTALL_CMAKE_DIR CMake)
- else()
- set(DEF_INSTALL_CMAKE_DIR share/Simox/cmake)
- endif()
- set(INSTALL_CMAKE_DIR ${DEF_INSTALL_CMAKE_DIR} CACHE PATH
- "Installation directory for CMake files")
-
- # Almost all examples require soqt. It will be set to ON if soqt is found.
- set(Simox_BUILD_EXAMPLES OFF CACHE BOOL "Build example applications")
-
- # Make relative paths absolute (needed later on)
- # -> disabled this since it produced lots of problems with generation of SimoxCOnfig.cmake
- #foreach(p LIB BIN INCLUDE CMAKE)
- # set(var INSTALL_${p}_DIR)
- # if(NOT IS_ABSOLUTE "${${var}}")
- # set(${var} "${CMAKE_INSTALL_PREFIX}/${${var}}")
- # endif()
- #endforeach()
-
- # set up include-directories
- include_directories(
- "${PROJECT_SOURCE_DIR}" # to find headers
- "${PROJECT_BINARY_DIR}") # to find config headers
-
- ############################# VERSION #################################
- set(Simox_MAJOR_VERSION 2)
- set(Simox_MINOR_VERSION 3)
- set(Simox_PATCH_VERSION 73)
- set(Simox_VERSION
- ${Simox_MAJOR_VERSION}.${Simox_MINOR_VERSION}.${Simox_PATCH_VERSION})
-
- MESSAGE (STATUS "** Simox version: ${Simox_VERSION}")
-
- ############################# SETUP PATHS #############################
- SET(Simox_BUILD_DIRECTORY ${CMAKE_BINARY_DIR})
- SET(BIN_DIR bin)
- SET(LIB_DIR lib)
- SET(DATA_DIR data)
-
- SET(Simox_LIB_DIR ${Simox_BUILD_DIRECTORY}/${LIB_DIR})
- SET(Simox_BIN_DIR ${Simox_BUILD_DIRECTORY}/${BIN_DIR})
- SET(Simox_DATA_DIR ${CurrentSimoxPath}/VirtualRobot/data)
-
- MESSAGE (STATUS "** SIMOX LIB DIR: ${Simox_LIB_DIR}")
- MESSAGE (STATUS "** SIMOX BIN DIR: ${Simox_BIN_DIR}")
- MESSAGE (STATUS "** SIMOX DATA DIR: ${Simox_DATA_DIR}")
-
- SET(Simox_INSTALL_LIB_DIR ${LIB_DIR})
- SET(Simox_INSTALL_BIN_DIR ${BIN_DIR})
- SET(Simox_INSTALL_DATA_DIR ${DATA_DIR})
- SET(Simox_INSTALL_HEADER_DIR include)
- MESSAGE (STATUS "** SIMOX INSTALL LIB DIR: ${Simox_INSTALL_LIB_DIR}")
- MESSAGE (STATUS "** SIMOX INSTALL BIN DIR: ${Simox_INSTALL_BIN_DIR}")
- MESSAGE (STATUS "** SIMOX INSTALL DATA DIR: ${Simox_INSTALL_DATA_DIR}")
- MESSAGE (STATUS "** SIMOX INSTALL HEADER DIR: ${Simox_INSTALL_HEADER_DIR}")
-
- ADD_DEFINITIONS("-DVirtualRobot_SRC_DATA_PATH=\"${Simox_DATA_DIR}\"")
- ADD_DEFINITIONS("-DSimox_DATA_PATH=\"${Simox_INSTALL_DATA_DIR}\"")
-
- ########################### IDE settings ################################
- # use virtual folders for grouping projects in IDEs
- set_property(GLOBAL PROPERTY USE_FOLDERS ON)
-
- ############################# Set OS specific options #############################
- IF(UNIX)
- # We are on Linux
- SET(Simox_TEST_DIR ${Simox_BIN_DIR}/tests)
- IF(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
