diff options
Diffstat (limited to 'libs/ode-0.16.1/CMakeLists.txt')
| -rw-r--r-- | libs/ode-0.16.1/CMakeLists.txt | 954 |
1 files changed, 954 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/CMakeLists.txt b/libs/ode-0.16.1/CMakeLists.txt new file mode 100644 index 0000000..feb6a2a --- /dev/null +++ b/libs/ode-0.16.1/CMakeLists.txt @@ -0,0 +1,954 @@ +cmake_minimum_required(VERSION 2.8.11) + +project(ODE) + +include(CheckFunctionExists) +include(CheckIncludeFiles) +include(CMakeDependentOption) +include(GNUInstallDirs) + +set(VERSION_MAJOR 0) +set(VERSION_MINOR 16) +set(VERSION_PATCH 1) +set(VERSION ${VERSION_MAJOR}.${VERSION_MINOR}.${VERSION_PATCH}) + +option(BUILD_SHARED_LIBS "Build shared libraries." OFF) +option(ODE_16BIT_INDICES "Use 16-bit indices for trimeshes (default is 32-bit)." OFF) +option(ODE_NO_BUILTIN_THREADING_IMPL "Disable built-in multithreaded threading implementation." OFF) +option(ODE_NO_THREADING_INTF "Disable threading interface support (external implementations cannot be assigned." OFF) +option(ODE_OLD_TRIMESH "Use old OPCODE trimesh-trimesh collider." OFF) +option(ODE_WITH_DEMOS "Builds the demo applications and DrawStuff library." OFF) +option(ODE_WITH_GIMPACT "Use GIMPACT for trimesh collisions (experimental)." OFF) +option(ODE_WITH_LIBCCD "Use libccd for handling some collision tests absent in ODE." OFF) +option(ODE_WITH_OPCODE "Use old OPCODE trimesh-trimesh collider." ON) +option(ODE_WITH_OU "Use TLS for global caches (allows threaded collision checks for separated spaces)." OFF) +option(ODE_WITH_TESTS "Builds the unit test application." OFF) + +cmake_dependent_option(ODE_WITH_LIBCCD_BOX_CYL "Use libccd for box-cylinder." ON "ODE_WITH_LIBCCD" OFF) +cmake_dependent_option(ODE_WITH_LIBCCD_CAP_CYL "Use libccd for capsule-cylinder." ON "ODE_WITH_LIBCCD" OFF) +cmake_dependent_option(ODE_WITH_LIBCCD_CYL_CYL "Use libccd for cylinder-cylinder." ON "ODE_WITH_LIBCCD" OFF) +cmake_dependent_option(ODE_WITH_LIBCCD_CONVEX_BOX "Use libccd for convex-box." ON "ODE_WITH_LIBCCD" OFF) +cmake_dependent_option(ODE_WITH_LIBCCD_CONVEX_CAP "Use libccd for convex-capsule." ON "ODE_WITH_LIBCCD" OFF) +cmake_dependent_option(ODE_WITH_LIBCCD_CONVEX_CONVEX "Use libccd for convex-convex." ON "ODE_WITH_LIBCCD" OFF) +cmake_dependent_option(ODE_WITH_LIBCCD_CONVEX_CYL "Use libccd for convex-cylinder." ON "ODE_WITH_LIBCCD" OFF) +cmake_dependent_option(ODE_WITH_LIBCCD_CONVEX_SPHERE "Use libccd for convex-sphere." ON "ODE_WITH_LIBCCD" OFF) +cmake_dependent_option(ODE_WITH_LIBCCD_SYSTEM "Use system libccd." OFF "ODE_WITH_LIBCCD" OFF) + +if(CMAKE_SIZEOF_VOID_P EQUAL 4) + option(ODE_DOUBLE_PRECISION "Use double-precision math." OFF) +else() + option(ODE_DOUBLE_PRECISION "Use double-precision math." ON) +endif() + +find_package(OpenGL) +find_package(Threads) + +set(CMAKE_REQUIRED_INCLUDES ${OPENGL_INCLUDE_DIR}) +set(CMAKE_REQUIRED_LIBRARIES ${CMAKE_THREAD_LIBS_INIT} ${OPENGL_LIBRARIES}) + +if(APPLE AND OPENGL_FOUND) + set(HAVE_APPLE_OPENGL_FRAMEWORK ON) +endif() +check_include_files(alloca.h HAVE_ALLOCA_H) +check_function_exists(gettimeofday HAVE_GETTIMEOFDAY) +check_include_files(inttypes.h HAVE_INTTYPES_H) +check_function_exists(isnan HAVE_ISNAN) +check_function_exists(isnanf HAVE_ISNANF) +check_include_files(malloc.h HAVE_MALLOC_H) +check_function_exists(pthread_attr_setstacklazy HAVE_PTHREAD_ATTR_SETSTACKLAZY) +check_function_exists(pthread_condattr_setclock HAVE_PTHREAD_CONDATTR_SETCLOCK) +check_include_files(stdint.h HAVE_STDINT_H) +check_include_files(sys/time.h HAVE_SYS_TIME_H) +check_include_files(sys/types.h HAVE_SYS_TYPES_H) +check_include_files(unistd.h HAVE_UNISTD_H) +check_function_exists(_isnan HAVE__ISNAN) +check_function_exists(_isnanf HAVE__ISNANF) +check_function_exists(__isnan HAVE___ISNAN) +check_function_exists(__isnanf HAVE___ISNANF) +if(APPLE) + set(MAC_OS_X_VERSION 1000) + check_function_exists(OSAtomicAdd32Barrier MAC_OS_X_VERSION_1040) + if(MAC_OS_X_VERSION_1040) + set(MAC_OS_X_VERSION 1040) + endif() + check_function_exists(OSAtomicAnd32OrigBarrier MAC_OS_X_VERSION_1050) + if(MAC_OS_X_VERSION_1050) + set(MAC_OS_X_VERSION 1050) + endif() +endif() +if(CMAKE_SYSTEM_PROCESSOR MATCHES "i686.