107 lines
3.5 KiB
CMake
107 lines
3.5 KiB
CMake
cmake_minimum_required (VERSION 3.13)
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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 C)
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find_package(Threads)
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# RBDL
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set(RBDL_USE_SIMPLE_MATH On)
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add_subdirectory (3rdparty/rbdl)
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# libccd
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set(ENABLE_DOUBLE_PRECISION On)
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add_subdirectory (3rdparty/libccd)
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# glfw
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set(GLFW_BUILD_DOCS Off)
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set(GLFW_BUILD_EXAMPLES Off)
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set(GLFW_BUILD_TESTS Off)
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set(GLFW_BUILD_INSTALL Off)
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add_subdirectory (3rdparty/glfw)
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# Tracy
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add_library(TracyClient)
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target_compile_definitions(TracyClient
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PRIVATE TRACY_ENABLE=1)
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target_include_directories(
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TracyClient
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PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/tracy>)
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target_sources(TracyClient PRIVATE 3rdparty/tracy/TracyClient.cpp)
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target_link_libraries(TracyClient PUBLIC ${CMAKE_THREAD_LIBS_INIT} "-ldl")
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# Library
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add_library(${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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PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/tracy>
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)
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target_compile_definitions(${PROJECT_NAME} PRIVATE TRACY_ENABLE=1)
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target_link_libraries(${PROJECT_NAME} rbdl ccd TracyClient)
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target_sources(${PROJECT_NAME} PRIVATE src/rbdlsim.cc src/utils.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 src/utils.cc)
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# Visualization
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add_executable(vissim)
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target_include_directories(
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vissim
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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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PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/glfw/deps>
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PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/imgui>
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PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/ImGuizmo>
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PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/vectorial/include>
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PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/tracy>
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)
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target_compile_definitions(vissim PUBLIC TRACY_ENABLE=1)
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target_link_libraries(vissim ${PROJECT_NAME} glfw)
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target_sources(vissim PRIVATE
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src/srender.c
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3rdparty/glfw/deps/glad_gl.c
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3rdparty/imgui/imgui.cpp
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3rdparty/imgui/imgui_draw.cpp
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3rdparty/imgui/imgui_widgets.cpp
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3rdparty/imgui/imgui_demo.cpp
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3rdparty/imgui/backends/imgui_impl_glfw.cpp
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3rdparty/imgui/backends/imgui_impl_opengl3.cpp
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3rdparty/ImGuizmo/ImGuizmo.cpp
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src/vissim.cc
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src/sthstry.c
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src/simulator.cc
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)
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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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src/utils.cc src/sconvcol.c tests/sconvcolTests.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}/src>
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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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PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/vectorial/include>
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)
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target_link_libraries(runtests ${PROJECT_NAME})
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