- ADD_DEFINITIONS(-fPIC)
- ENDIF(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
-
- IF(${CMAKE_BUILD_TYPE} STREQUAL "Debug")
- MESSAGE(STATUS "Configuring Debug build")
- ADD_DEFINITIONS(-D_DEBUG) # -Wall -W -Werror -pedantic)
- ELSE()
- MESSAGE(STATUS "Configuring Release build")
- ENDIF()
-
- # use, i.e. don't skip the full RPATH for the build tree
- SET(CMAKE_SKIP_BUILD_RPATH FALSE)
-
- # when building, don't use the install RPATH already
- # (but later on when installing)
- SET(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
- SET(CMAKE_INSTALL_RPATH "${Simox_INSTALL_LIB_DIR}")
- # add the automatically determined parts of the RPATH
- # which point to directories outside the build tree to the install RPATH
- SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
-
- # the RPATH to be used when installing, but only if it's not a system directory
- LIST(FIND CMAKE_PLATFORM_IMPLICIT_LINK_DIRECTORIES "${Simox_INSTALL_LIB_DIR}" isSystemDir)
- IF("${isSystemDir}" STREQUAL "-1")
- SET(CMAKE_INSTALL_RPATH "${Simox_INSTALL_LIB_DIR}")
- ENDIF("${isSystemDir}" STREQUAL "-1")
-
- ELSE(UNIX)
- # We are on Windows
- SET(Simox_TEST_DIR ${Simox_BIN_DIR})
- ADD_DEFINITIONS(" -D_CRT_SECURE_NO_WARNINGS ")
- ADD_DEFINITIONS(" -DWIN32_LEAN_AND_MEAN ") # avoid errors with winsock / winsock2 includes
-
- # On MSVC we compile with /MP flag (use multiple threads)
- IF(MSVC)
- ADD_DEFINITIONS(/MP)
- ENDIF(MSVC)
- ENDIF(UNIX)
-
- #######################################################################
- # Setup for testing
- #######################################################################
- ENABLE_TESTING()
- INCLUDE(CTest)
- MESSAGE(STATUS "** Test output directory: ${Simox_TEST_DIR}")
- ADD_DEFINITIONS(-DSimox_TEST_DIR=\"${Simox_TEST_DIR}/\")
-
- #######################################################################
- # Setup dependencies
- #######################################################################
- SET (Simox_EXTERNAL_INCLUDE_DIRS "")
- SET (Simox_EXTERNAL_LIBRARIES "")
- SET (Simox_EXTERNAL_LIBRARY_DIRS "")
- SET (Simox_EXTERNAL_LIBRARY_FLAGS "")
- SET (Simox_EXTERNAL_LIBRARY_CMAKE_INCLUDE "")
-
- ############################# SETUP MODULES #############################
- MESSAGE (STATUS "** Module path: " ${CMAKE_MODULE_PATH})
-
- ### RBDL
- OPTION (Simox_USE_RBDL "Use RBDL" OFF)
- if (Simox_USE_RBDL)
- FIND_PACKAGE (RBDL)
- if (RBDL_FOUND)
- MESSAGE(STATUS "RBDL found at: ${RBDL_INCLUDE_DIR}")
- SET (Simox_EXTERNAL_INCLUDE_DIRS ${Simox_EXTERNAL_INCLUDE_DIRS} ${RBDL_INCLUDE_DIR})
- SET (Simox_EXTERNAL_LIBRARIES ${Simox_EXTERNAL_LIBRARIES} ${RBDL_LIBRARIES})
- else ()
- MESSAGE(STATUS "RBDL not found!")
