cmake_minimum_required (VERSION 3.13) cmake_policy(SET CMP0077 NEW) project (rbdlsim VERSION 0.0.1 LANGUAGES CXX C) # RBDL set(RBDL_USE_SIMPLE_MATH On) add_subdirectory (3rdparty/rbdl) # libccd set(ENABLE_DOUBLE_PRECISION On) add_subdirectory (3rdparty/libccd) # glfw set(GLFW_BUILD_DOCS Off) set(GLFW_BUILD_EXAMPLES Off) set(GLFW_BUILD_TESTS Off) set(GLFW_BUILD_INSTALL Off) add_subdirectory (3rdparty/glfw) # Library add_library(${PROJECT_NAME}) target_include_directories( ${PROJECT_NAME} PUBLIC $ PUBLIC $ PUBLIC $) target_link_libraries(${PROJECT_NAME} rbdl ccd) target_sources(${PROJECT_NAME} PRIVATE src/rbdlsim.cc) # Simulator Executable add_executable(runsim) target_include_directories( runsim PUBLIC $ PUBLIC $ PUBLIC $) target_link_libraries(runsim ${PROJECT_NAME}) target_sources(runsim PRIVATE src/main.cc) # Visualization add_executable(vissim) target_include_directories( vissim PUBLIC $ PUBLIC $ PUBLIC $ PUBLIC $ PUBLIC $ ) target_link_libraries(vissim ${PROJECT_NAME} glfw) target_sources(vissim PRIVATE src/utils.cc 3rdparty/glfw/deps/glad_gl.c 3rdparty/imgui/imgui.cpp 3rdparty/imgui/imgui_draw.cpp 3rdparty/imgui/imgui_widgets.cpp 3rdparty/imgui/imgui_demo.cpp 3rdparty/imgui/backends/imgui_impl_glfw.cpp 3rdparty/imgui/backends/imgui_impl_opengl3.cpp src/vissim.cc ) # Tests add_executable(runtests) target_sources(runtests PRIVATE tests/runtests.cc tests/CollisionTests.cc) target_include_directories( runtests PUBLIC $ PUBLIC $ PUBLIC $) target_link_libraries(runtests ${PROJECT_NAME})