rbdlsim/3rdparty/libccd/doc/compile-and-install.rst

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2020-10-03 22:55:14 +02:00
Compile And Install
====================
libccd contains several mechanisms for compiling and installing.
Using a simple Makefile, using autotools, and using CMake.
1. Using Makefile
------------------
Directory ``src/`` contains Makefile that should contain everything needed for compilation and installation:
.. code-block:: bash
$ cd src/
$ make
$ make install
Library libccd is by default compiled in double precision of floating point
numbers - you can change this by options ``USE_SINGLE``/``USE_DOUBLE``, i.e.:
.. code-block:: bash
$ make USE_SINGLE=yes
will compile library in single precision.
Installation directory can be changed by options ``PREFIX``, ``INCLUDEDIR``
and ``LIBDIR``.
For more info type '``make help``'.
2. Using Autotools
-------------------
libccd also contains support for autotools:
Generate configure script etc.:
.. code-block:: bash
$ ./bootstrap
Create new ``build/`` directory:
.. code-block:: bash
$ mkdir build && cd build
Run configure script:
.. code-block:: bash
$ ../configure
Run make and make install:
.. code-block:: bash
$ make && make install
configure script can change the way libccd is compiled and installed, most
significant option is ``--enable-double-precision`` which enables double
precision (single is default in this case).
3. Using CMake
---------------
To build using ``make``:
.. code-block:: bash
$ mkdir build && cd build
$ cmake -G "Unix Makefiles" ..
$ make && make install
To build using ``ninja``:
.. code-block:: bash
$ mkdir build && cd build
$ cmake -G Ninja ..
$ ninja && ninja install
Other build tools may be using by specifying a different generator. For example:
.. code-block:: bash
$ cmake -G Xcode ..
.. code-block:: batch
> cmake -G "Visual Studio 14 2015" ..
To compile using double precision, set the ``ENABLE_DOUBLE_PRECISION`` option:
.. code-block:: bash
$ mkdir build && cd build
$ cmake -G "Unix Makefiles" -DENABLE_DOUBLE_PRECISION=ON ..
$ make && make install
To build libccd as a shared library, set the ``BUILD_SHARED_LIBS`` option:
.. code-block:: bash
$ mkdir build && cd build
$ cmake -G "Unix Makefiles" -DBUILD_SHARED_LIBS=ON ..
$ make && make install
To build the test suite, set the ``BUILD_TESTING`` option:
.. code-block:: bash
$ mkdir build && cd build
$ cmake -G "Unix Makefiles" -DBUILD_TESTING=ON ..
$ make && make test
The installation directory may be changed by specifying the ``CMAKE_INSTALL_PREFIX`` variable:
.. code-block:: bash
$ mkdir build && cd build
$ cmake -G "Unix Makefiles" -DCMAKE_INSTALL_PREFIX=/path/to/install ..
$ make && make install