- endif ()
- endif()
-
- #urdf
- OPTION (Simox_USE_URDF "Use URDF" OFF)
-
- #### NLOPT
- OPTION (Simox_USE_NLOPT "Use NLOPT" ON)
- if (Simox_USE_NLOPT)
- FIND_PACKAGE(NLOPT)
- if (NLOPT_FOUND)
- MESSAGE(STATUS "NLOPT found at: ${NLOPT_INCLUDE_DIRS}")
- SET (Simox_EXTERNAL_INCLUDE_DIRS ${Simox_EXTERNAL_INCLUDE_DIRS} ${NLOPT_INCLUDE_DIRS})
- SET (Simox_EXTERNAL_LIBRARIES ${Simox_EXTERNAL_LIBRARIES} ${NLOPT_LIBRARIES})
- else ()
- MESSAGE(STATUS "NLOPT not found")
- endif ()
- endif ()
-
- #### Eigen
- FIND_PACKAGE (Eigen3 REQUIRED)
- if (Eigen3_FOUND)
- SET (Simox_EXTERNAL_INCLUDE_DIRS ${Simox_EXTERNAL_INCLUDE_DIRS} ${Eigen3_INCLUDE_DIR})
- endif (Eigen3_FOUND)
-
- #### BOOST
- FIND_PACKAGE(Boost 1.46.0 COMPONENTS filesystem system program_options thread REQUIRED)
- if (Boost_FOUND)
- MESSAGE (STATUS "Boost found at: ${Boost_INCLUDE_DIR}")
- SET (Simox_EXTERNAL_INCLUDE_DIRS ${Simox_EXTERNAL_INCLUDE_DIRS} ${Boost_INCLUDE_DIR})
- SET (Simox_EXTERNAL_LIBRARY_DIRS ${Simox_EXTERNAL_LIBRARY_DIRS} ${Boost_LIBRARY_DIRS})
- SET (Simox_EXTERNAL_LIBRARIES ${Simox_EXTERNAL_LIBRARIES} ${Boost_LIBRARIES})
- FIND_PACKAGE(Boost 1.46.0 COMPONENTS unit_test_framework REQUIRED)
- SET (Boost_TEST_LIB "${Boost_LIBRARIES}")
- # disable boost auto linking
- if (Boost_USE_STATIC_LIBS)
- SET (Simox_EXTERNAL_LIBRARY_FLAGS "${Simox_EXTERNAL_LIBRARY_FLAGS} -DBOOST_ALL_NO_LIB -DBOOST_TEST_MAIN")
- else (Boost_USE_STATIC_LIBS)
- # enable dynamic linking for specific boost libraries
- SET (Simox_EXTERNAL_LIBRARY_FLAGS "${Simox_EXTERNAL_LIBRARY_FLAGS} -DBOOST_ALL_NO_LIB -DBOOST_PROGRAM_OPTIONS_DYN_LINK -DBOOST_FILESYSTEM_DYN_LINK -DBOOST_SYSTEM_DYN_LINK -DBOOST_THREAD_DYN_LINK")
- endif (Boost_USE_STATIC_LIBS)
- else (Boost_FOUND)
- MESSAGE ("!! Could not find Boost !!")
- endif (Boost_FOUND)
-
- #### QT
- # QT_QMAKE_EXECUTABLE is the only relieable way of setting the qt4 path!
- # convert env var to cmake define
- IF(NOT "$ENV{QT_QMAKE_EXECUTABLE}" STREQUAL "")
- MESSAGE (STATUS "USING QT-PATH from environment variable QT_QMAKE_EXECUTABLE: $ENV{QT_QMAKE_EXECUTABLE}")
- file(TO_CMAKE_PATH "$ENV{QT_QMAKE_EXECUTABLE}" QT_QMAKE_EXECUTABLE)
- ENDIF()
- OPTION (Simox_USE_QT4 "Force Qt4 usage" OFF)
- OPTION (Simox_USE_QT5 "Force Qt5 usage" OFF)
- if ( (NOT Simox_USE_QT4) AND (NOT Simox_USE_QT5) )
- # first check for qt5
- FIND_PACKAGE(Qt5 5.5.0 QUIET COMPONENTS OpenGL Core Gui)
- if (Qt5_FOUND )
- SET(Simox_USE_QT5 ON)
- else()
- FIND_PACKAGE(Qt4 4.6.0 COMPONENTS QtOpenGL QtCore QtGui)
- include(${QT_USE_FILE})
- IF (QT_FOUND)
- SET(Simox_USE_QT4 ON)
- endif()
- endif()
- elseif (Simox_USE_QT5)
- FIND_PACKAGE(Qt5 5.5.0 COMPONENTS OpenGL Core Gui)
- else()
- FIND_PACKAGE(Qt4 4.6.0 COMPONENTS QtOpenGL QtCore QtGui)
- include(${QT_USE_FILE})
- endif()
-
- #### VISUALIZATION Coin3D+Qt+SoQt / OSG+Qt
- ##########################################
- SET (Simox_VISUALIZATION FALSE)
- SET (Simox_VISUALIZATION_LIBS "")
- SET (Simox_VISUALIZATION_INCLUDE_PATHS "")
- SET (Simox_VISUALIZATION_COMPILE_FLAGS "")
-
- OPTION(Simox_USE_COIN_VISUALIZATION "Use Coin3D for visualization" ON)
- OPTION(Simox_USE_OPENSCENEGRAPH_VISUALIZATION "Use OpenSceneGraph for visualization" OFF)
- #OPTION(Simox_USE_COLLADA "Enable the loading of robots from collada files" OFF)
-
- if (Simox_USE_COIN_VISUALIZATION)
- MESSAGE(STATUS "Searching Coin3D, Qt and SoQt...")