*|x86.*|x86_64.*|amd64.*|AMD64.*") + set(PENTIUM ON) +endif() +if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64.*|amd64.*|AMD64.*") + set(X86_64_SYSTEM ON) +endif() +if(ODE_WITH_OU) + set(_OU_FEATURE_SET _OU_FEATURE_SET_TLS) +elseif(NOT ODE_NO_THREADING_INTF) + set(_OU_FEATURE_SET _OU_FEATURE_SET_ATOMICS) +else() + set(_OU_FEATURE_SET _OU_FEATURE_SET_BASICS) +endif() +set(_OU_NAMESPACE odeou) +if(WIN32 OR CYGWIN) + set(_OU_TARGET_OS _OU_TARGET_OS_WINDOWS) +elseif(APPLE) + set(_OU_TARGET_OS _OU_TARGET_OS_MAC) +elseif(QNXNTO) + set(_OU_TARGET_OS _OU_TARGET_OS_QNX) +elseif(CMAKE_SYSTEM MATCHES "SunOS-4") + set(_OU_TARGET_OS _OU_TARGET_OS_SUNOS) +else() + set(_OU_TARGET_OS _OU_TARGET_OS_GENUNIX) +endif() + +configure_file(config.h.cmake.in ode/src/config.h) + +if(ODE_DOUBLE_PRECISION) + set(CCD_PRECISION CCD_DOUBLE) + set(ODE_PRECISION dDOUBLE) +else() + set(CCD_PRECISION CCD_SINGLE) + set(ODE_PRECISION dSINGLE) +endif() + +configure_file(libccd/src/ccd/precision.h.in include/ccd/precision.h) +configure_file(include/ode/precision.h.in include/ode/precision.h) + +set(ODE_VERSION ${VERSION}) + +configure_file(include/ode/version.h.in include/ode/version.h) + +set( + HDRS + include/ode/collision.h + include/ode/collision_space.h + include/ode/collision_trimesh.h + include/ode/common.h + include/ode/compatibility.h + include/ode/contact.h + include/ode/cooperative.h + include/ode/error.h + include/ode/export-dif.h + include/ode/mass.h + include/ode/matrix.h + include/ode/matrix_coop.h + include/ode/memory.h + include/ode/misc.h + include/ode/objects.h + include/ode/ode.h + include/ode/odeconfig.h + include/ode/odecpp.h + include/ode/odecpp_collision.h + include/ode/odeinit.h + include/ode/odemath.h + include/ode/odemath_legacy.h + include/ode/rotation.h + include/ode/threading.h + include/ode/threading_impl.h + include/ode/timer.h + ${CMAKE_CURRENT_BINARY_DIR}/include/ode/precision.h + ${CMAKE_CURRENT_BINARY_DIR}/include/ode/version.h +) + +set( + SRCS + ode/src/array.cpp + ode/src/array.h + ode/src/box.cpp + ode/src/capsule.cpp + ode/src/collision_cylinder_box.cpp + ode/src/collision_cylinder_plane.cpp + ode/src/collision_cylinder_sphere.cpp + ode/src/collision_kernel.cpp + ode/src/collision_kernel.h + ode/src/collision_quadtreespace.cpp + ode/src/collision_sapspace.cpp + ode/src/collision_space.cpp + ode/src/collision_space_internal.h + ode/src/collision_std.h + ode/src/collision_transform.cpp + ode/src/collision_transform.h + ode/src/collision_trimesh_colliders.h + ode/src/collision_trimesh_disabled.cpp + ode/src/collision_trimesh_gimpact.h + ode/src/collision_trimesh_internal.h + ode/src/collision_trimesh_opcode.h + ode/src/collision_util.cpp + ode/src/collision_util.h + ode/src/common.h + ode/src/convex.cpp + ode/src/coop_matrix_types.h + ode/src/cylinder.cpp + ode/src/default_threading.cpp + ode/src/default_threading.h + ode/src/error.cpp + ode/src/error.h + ode/src/export-dif.cpp + ode/src/fastdot.cpp + ode/src/fastdot_impl.h + ode/src/fastldltfactor.cpp + ode/src/fastldltfactor_impl.h + ode/src/fastldltsolve.cpp + ode/src/fastldltsolve_impl.h + ode/src/fastlsolve.cpp + ode/src/fastlsolve_impl.h + ode/src/fastltsolve.cpp + ode/src/fastltsolve_impl.h + ode/src/fastvecscale.cpp + ode/src/fastvecscale_impl.h + ode/src/heightfield.cpp + ode/src/heightfield.h + ode/src/lcp.cpp + ode/src/lcp.h + ode/src/mass.cpp + ode/src/mat.cpp + ode/src/mat.h + ode/src/matrix.cpp + ode/src/matrix.h + ode/src/memory.cpp + ode/src/misc.cpp + ode/src/nextafterf.c + ode/src/objects.cpp + ode/src/objects.h + ode/src/obstack.cpp + ode/src/obstack.h + ode/src/ode.cpp + ode/src/odeinit.cpp + ode/src/odemath.cpp + ode/src/odemath.h + ode/src/odeou.h + ode/src/odetls.h + ode/src/plane.cpp + ode/src/quickstep.cpp + ode/src/quickstep.h + ode/src/ray.cpp + ode/src/resource_control.cpp + ode/src/resource_control.h + ode/src/rotation.cpp + ode/src/simple_cooperative.cpp + ode/src/simple_cooperative.h + ode/src/sphere.cpp + ode/src/step.cpp + ode/src/step.h + ode/src/threaded_solver_ldlt.h + ode/src/threading_atomics_provs.h + ode/src/threading_base.cpp + ode/src/threading_base.h + ode/src/threading_fake_sync.h + ode/src/threading_impl.cpp + ode/src/threading_impl.h + ode/src/threading_impl_posix.h + ode/src/threading_impl_templates.h + ode/src/threading_impl_win.h + ode/src/threading_pool_posix.cpp + ode/src/threading_pool_win.cpp + ode/src/threadingutils.h + ode/src/timer.cpp + ode/src/typedefs.h + ode/src/util.cpp + ode/src/util.h + ode/src/joints/amotor.cpp + ode/src/joints/amotor.h + ode/src/joints/ball.cpp + ode/src/joints/ball.h + ode/src/joints/contact.cpp + ode/src/joints/contact.h + ode/src/joints/dball.cpp + ode/src/joints/dball.h + ode/src/joints/dhinge.cpp + ode/src/joints/dhinge.h + ode/src/joints/fixed.cpp + ode/src/joints/fixed.h + ode/src/joints/hinge.cpp + ode/src/joints/hinge.h + ode/src/joints/hinge2.cpp + ode/src/joints/hinge2.h + ode/src/joints/joint.cpp + ode/src/joints/joint.h + ode/src/joints/joint_internal.h + ode/src/joints/joints.h + ode/src/joints/lmotor.cpp + ode/src/joints/lmotor.h + ode/src/joints/null.cpp + ode/src/joints/null.h + ode/src/joints/piston.cpp + ode/src/joints/piston.h + ode/src/joints/plane2d.cpp + ode/src/joints/plane2d.h + ode/src/joints/pr.cpp + ode/src/joints/pr.h + ode/src/joints/pu.cpp + ode/src/joints/pu.h + ode/src/joints/slider.cpp + ode/src/joints/slider.h + ode/src/joints/transmission.cpp + ode/src/joints/transmission.h + ode/src/joints/universal.cpp + ode/src/joints/universal.h +) + +if(ODE_WITH_GIMPACT AND NOT ODE_NO_TRIMESH) + list( + APPEND SRCS + GIMPACT/src/gim_boxpruning.cpp + GIMPACT/src/gim_contact.cpp + GIMPACT/src/gim_math.cpp + GIMPACT/src/gim_memory.cpp + GIMPACT/src/gim_tri_tri_overlap.cpp + GIMPACT/src/gim_trimesh.cpp + GIMPACT/src/gim_trimesh_capsule_collision.cpp + GIMPACT/src/gim_trimesh_ray_collision.cpp + GIMPACT/src/gim_trimesh_sphere_collision.cpp + GIMPACT/src/gim_trimesh_trimesh_collision.cpp + GIMPACT/src/gimpact.cpp + ode/src/collision_convex_trimesh.cpp + ode/src/collision_cylinder_trimesh.cpp + ode/src/collision_trimesh_box.cpp + ode/src/collision_trimesh_ccylinder.cpp + ode/src/collision_trimesh_gimpact.cpp + ode/src/collision_trimesh_internal.cpp + ode/src/collision_trimesh_internal_impl.h + ode/src/collision_trimesh_internal.h + ode/src/collision_trimesh_plane.cpp + ode/src/collision_trimesh_ray.cpp + ode/src/collision_trimesh_sphere.cpp + ode/src/collision_trimesh_trimesh.cpp + ode/src/gimpact_contact_export_helper.cpp + ode/src/gimpact_contact_export_helper.h + ode/src/gimpact_gim_contact_accessor.h + ode/src/gimpact_plane_contact_accessor.h + ) +endif() + +if(ODE_WITH_LIBCCD) + if(NOT ODE_WITH_LIBCCD_SYSTEM) + list( + APPEND SRCS + libccd/src/alloc.c + libccd/src/ccd.c + libccd/src/mpr.c + libccd/src/polytope.c + libccd/src/support.c + libccd/src/vec3.c + libccd/src/ccd/alloc.h + libccd/src/ccd/ccd.h + libccd/src/ccd/compiler.h + libccd/src/ccd/dbg.h + libccd/src/ccd/list.h + libccd/src/ccd/quat.h + libccd/src/ccd/polytope.h + libccd/src/ccd/simplex.h + libccd/src/ccd/support.h + libccd/src/ccd/vec3.h + libccd/src/custom/ccdcustom/quat.h + libccd/src/custom/ccdcustom/vec3.h + ) + endif() + + list( + APPEND SRCS + ode/src/collision_libccd.cpp + ode/src/collision_libccd.h + ) +endif() + +if(ODE_WITH_OPCODE AND NOT ODE_NO_TRIMESH) + list( + APPEND SRCS + ode/src/collision_convex_trimesh.cpp + ode/src/collision_cylinder_trimesh.cpp + ode/src/collision_trimesh_box.cpp + ode/src/collision_trimesh_ccylinder.cpp + ode/src/collision_trimesh_internal.cpp + ode/src/collision_trimesh_internal_impl.h + ode/src/collision_trimesh_internal.h + ode/src/collision_trimesh_opcode.cpp + ode/src/collision_trimesh_plane.cpp + ode/src/collision_trimesh_ray.cpp + ode/src/collision_trimesh_sphere.cpp + ode/src/collision_trimesh_trimesh.cpp + ode/src/collision_trimesh_trimesh_old.cpp + OPCODE/OPC_AABBCollider.cpp + OPCODE/OPC_AABBCollider.h + OPCODE/OPC_AABBTree.cpp + OPCODE/OPC_AABBTree.h + OPCODE/OPC_BaseModel.cpp + OPCODE/OPC_BaseModel.h + OPCODE/OPC_BoxBoxOverlap.h + OPCODE/OPC_Collider.cpp + OPCODE/OPC_Collider.h + OPCODE/OPC_Common.cpp + OPCODE/OPC_Common.h + OPCODE/OPC_HybridModel.cpp + OPCODE/OPC_HybridModel.h + OPCODE/OPC_IceHook.h + OPCODE/OPC_LSSAABBOverlap.h + OPCODE/OPC_LSSCollider.cpp + OPCODE/OPC_LSSCollider.h + OPCODE/OPC_LSSTriOverlap.h + OPCODE/OPC_MeshInterface.cpp + OPCODE/OPC_MeshInterface.h + OPCODE/OPC_Model.cpp + OPCODE/OPC_Model.h + OPCODE/OPC_OBBCollider.cpp + OPCODE/OPC_OBBCollider.h + OPCODE/OPC_OptimizedTree.cpp + OPCODE/OPC_OptimizedTree.h + OPCODE/OPC_Picking.cpp + OPCODE/OPC_Picking.h + OPCODE/OPC_PlanesAABBOverlap.h + OPCODE/OPC_PlanesCollider.cpp + OPCODE/OPC_PlanesCollider.h + OPCODE/OPC_PlanesTriOverlap.h + OPCODE/OPC_RayAABBOverlap.h + OPCODE/OPC_RayCollider.cpp + OPCODE/OPC_RayCollider.h + OPCODE/OPC_RayTriOverlap.h + OPCODE/OPC_Settings.h + OPCODE/OPC_SphereAABBOverlap.h + OPCODE/OPC_SphereCollider.cpp + OPCODE/OPC_SphereCollider.h + OPCODE/OPC_SphereTriOverlap.h + OPCODE/OPC_TreeBuilders.cpp + OPCODE/OPC_TreeBuilders.h + OPCODE/OPC_TreeCollider.cpp + OPCODE/OPC_TreeCollider.h + OPCODE/OPC_TriBoxOverlap.h + OPCODE/OPC_TriTriOverlap.h + OPCODE/OPC_VolumeCollider.cpp + OPCODE/OPC_VolumeCollider.h + OPCODE/Opcode.cpp + OPCODE/Opcode.h + OPCODE/Stdafx.h + OPCODE/Ice/IceAABB.cpp + OPCODE/Ice/IceAABB.h + OPCODE/Ice/IceAxes.h + OPCODE/Ice/IceBoundingSphere.h + OPCODE/Ice/IceContainer.cpp + OPCODE/Ice/IceContainer.h + OPCODE/Ice/IceFPU.h + OPCODE/Ice/IceHPoint.cpp + OPCODE/Ice/IceHPoint.h + OPCODE/Ice/IceIndexedTriangle.cpp + OPCODE/Ice/IceIndexedTriangle.h + OPCODE/Ice/IceLSS.h + OPCODE/Ice/IceMatrix3x3.cpp + OPCODE/Ice/IceMatrix3x3.h + OPCODE/Ice/IceMatrix4x4.cpp + OPCODE/Ice/IceMatrix4x4.h + OPCODE/Ice/IceMemoryMacros.h + OPCODE/Ice/IceOBB.cpp + OPCODE/Ice/IceOBB.h + OPCODE/Ice/IcePairs.h + OPCODE/Ice/IcePlane.cpp + OPCODE/Ice/IcePlane.h + OPCODE/Ice/IcePoint.cpp + OPCODE/Ice/IcePoint.h + OPCODE/Ice/IcePreprocessor.h + OPCODE/Ice/IceRandom.cpp + OPCODE/Ice/IceRandom.h + OPCODE/Ice/IceRay.cpp + OPCODE/Ice/IceRay.h + OPCODE/Ice/IceRevisitedRadix.cpp + OPCODE/Ice/IceRevisitedRadix.h + OPCODE/Ice/IceSegment.cpp + OPCODE/Ice/IceSegment.h + OPCODE/Ice/IceTriangle.cpp + OPCODE/Ice/IceTriangle.h + OPCODE/Ice/IceTriList.h + OPCODE/Ice/IceTypes.h + OPCODE/Ice/IceUtils.cpp + OPCODE/Ice/IceUtils.h + ) +endif() + +list( + APPEND SRCS + ode/src/odeou.cpp + ode/src/odeou.h + ode/src/odetls.cpp + ode/src/odetls.h + ou/src/ou/atomic.cpp + ou/src/ou/customization.cpp + ou/src/ou/malloc.cpp + ou/src/ou/threadlocalstorage.cpp +) + +add_library(ODE ${SRCS}) + +set_target_properties( + ODE + PROPERTIES + OUTPUT_NAME ode + POSITION_INDEPENDENT_CODE ON + VERSION ${VERSION} +) + +if(WIN32) + if(BUILD_SHARED_LIBS) + set_target_properties(ODE PROPERTIES DEBUG_POSTFIX d) + else() + set_target_properties( + ODE + PROPERTIES + DEBUG_POSTFIX sd + MINSIZEREL_POSTFIX s + RELEASE_POSTFIX s + RELWITHDEBINFO_POSTFIX s + ) + endif() + + if(ODE_DOUBLE_PRECISION) + set_target_properties(ODE PROPERTIES OUTPUT_NAME ode_double) + else() + set_target_properties(ODE PROPERTIES OUTPUT_NAME ode_single) + endif() +endif() + +target_compile_definitions( + ODE + PRIVATE + -D_OU_NAMESPACE=${_OU_NAMESPACE} + -D_OU_FEATURE_SET=${_OU_FEATURE_SET} + -D_OU_TARGET_OS=${_OU_TARGET_OS} + $<$<NOT:$<CONFIG:Debug>>:dNODEBUG> + -DdOU_ENABLED +) + +if(APPLE) + target_compile_definitions(ODE PRIVATE -DMAC_OS_X_VERSION=${MAC_OS_X_VERSION}) +endif() + +if(WIN32) + target_compile_definitions(ODE PRIVATE -D_CRT_SECURE_NO_DEPRECATE -D_SCL_SECURE_NO_WARNINGS -D_USE_MATH_DEFINES) +endif() + +if(BUILD_SHARED_LIBS) + target_compile_definitions(ODE PRIVATE -DODE_DLL) +else() + target_compile_definitions(ODE PRIVATE -DODE_LIB) +endif() + +if(ODE_DOUBLE_PRECISION) + target_compile_definitions(ODE PUBLIC -DdIDEDOUBLE PRIVATE -DCCD_IDEDOUBLE) +else() + target_compile_definitions(ODE PUBLIC -DdIDESINGLE PRIVATE -DCCD_IDESINGLE) +endif() + +target_include_directories( + ODE + PUBLIC + $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include> + $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/ode/src> + $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> + $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/ode/src> + $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/ode/src/joints> + $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/ou/include> + $<INSTALL_INTERFACE:$<INSTALL_PREFIX>/${CMAKE_INSTALL_INCLUDEDIR}> +) + +if(ODE_16BIT_INDICES) + target_compile_definitions(ODE PRIVATE -DdTRIMESH_16BIT_INDICES) +endif() + +if(NOT ODE_NO_BUILTIN_THREADING_IMPL) + target_compile_definitions(ODE PRIVATE -DdBUILTIN_THREADING_IMPL_ENABLED) +endif() + +if(ODE_NO_THREADING_INTF) + target_compile_definitions(ODE PRIVATE -DdTHREADING_INTF_DISABLED) +endif() + +if(ODE_WITH_GIMPACT AND NOT ODE_NO_TRIMESH) + target_compile_definitions(ODE PRIVATE -DdTRIMESH_ENABLED -DdTRIMESH_GIMPACT) + target_include_directories(ODE PRIVATE $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/GIMPACT/include>) +endif() + +if(ODE_WITH_LIBCCD) + if(ODE_WITH_LIBCCD_SYSTEM) + find_package(ccd) + target_compile_definitions(ode PRIVATE -DdLIBCCD_ENABLED -DdLIBCCD_SYSTEM) + target_link_libraries(ODE ccd::ccd) + else() + target_compile_definitions(ODE PRIVATE -DdLIBCCD_ENABLED -DdLIBCCD_INTERNAL) + target_include_directories( + ODE + PRIVATE + $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/libccd/src> + $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/libccd/src/custom> + ) + endif() + + if(ODE_WITH_LIBCCD_BOX_CYL) + target_compile_definitions(ODE PRIVATE -DdLIBCCD_BOX_CYL) + endif() + + if(ODE_WITH_LIBCCD_CAP_CYL) + target_compile_definitions(ODE PRIVATE -DdLIBCCD_CAP_CYL) + endif() + + if(ODE_WITH_LIBCCD_CYL_CYL) + target_compile_definitions(ODE PRIVATE -DdLIBCCD_CYL_CYL) + endif() + + if(ODE_WITH_LIBCCD_CONVEX_BOX) + target_compile_definitions(ODE PRIVATE -DdLIBCCD_CONVEX_BOX) + endif() + + if(ODE_WITH_LIBCCD_CONVEX_CAP) + target_compile_definitions(ODE PRIVATE -DdLIBCCD_CONVEX_CAP) + endif() + + if(ODE_WITH_LIBCCD_CONVEX_CONVEX) + target_compile_definitions(ODE PRIVATE -DdLIBCCD_CONVEX_CONVEX) + endif() + + if(ODE_WITH_LIBCCD_CONVEX_CYL) + target_compile_definitions(ODE PRIVATE -DdLIBCCD_CONVEX_CYL) + endif() + + if(ODE_WITH_LIBCCD_CONVEX_SPHERE) + target_compile_definitions(ODE PRIVATE -DdLIBCCD_CONVEX_SPHERE) + endif() +endif() + +if(ODE_WITH_OPCODE AND NOT ODE_NO_TRIMESH) + target_compile_definitions(ODE PRIVATE -DdTRIMESH_ENABLED -DdTRIMESH_OPCODE) + + if(ODE_OLD_TRIMESH) + target_compile_definitions(ODE PRIVATE -DdTRIMESH_OPCODE_USE_OLD_TRIMESH_TRIMESH_COLLIDER) + endif() + + target_include_directories( + ODE + PRIVATE + $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/OPCODE> + $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/OPCODE/Ice> + ) +endif() + +if(ODE_WITH_OU) + target_compile_definitions(ODE PRIVATE -DdATOMICS_ENABLED -DdTLS_ENABLED) +elseif(NOT ODE_NO_THREADING_INTF) + target_compile_definitions(ODE PRIVATE -DdATOMICS_ENABLED) +endif() + +if(ODE_WITH_OU OR NOT ODE_NO_THREADING_INTF) + target_link_libraries(ODE ${CMAKE_THREAD_LIBS_INIT}) +endif() + +install( + TARGETS ODE + EXPORT ODE + ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR} COMPONENT development + LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} COMPONENT runtime NAMELINK_SKIP + RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR} COMPONENT runtime +) + +if(BUILD_SHARED_LIBS) + install( + TARGETS ODE + EXPORT ODE + LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} COMPONENT development NAMELINK_ONLY + ) +endif() + +if(MSVC AND BUILD_SHARED_LIBS AND NOT CMAKE_VERSION VERSION_LESS 3.1) + install(FILES $<TARGET_PDB_FILE:ODE> DESTINATION ${CMAKE_INSTALL_BINDIR} CONFIGURATIONS Debug RelWithDebInfo COMPONENT debug) +endif() + +install(FILES ${HDRS} DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/ode COMPONENT development) + +set(prefix ${CMAKE_INSTALL_PREFIX}) +set(exec_prefix "\${prefix}") +set(libdir "\${exec_prefix}/${CMAKE_INSTALL_LIBDIR}") +set(includedir "\${prefix}/${CMAKE_INSTALL_INCLUDEDIR}") +configure_file(ode.pc.in ode.pc @ONLY) +configure_file(ode-config.in ode-config @ONLY) + +install(FILES ${CMAKE_CURRENT_BINARY_DIR}/ode.pc DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig COMPONENT development) +install(PROGRAMS ${CMAKE_CURRENT_BINARY_DIR}/ode-config DESTINATION ${CMAKE_INSTALL_BINDIR} COMPONENT development) + +if(ODE_WITH_DEMOS) + set( + DRAWSTUFF_SRCS + include/drawstuff/drawstuff.h + include/drawstuff/version.h + drawstuff/src/drawstuff.cpp + drawstuff/src/internal.h + ) + + if(WIN32) + list( + APPEND DRAWSTUFF_SRCS + drawstuff/src/resource.h + drawstuff/src/resources.rc + drawstuff/src/windows.cpp + ) + elseif(APPLE) + list(APPEND DRAWSTUFF_SRCS drawstuff/src/osx.cpp) + else() + list(APPEND DRAWSTUFF_SRCS drawstuff/src/x11.cpp) + endif() + + add_library(drawstuff ${DRAWSTUFF_SRCS}) + target_compile_definitions(drawstuff PUBLIC -DDRAWSTUFF_TEXTURE_PATH="${CMAKE_CURRENT_SOURCE_DIR}/drawstuff/textures") + + if(BUILD_SHARED_LIBS) + target_compile_definitions(drawstuff PRIVATE -DDS_DLL -DUSRDLL) + else() + target_compile_definitions(drawstuff PRIVATE -DDS_LIB) + endif() + + target_include_directories(drawstuff PUBLIC ${OPENGL_INCLUDE_DIR}) + target_link_libraries(drawstuff ODE ${OPENGL_LIBRARIES}) + + if(WIN32) + target_link_libraries(drawstuff winmm) + elseif(APPLE) + find_package(GLUT) + target_include_directories(drawstuff PUBLIC ${GLUT_INCLUDE_DIR}) + target_link_libraries(drawstuff ${GLUT_LIBRARIES}) + else() + find_package(X11) + target_include_directories(drawstuff PUBLIC ${X11_INCLUDE_DIR}) + target_link_libraries(drawstuff ${X11_LIBRARIES}) + endif() + + set( + DEMO_SRCS + ode/demo/demo_boxstack.cpp + ode/demo/demo_buggy.cpp + ode/demo/demo_cards.cpp + ode/demo/demo_chain1.c + ode/demo/demo_chain2.cpp + ode/demo/demo_collision.cpp + ode/demo/demo_convex.cpp + ode/demo/demo_crash.cpp + ode/demo/demo_cylvssphere.cpp + ode/demo/demo_dball.cpp + ode/demo/demo_dhinge.cpp + ode/demo/demo_feedback.cpp + ode/demo/demo_friction.cpp + ode/demo/demo_gyro2.cpp + ode/demo/demo_gyroscopic.cpp + ode/demo/demo_heightfield.cpp + ode/demo/demo_hinge.cpp + ode/demo/demo_I.cpp + ode/demo/demo_jointPR.cpp + ode/demo/demo_jointPU.cpp + ode/demo/demo_joints.cpp + ode/demo/demo_kinematic.cpp + ode/demo/demo_motion.cpp + ode/demo/demo_motor.cpp + ode/demo/demo_ode.cpp + ode/demo/demo_piston.cpp + ode/demo/demo_plane2d.cpp + ode/demo/demo_rfriction.cpp + ode/demo/demo_slider.cpp + ode/demo/demo_space.cpp + ode/demo/demo_space_stress.cpp + ode/demo/demo_step.cpp + ode/demo/demo_transmission.cpp + ) + + if(NOT ODE_NO_TRIMESH) + list( + APPEND DEMO_SRCS + ode/demo/demo_basket.cpp + ode/demo/demo_cyl.cpp + ode/demo/demo_moving_convex.cpp + ode/demo/demo_moving_trimesh.cpp + ode/demo/demo_tracks.cpp + ode/demo/demo_trimesh.cpp + ) + endif() + + foreach(DEMO_SRC ${DEMO_SRCS}) + get_filename_component(DEMO ${DEMO_SRC} NAME_WE) + add_executable(${DEMO} ${DEMO_SRC}) + target_link_libraries(${DEMO} drawstuff) + + if(NOT WIN32 AND ${DEMO} MATCHES "demo_chain1") + target_link_libraries(${DEMO} m) + endif() + endforeach() +endif() + +if(ODE_WITH_TESTS) + set( + TEST_SRCS + tests/collision.cpp + tests/friction.cpp + tests/joint.cpp + tests/main.cpp + tests/odemath.cpp + tests/joints/amotor.cpp + tests/joints/ball.cpp + tests/joints/dball.cpp + tests/joints/fixed.cpp + tests/joints/hinge.cpp + tests/joints/hinge2.cpp + tests/joints/piston.cpp + tests/joints/pr.cpp + tests/joints/pu.cpp + tests/joints/slider.cpp + tests/joints/universal.cpp + tests/UnitTest++/src/AssertException.cpp + tests/UnitTest++/src/AssertException.h + tests/UnitTest++/src/CheckMacros.h + tests/UnitTest++/src/Checks.cpp + tests/UnitTest++/src/Checks.h + tests/UnitTest++/src/Config.h + tests/UnitTest++/src/DeferredTestReporter.cpp + tests/UnitTest++/src/DeferredTestReporter.h + tests/UnitTest++/src/DeferredTestResult.cpp + tests/UnitTest++/src/DeferredTestResult.h + tests/UnitTest++/src/MemoryOutStream.cpp + tests/UnitTest++/src/MemoryOutStream.h + tests/UnitTest++/src/ReportAssert.cpp + tests/UnitTest++/src/ReportAssert.h + tests/UnitTest++/src/Test.cpp + tests/UnitTest++/src/TestDetails.cpp + tests/UnitTest++/src/TestDetails.h + tests/UnitTest++/src/Test.h + tests/UnitTest++/src/TestList.cpp + tests/UnitTest++/src/TestList.h + tests/UnitTest++/src/TestMacros.h + tests/UnitTest++/src/TestReporter.cpp + tests/UnitTest++/src/TestReporter.h + tests/UnitTest++/src/TestReporterStdout.cpp + tests/UnitTest++/src/TestReporterStdout.h + tests/UnitTest++/src/TestResults.cpp + tests/UnitTest++/src/TestResults.h + tests/UnitTest++/src/TestRunner.cpp + tests/UnitTest++/src/TestRunner.h + tests/UnitTest++/src/TestSuite.h + tests/UnitTest++/src/TimeConstraint.cpp + tests/UnitTest++/src/TimeConstraint.h + tests/UnitTest++/src/TimeHelpers.h + tests/UnitTest++/src/UnitTest++.h + tests/UnitTest++/src/XmlTestReporter.cpp + tests/UnitTest++/src/XmlTestReporter.h + ) + + if(WIN32) + list( + APPEND TEST_SRCS + tests/UnitTest++/src/Win32/TimeHelpers.cpp + tests/UnitTest++/src/Win32/TimeHelpers.h + ) + else() + list( + APPEND TEST_SRCS + tests/UnitTest++/src/Posix/SignalTranslator.cpp + tests/UnitTest++/src/Posix/SignalTranslator.h + tests/UnitTest++/src/Posix/TimeHelpers.cpp + tests/UnitTest++/src/Posix/TimeHelpers.h + ) + endif() + + add_executable(tests ${TEST_SRCS}) + target_include_directories(tests PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/tests/UnitTest++/src) + target_link_libraries(tests ODE) + + enable_testing() + add_test(tests ${CMAKE_CURRENT_BINARY_DIR}/tests) +endif() + +include(CMakePackageConfigHelpers) + +configure_package_config_file( + ${CMAKE_CURRENT_SOURCE_DIR}/ode-config.cmake.in ${CMAKE_CURRENT_BINARY_DIR}/ode-config.cmake + INSTALL_DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/ode +) +install( + FILES ${CMAKE_CURRENT_BINARY_DIR}/ode-config.cmake + DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/ode-${VERSION} + COMPONENT development +) +write_basic_package_version_file( + ${CMAKE_CURRENT_BINARY_DIR}/ode-config-version.cmake + VERSION ${VERSION} + COMPATIBILITY ExactVersion +) +install( + FILES ${CMAKE_CURRENT_BINARY_DIR}/ode-config-version.cmake + DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/ode-${VERSION} + COMPONENT development +) +install( + EXPORT ODE + DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/ode-${VERSION} + NAMESPACE ODE:: + FILE ode-export.cmake + COMPONENT development +) + +configure_file(cmake/cmake_uninstall.cmake.in cmake_uninstall.cmake @ONLY) +add_custom_target(uninstall ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake) + +set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "ODE is a free, industrial quality library for simulating articulated rigid body dynamics - for example ground vehicles, legged creatures, and moving objects in VR environments. It is fast, flexible, robust and platform independent, with advanced joints, contact with