48 lines
1.4 KiB
CMake
48 lines
1.4 KiB
CMake
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cmake_minimum_required (VERSION 3.15)
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cmake_policy(SET CMP0077 NEW)
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project (rbdlsim
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VERSION 0.0.1
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LANGUAGES CXX)
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set(ENABLE_DOUBLE_PRECISION On)
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set(RBDL_USE_SIMPLE_MATH On)
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add_subdirectory (3rdparty/rbdl)
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add_subdirectory (3rdparty/libccd)
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# Library
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add_library(${PROJECT_NAME})
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target_include_directories(
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${PROJECT_NAME}
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PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/rbdl/include>
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PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/3rdparty/rbdl/include>)
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target_link_libraries(${PROJECT_NAME} rbdl ccd)
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target_sources(${PROJECT_NAME} PRIVATE src/rbdlsim.cc)
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# Simulator Executable
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add_executable(runsim)
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target_include_directories(
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runsim
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PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/rbdl/include>
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PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/3rdparty/rbdl/include>)
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target_link_libraries(runsim ${PROJECT_NAME})
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target_sources(runsim PRIVATE src/main.cc)
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# Tests
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add_executable(runtests)
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target_sources(runtests PRIVATE tests/runtests.cc tests/CollisionTests.cc)
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target_include_directories(
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runtests
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PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/rbdl/include>
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PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/3rdparty/rbdl/include>)
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target_link_libraries(runtests ${PROJECT_NAME})
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