-
- ##### Coin3D
- FIND_PACKAGE(Coin3D REQUIRED)
- if (COIN3D_FOUND)
- MESSAGE (STATUS "Found Coin3D: " ${COIN3D_INCLUDE_DIRS})
- SET (Simox_VISUALIZATION TRUE)
- SET (Simox_VISUALIZATION_LIBS ${COIN3D_LIBRARIES})
- SET (Simox_VISUALIZATION_INCLUDE_PATHS ${COIN3D_INCLUDE_DIRS} )
- SET (Simox_VISUALIZATION_COMPILE_FLAGS "-DCOIN_DLL")
- endif (COIN3D_FOUND)
-
-
- if ( QT_FOUND )
- MESSAGE (STATUS "Found Qt4: " ${QT_INCLUDE_DIR})
- MESSAGE (STATUS "QT_USE_FILE: " ${QT_USE_FILE})
- include(${QT_USE_FILE})
- SET (Simox_EXTERNAL_LIBRARY_CMAKE_INCLUDE ${Simox_EXTERNAL_LIBRARY_CMAKE_INCLUDE} ${QT_USE_FILE})
- SET (Simox_EXTERNAL_LIBRARY_DIRS ${Simox_EXTERNAL_LIBRARY_DIRS} ${QT_LIBRARY_DIR})
- SET (Simox_EXTERNAL_LIBRARIES ${Simox_EXTERNAL_LIBRARIES} ${QT_LIBRARIES})
- elseif ( Qt5_FOUND )
- MESSAGE (STATUS "Found Qt5: " ${Qt5Gui_INCLUDE_DIRS} ${Qt5OpenGL_INCLUDE_DIRS} )
- MESSAGE (STATUS "Qt5 compiler flags: " ${Qt5Gui_EXECUTABLE_COMPILE_FLAGS} " " ${Qt5OpenGL_EXECUTABLE_COMPILE_FLAGS})
- LIST (APPEND Simox_EXTERNAL_LIBRARY_CMAKE_INCLUDE ${Qt5Gui_INCLUDE_DIRS} ${Qt5OpenGL_INCLUDE_DIRS})
- LIST (APPEND Simox_EXTERNAL_LIBRARIES ${Qt5Gui_LIBRARIES} ${Qt5OpenGL_LIBRARIES})
- else ( )
- MESSAGE (STATUS "Did not find Qt. Disabling Qt/SoQt support.")
- endif ( )
-
- if (QT_FOUND OR Qt5_FOUND)
- #### SoQt
- # This will set SoQt_INCLUDE_DIRS and SoQt_LIBRARIES
- FIND_PACKAGE(SoQt)
- if (SOQT_FOUND)
- MESSAGE (STATUS "Found SoQt:" ${SoQt_INCLUDE_DIRS})
- else (SOQT_FOUND)
- MESSAGE (STATUS "Did not find SoQt. Disabling SoQt support.")
- endif (SOQT_FOUND)
-
- if (SOQT_FOUND AND COIN3D_FOUND)
- MESSAGE (STATUS "Enabling Coin3D/Qt/SoQt support")
- SET (Simox_VISUALIZATION TRUE)
- SET (Simox_VISUALIZATION_LIBS ${Simox_VISUALIZATION_LIBS} ${SoQt_LIBRARIES} )
- SET (Simox_VISUALIZATION_INCLUDE_PATHS ${Simox_VISUALIZATION_INCLUDE_PATHS} ${SoQt_INCLUDE_DIRS})
- SET (Simox_VISUALIZATION_COMPILE_FLAGS "${Simox_VISUALIZATION_COMPILE_FLAGS} -DSOQT_DLL -DSIMOX_USE_SOQT")
- set(Simox_BUILD_EXAMPLES ON)
-
- if (QT_FOUND)
- # QT4
- LIST (APPEND Simox_VISUALIZATION_LIBS ${QT_LIBRARIES})
- LIST (APPEND Simox_VISUALIZATION_INCLUDE_PATHS ${QT_INCLUDE_DIR})
- else()
- #QT5
- LIST (APPEND Simox_VISUALIZATION_LIBS ${Qt5Gui_LIBRARIES} ${Qt5OpenGL_LIBRARIES})
- LIST (APPEND Simox_VISUALIZATION_INCLUDE_PATHS ${Qt5Gui_INCLUDE_DIRS} ${Qt5OpenGL_INCLUDE_DIRS} )
- LIST (APPEND Simox_VISUALIZATION_COMPILE_FLAGS " ${Qt5Gui_EXECUTABLE_COMPILE_FLAGS} ${Qt5OpenGL_EXECUTABLE_COMPILE_FLAGS} ")
- endif()
- if (NOT UNIX)
- LIST(APPEND Simox_VISUALIZATION_LIBS opengl32)
- endif()
- endif()
- endif(QT_FOUND OR Qt5_FOUND)
- elseif (Simox_USE_OPENSCENEGRAPH_VISUALIZATION)
- MESSAGE(STATUS "Searching OSG and Qt...")
