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##########################################################################################
#
# 88888888ba 88 ad888888b, 88888888ba,
# 88 "8b 88 ,d d8" "88 88 `"8b
# 88 ,8P 88 88 a8P 88 `8b
# 88aaaaaa8P' ,adPPYba, 88,dPPYba, ,adPPYba, MM88MMM aad8" 88 88
# 88""""88' a8" "8a 88P' "8a a8" "8a 88 ""Y8, 88 88
# 88 `8b 8b d8 88 d8 8b d8 88 "8b 88 8P
# 88 `8b "8a, ,a8" 88b, ,a8" "8a, ,a8" 88, Y8, a88 88 .a8P
# 88 `8b `"YbbdP"' 8Y"Ybbd8"' `"YbbdP"' "Y888 "Y888888P' 88888888Y"'
#
##########################################################################################
# Part of the Robot3D simulator, a 3D robot simulator for modular robotics. This makefile
# is part of a cmake build system. The simulator is developed within the FP7 European
# projects Replicator and Symbrion. The namespace "sr" is an abbreviation of those project
# names. The code falls under the Lesser General Public License (LGPL GNU v3).
# Author: Anne C. van Rossum (Almende B.V.)
# Date: Aug. 17, 2010
#
# URLs used to create this CMakeLists.txt file:
# http://www.cmake.org/cmake/help/cmake_tutorial.html
# http://brunoabinader.blogspot.com/2009/12/how-cmake-simplifies-build-process-part.html
# http://rachid.koucha.free.fr/tech_corner/cmake_manual.html
# ASCII Art generated by: http://www.network-science.de/ascii/ with font "univers".
#
# Copyright © 2010 Anne van Rossum <anne@almende.com>
##########################################################################################
# I am not sure what the proper version number should be
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
# The project name (sets all _SOURCE_DIR)
PROJECT(ROBOT3D)
# The directory with all the FindXXX modules
SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/Modules/")
# The macro below forces the build directory to be different from source directory:
INCLUDE( MacroEnsureOutOfSourceBuild )
MACRO_ENSURE_OUT_OF_SOURCE_BUILD(
"${PROJECT_NAME} requires an out of source build."
)
INCLUDE(UtilityMacros)
# Versioning
SET(ROBOT3D_VERSION_MAJOR 0)
SET(ROBOT3D_VERSION_MINOR 1)
# Policies
# Remove policy warning as indicated by: cmake --help-policy CMP0015
if(POLICY CMP0015)
cmake_policy(SET CMP0015 OLD)
endif()
##############################################################################
# Use the FindXXX utility classes
# OpenGL, obviously, for graphics
FIND_PACKAGE(OpenGL REQUIRED)
# OpenCV is necessary for the "yarpviewer", so it did not seem like a problem
# to add it as a dependency. For the moment it is only used to quickly send an
# image over YARP, so the dependency can be removed easily in the future.
FIND_PACKAGE(OpenCV REQUIRED)
# Currently we use the ODE dynamics engine, Delta3D allows for the use of
# other simulators, we need to look into that
FIND_PACKAGE(ODE REQUIRED)
# The game engine is of course necessary, we might be more specific about
# versioning later on
FIND_PACKAGE(Delta3D REQUIRED)
# The CEGUI system is used for the GUIs, might be replaced by Qt later
FIND_PACKAGE(CEGUI REQUIRED)
# The OpenScenGraph libraries
FIND_PACKAGE(OSG REQUIRED)
FIND_PACKAGE(osgShadow REQUIRED)
# The Xerces XML parser is used, it might be replaced by TinyXML or another
# lightweight XML parser
FIND_PACKAGE(XercesC REQUIRED)