friction, and built-in collision detection.") + +set(CPACK_COMPONENT_DEVELOPMENT_DEPENDS runtime) +set(CPACK_COMPONENT_DEVELOPMENT_DESCRIPTION "Open Dynamics Engine - development files\n${CPACK_DEBIAN_PACKAGE_DESCRIPTION}") +set(CPACK_COMPONENT_RUNTIME_DESCRIPTION "Open Dynamics Engine - runtime library\n${CPACK_DEBIAN_PACKAGE_DESCRIPTION}") +set(CPACK_DEB_COMPONENT_INSTALL ON) +set(CPACK_DEBIAN_DEVELOPMENT_FILE_NAME "DEB-DEFAULT") +set(CPACK_DEBIAN_DEVELOPMENT_PACKAGE_SECTION "libdevel") +set(CPACK_DEBIAN_PACKAGE_HOMEPAGE "http://www.ode.org/") +set(CPACK_DEBIAN_PACKAGE_NAME "libode") +set(CPACK_DEBIAN_PACKAGE_SECTION "devel") +set(CPACK_DEBIAN_RUNTIME_FILE_NAME "DEB-DEFAULT") +set(CPACK_DEBIAN_RUNTIME_PACKAGE_SECTION "libs") +set(CPACK_DEBIAN_RUNTIME_PACKAGE_SHLIBDEPS ON) +set(CPACK_NSIS_PACKAGE_NAME "ODE ${VERSION}") +set(CPACK_NSIS_URL_INFO_ABOUT "http://www.ode.org/") +set(CPACK_PACKAGE_CONTACT "ode@ode.org") +set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "High performance library for simulating rigid body dynamics") +set(CPACK_PACKAGE_DISPLAY_NAME "ODE ${VERSION}") +set(CPACK_PACKAGE_INSTALL_DIRECTORY "ode-${VERSION}") +set(CPACK_PACKAGE_NAME "ode") +set(CPACK_PACKAGE_VENDOR "") +set(CPACK_PACKAGE_VERSION ${VERSION}) +set(CPACK_PACKAGE_VERSION_MAJOR ${VERSION_MAJOR}) +set(CPACK_PACKAGE_VERSION_MINOR ${VERSION_MINOR}) +set(CPACK_PACKAGE_VERSION_PATCH ${VERSION_PATCH}) +set(CPACK_RESOURCE_FILE_LICENSE ${CMAKE_CURRENT_SOURCE_DIR}/COPYING) +set(CPACK_RPM_COMPONENT_INSTALL ON) +set(CPACK_RPM_DEVELOPMENT_FILE_NAME "RPM-DEFAULT") +set(CPACK_RPM_development_PACKAGE_DESCRIPTION "The ode-devel package contains libraries and header files for developing applications that use ode or ode-double.") +set(CPACK_RPM_development_PACKAGE_NAME "ode-devel") +set(CPACK_RPM_development_PACKAGE_SUMMARY "Development files for ODE") +set(CPACK_RPM_PACKAGE_DESCRIPTION "ODE is an open source, high performance library for simulating rigid body dynamics. It is fully featured, stable, mature and platform independent with an easy to use C/C++ API. It has advanced joint types and integrated collision detection with friction. ODE is useful for simulating vehicles, objects in virtual reality environments and virtual creatures. It is currently used in many computer games, 3D authoring tools and simulation tools.") +set(CPACK_RPM_PACKAGE_GROUP "Development/Libraries") +set(CPACK_RPM_PACKAGE_LICENSE "BSD or LGPLv2+") +set(CPACK_RPM_PACKAGE_NAME "ode") +set(CPACK_RPM_PACKAGE_SUMMARY "High performance library for simulating rigid body dynamics") +set(CPACK_RPM_PACKAGE_URL "http://www.ode.org/") +set(CPACK_RPM_RUNTIME_FILE_NAME "RPM-DEFAULT") + +if(ODE_DOUBLE_PRECISION) + set(CPACK_DEBIAN_DEVELOPMENT_PACKAGE_CONFLICTS "libode-sp-dev") + set(CPACK_DEBIAN_DEVELOPMENT_PACKAGE_DEPENDS "libode6") + set(CPACK_DEBIAN_DEVELOPMENT_PACKAGE_NAME "libode-dev") + set(CPACK_DEBIAN_RUNTIME_PACKAGE_CONFLICTS "libode6sp") + set(CPACK_DEBIAN_RUNTIME_PACKAGE_NAME "libode6") + set(CPACK_RPM_development_PACKAGE_REQUIRES "ode-double") + set(CPACK_RPM_runtime_PACKAGE_CONFLICTS "ode") + set(CPACK_RPM_runtime_PACKAGE_DESCRIPTION "The ode-double package contains a version of the ODE library for simulating rigid body dynamics compiled with double precision.") + set(CPACK_RPM_runtime_PACKAGE_NAME "ode-double") + set(CPACK_RPM_runtime_PACKAGE_SUMMARY "ODE physics library compiled with double precision") +else() + set(CPACK_DEBIAN_DEVELOPMENT_PACKAGE_CONFLICTS "libode-dev") + set(CPACK_DEBIAN_DEVELOPMENT_PACKAGE_DEPENDS "libode6sp") + set(CPACK_DEBIAN_DEVELOPMENT_PACKAGE_NAME "libode-sp-dev") + set(CPACK_DEBIAN_RUNTIME_PACKAGE_CONFLICTS "libode6") + set(CPACK_DEBIAN_RUNTIME_PACKAGE_NAME "libode6sp") + set(CPACK_RPM_development_PACKAGE_REQUIRES "ode") + set(CPACK_RPM_runtime_PACKAGE_CONFLICTS "ode-double") + set(CPACK_RPM_runtime_PACKAGE_NAME "ode") +endif() + +include(CPack) |