- FIND_PACKAGE(OpenSceneGraph REQUIRED osgViewer osgUtil osgDB osgGA)
- if (OPENSCENEGRAPH_FOUND)
- MESSAGE (STATUS "Found OpenSceneGraph:" ${OPENSCENEGRAPH_INCLUDE_DIRS})
- ##INCLUDE_DIRECTORIES(${OPENSCENEGRAPH_INCLUDE_DIRS})
- endif (OPENSCENEGRAPH_FOUND)
- if ( QT_FOUND )
- MESSAGE (STATUS "Found Qt4: " ${QT_INCLUDE_DIR})
- include(${QT_USE_FILE})
- #MESSAGE(STATUS "QT_LIBRARIES: " ${QT_LIBRARIES})
- elseif ( Qt5_FOUND )
- MESSAGE (STATUS "Found Qt5: " ${Qt5Gui_INCLUDE_DIRS} ${Qt5OpenGL_INCLUDE_DIRS} )
- MESSAGE (STATUS "Qt5 compiler flags: " ${Qt5Gui_EXECUTABLE_COMPILE_FLAGS} " " ${Qt5OpenGL_EXECUTABLE_COMPILE_FLAGS})
- LIST (APPEND Simox_EXTERNAL_LIBRARY_CMAKE_INCLUDE ${Qt5Gui_INCLUDE_DIRS} ${Qt5OpenGL_INCLUDE_DIRS})
- LIST (APPEND Simox_EXTERNAL_LIBRARIES ${Qt5Gui_LIBRARIES} ${Qt5OpenGL_LIBRARIES})
- else ()
- MESSAGE (STATUS "Did not find Qt. Disabling Qt/OSG support.")
- endif ()
-
- if ( (QT_FOUND OR Qt5_FOUND) AND OPENSCENEGRAPH_FOUND)
- MESSAGE (STATUS "Enabling OSG/Qt support")
- ### a little hack is needed here since osgQt is not supported in the FindOSG script
- MESSAGE(STATUS "OPENSCENEGRAPH_LIBRARIES: ${OPENSCENEGRAPH_LIBRARIES}")
- LIST(GET OPENSCENEGRAPH_LIBRARIES 1 firstOsgLib)
- MESSAGE(STATUS "firstOsgLib: ${firstOsgLib}")
- GET_FILENAME_COMPONENT(osgLibPath ${firstOsgLib} PATH)
- MESSAGE(STATUS "osgLibPath: ${osgLibPath}")
- if (UNIX)
- list(APPEND OPENSCENEGRAPH_LIBRARIES ${osgLibPath}/libosgQt.so)
- else()
- list(APPEND OPENSCENEGRAPH_LIBRARIES optimized)
- list(APPEND OPENSCENEGRAPH_LIBRARIES ${osgLibPath}/osgQt.lib)
- list(APPEND OPENSCENEGRAPH_LIBRARIES debug)
- list(APPEND OPENSCENEGRAPH_LIBRARIES ${osgLibPath}/osgQtd.lib)
- endif()
- MESSAGE(STATUS "OPENSCENEGRAPH_LIBRARIES: ${OPENSCENEGRAPH_LIBRARIES}")
- SET (Simox_VISUALIZATION TRUE)
-
- SET (Simox_VISUALIZATION_LIBS ${OPENSCENEGRAPH_LIBRARIES} )
- SET (Simox_VISUALIZATION_INCLUDE_PATHS ${OPENSCENEGRAPH_INCLUDE_DIRS} )
- SET (Simox_VISUALIZATION_COMPILE_FLAGS "")
-
- if (QT_FOUND)
- # QT4
- LIST (APPEND Simox_VISUALIZATION_LIBS ${QT_LIBRARIES})
- LIST (APPEND Simox_VISUALIZATION_INCLUDE_PATHS ${QT_INCLUDE_DIR})
- else()
- #QT5
- LIST (APPEND Simox_VISUALIZATION_LIBS ${Qt5Gui_LIBRARIES} ${Qt5OpenGL_LIBRARIES})
- LIST (APPEND Simox_VISUALIZATION_INCLUDE_PATHS ${Qt5Gui_INCLUDE_DIRS} ${Qt5OpenGL_INCLUDE_DIRS} )
- LIST (APPEND Simox_VISUALIZATION_COMPILE_FLAGS " ${Qt5Gui_EXECUTABLE_COMPILE_FLAGS} ${Qt5OpenGL_EXECUTABLE_COMPILE_FLAGS} ")
- endif()
- endif()
- else()
- MESSAGE(STATUS "Visualization disabled")
- endif()
-
- if (Simox_USE_COLLADA)
- MESSAGE(STATUS "Searching for Collada...")