# We only need the filesystem library from Boost (and the bind?)
FIND_PACKAGE(Boost REQUIRED COMPONENTS filesystem system)
# The directories where includes (.h, .hpp, .so) files can be found
INCLUDE_DIRECTORIES("${PROJECT_SOURCE_DIR}/inc")
# A series of customizable options
# We have to add here flags like BUILD_AUDIO etc
OPTION( BUILD_SHARED_LIBS "Set to OFF to build static libraries" ON)
# The header files of required libraries are located in
INCLUDE_DIRECTORIES(${DELTA3D_INCLUDE_DIR})
INCLUDE_DIRECTORIES(${ODE_INCLUDE_DIR})
INCLUDE_DIRECTORIES(${CEGUI_INCLUDE_DIR})
INCLUDE_DIRECTORIES(${OPENCV_INCLUDE_DIR})
INCLUDE_DIRECTORIES(${OSG_INCLUDE_DIR})
INCLUDE_DIRECTORIES(${OSGSHADOW_INCLUDE_DIR})
INCLUDE_DIRECTORIES(${XERCES_INCLUDE_DIR})
INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIR})
# The libraries itself can be found as
# Be careful to include either LIBRARY or LIBRARIES, terminology depends per FindXXX file
SET(LIBS ${LIBS} ${ODE_LIBRARY})
SET(LIBS ${LIBS} ${CEGUI_LIBRARY})
SET(LIBS ${LIBS} ${OPENCV_LIBRARIES})
SET(LIBS ${LIBS} ${XERCES_LIBRARY})
SET(LIBS ${LIBS} ${Boost_LIBRARIES})
SET(LIBS ${LIBS} ${OSG_LIBRARIES})
SET(LIBS ${LIBS} ${OSGSHADOW_LIBRARIES})
# SET(LIBS ${LIBS} ${YARP_LIBRARIES})
SET(LIBS ${LIBS} pthread)
SET(LIB_NAME ${LIB_NAME} OSG_LIBRARY)
SET(LIB_NAME ${LIB_NAME} OSGUTIL_LIBRARY)
SET(LIB_NAME ${LIB_NAME} OSGDB_LIBRARY)
SET(LIB_NAME ${LIB_NAME} OSGTEXT_LIBRARY)
SET(LIB_NAME ${LIB_NAME} OSGTERRAIN_LIBRARY)
SET(LIB_NAME ${LIB_NAME} OSGFX_LIBRARY)
SET(LIB_NAME ${LIB_NAME} OSGVIEWER_LIBRARY)
SET(LIB_NAME ${LIB_NAME} OSGGA_LIBRARY)
SET(LIB_NAME ${LIB_NAME} OSGPARTICLE_LIBRARY)
SET(LIB_NAME ${LIB_NAME} OSGSIM_LIBRARY)
SET(LIB_NAME ${LIB_NAME} OSGSHADOW_LIBRARY)
SET(LIB_NAME ${LIB_NAME} DTUTIL_LIBRARY)
SET(LIB_NAME ${LIB_NAME} DTCORE_LIBRARY)
SET(LIB_NAME ${LIB_NAME} DTABC_LIBRARY)
SET(LIB_NAME ${LIB_NAME} DTDAL_LIBRARY)
SET(LIB_NAME ${LIB_NAME} DTAI_LIBRARY)
SET(LIB_NAME ${LIB_NAME} DTGAME_LIBRARY)
SET(LIB_NAME ${LIB_NAME} DTAUDIO_LIBRARY)
SET(LIB_NAME ${LIB_NAME} DTGUI_LIBRARY)
SET(LIB_NAME ${LIB_NAME} DTINSPECTORQT_LIBRARY)
SET(LIB_NAME ${LIB_NAME} DTACTORS_LIBRARY)
SET(LIB_NAME ${LIB_NAME} DTANIM_LIBRARY)
SET(LIB_NAME ${LIB_NAME} DTLMS_LIBRARY)
SET(LIB_NAME ${LIB_NAME} DTQT_LIBRARY)
# Compiler flags
#SET(CMAKE_CXX_FLAGS "-g -Wall -Weffc++ -DdSINGLE") #-fstack-protector-all")
# We need to pass "no-as-needed" to the linker for cmake 2.8.5, or srCore is
# not compiled into libRobot3D.so and CreateGameEntryPoint cannot be found
SET(CMAKE_C_FLAGS "-DdSINGLE -Wl,--no-as-needed")
SET(CMAKE_CXX_FLAGS "-DdSINGLE -Wl,--no-as-needed")
SET(CMAKE_CXX_FLAGS_DEBUG "-g -O0 -Wall -D_GLIBCXX_DEBUG")
SET(CMAKE_SHARED_LIBRARY_SONAME_C_FLAG "-Wl,-soname,")
# Some debug information
MESSAGE("${PROJECT_NAME} is using CXX flags: ${CMAKE_CXX_FLAGS}")
MESSAGE ("Libraries included: ${LIBS}")
MESSAGE ("Include directories: ${CEGUI_INCLUDE_DIR}")
MESSAGE ("CMAKE_SOURCE_DIR: ${CMAKE_SOURCE_DIR}")
# RPATH
SET(CMAKE_SKIP_BUILD_RPATH FALSE)
SET(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
ADD_TO_RPATH_IF_NOT_SYSTEM("${CMAKE_INSTALL_PREFIX}/lib")
# Include directories of the project
ADD_SUBDIRECTORY (src)
ADD_SUBDIRECTORY (inc)
# The directories in which the linker can search for libraries
LINK_DIRECTORIES(src/srCore src/srSensor src/srActuator src/srFactory src/srRobot)
# Linking the main
ADD_LIBRARY(Robot3D SHARED inc/srCore/export.h)
SET_TARGET_PROPERTIES(Robot3D PROPERTIES LINKER_LANGUAGE C)
TARGET_LINK_LIBRARIES(Robot3D srCore srSensor srActuator srFactory srRobot ${LIBS})
LINK_WITH_VARIABLES(Robot3D ${LIB_NAME})
INSTALL(TARGETS Robot3D DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
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