- FIND_PACKAGE(COLLADA_DOM REQUIRED 2.4)
-
- IF(COLLADA_DOM_FOUND)
- MESSAGE (STATUS "Found Collada")
- MESSAGE (STATUS "* Collada COLLADA_DOM_ROOT_DIR : ${COLLADA_DOM_ROOT_DIR}")
- MESSAGE (STATUS "* Collada Include DIRS: ${COLLADA_DOM_INCLUDE_DIRS}")
- MESSAGE (STATUS "* Collada Libs: ${COLLADA_DOM_LIBRARIES}")
- MESSAGE (STATUS "* Collada COLLADA_DOM_LIBRARY_DIRS: ${COLLADA_DOM_LIBRARY_DIRS}")
-
- FIND_LIBRARY(COLLADA_LIBRARY ${COLLADA_DOM_LIBRARIES} ${COLLADA_DOM_LIBRARY_DIRS})
- MESSAGE (STATUS "Collada Full Collada lib: ${COLLADA_LIBRARY}")
-
- #include_directories(${COLLADA_DOM_INCLUDE_DIRS})
-
- SET (Simox_EXTERNAL_INCLUDE_DIRS ${Simox_EXTERNAL_INCLUDE_DIRS} ${COLLADA_DOM_INCLUDE_DIRS})
- SET (Simox_EXTERNAL_LIBRARIES ${Simox_EXTERNAL_LIBRARIES} ${COLLADA_LIBRARY})
-
- SET (Simox_EXTERNAL_LIBRARY_FLAGS "${Simox_EXTERNAL_LIBRARY_FLAGS} -DDOM_DYNAMIC ")
- ENDIF()
- endif()
-
- SET (Simox_EXTERNAL_INCLUDE_DIRS ${Simox_EXTERNAL_INCLUDE_DIRS} ${Simox_VISUALIZATION_INCLUDE_PATHS})
- SET (Simox_EXTERNAL_LIBRARIES ${Simox_EXTERNAL_LIBRARIES} ${Simox_VISUALIZATION_LIBS})
- SET (Simox_EXTERNAL_LIBRARY_FLAGS "${Simox_EXTERNAL_LIBRARY_FLAGS} ${Simox_VISUALIZATION_COMPILE_FLAGS}")
-
-
- ## for historical reasons: set VirtualRobot flags to Simox flags
- SET (VirtualRobot_VISUALIZATION ${Simox_VISUALIZATION})
- SET (VirtualRobot_VISUALIZATION_LIBS ${Simox_VISUALIZATION_LIBS})
- SET (VirtualRobot_VISUALIZATION_INCLUDE_PATHS ${Simox_VISUALIZATION_INCLUDE_PATHS})
- SET (VirtualRobot_VISUALIZATION_COMPILE_FLAGS ${Simox_VISUALIZATION_COMPILE_FLAGS})
-
-
- INCLUDE_DIRECTORIES(${Simox_EXTERNAL_INCLUDE_DIRS})
- ADD_DEFINITIONS( ${Simox_EXTERNAL_LIBRARY_FLAGS} )
-
-ENDIF(NOT Simox_CONFIGURED)