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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
#============================================================================
# Initialize the project
#============================================================================
project(gz-physics8 VERSION 8.0.0)
#============================================================================
# Find gz-cmake
#============================================================================
find_package(gz-cmake4 REQUIRED)
#============================================================================
# Configure the project
#============================================================================
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
gz_configure_project(VERSION_SUFFIX)
#============================================================================
# Set project-specific options
#============================================================================
option(ENABLE_PROFILER "Enable Gazebo Profiler" FALSE)
if(ENABLE_PROFILER)
add_definitions("-DGZ_PROFILER_ENABLE=1")
else()
add_definitions("-DGZ_PROFILER_ENABLE=0")
endif()
#============================================================================
# Search for project-specific dependencies
#============================================================================
message(STATUS "\n\n-- ====== Finding Dependencies ======")
#--------------------------------------
# Find gz-common
gz_find_package(gz-common6
COMPONENTS geospatial graphics profiler
REQUIRED_BY heightmap mesh dartsim tpe tpelib bullet)
set(GZ_COMMON_VER ${gz-common6_VERSION_MAJOR})
# This is only used for test support
gz_find_package(gz-common6 REQUIRED COMPONENTS testing)
#--------------------------------------
# Find gz-math
gz_find_package(gz-math8 REQUIRED COMPONENTS eigen3)
set(GZ_MATH_VER ${gz-math8_VERSION_MAJOR})
#--------------------------------------
# Find gz-plugin
gz_find_package(gz-plugin3 REQUIRED COMPONENTS all)
set(GZ_PLUGIN_VER ${gz-plugin3_VERSION_MAJOR})
#--------------------------------------
# Find gz-utils
gz_find_package(gz-utils3 REQUIRED COMPONENTS cli)
set(GZ_UTILS_VER ${gz-utils3_VERSION_MAJOR})
#--------------------------------------
# Find Eigen
gz_find_package(EIGEN3 REQUIRED)
#--------------------------------------
# Find SDFormat for the SDF features
gz_find_package(sdformat15
REQUIRED_BY sdf dartsim tpe bullet)
#--------------------------------------
# Find dartsim for the dartsim plugin wrapper
gz_find_package(DART
COMPONENTS
collision-bullet
collision-ode
utils
utils-urdf
CONFIG
VERSION 6.10
REQUIRED_BY dartsim
PKGCONFIG dart
PKGCONFIG_VER_COMPARISON >=)
#--------------------------------------
# Find bullet for the bullet plugin wrapper
gz_find_package(GzBullet
VERSION 2.87
REQUIRED_BY bullet bullet-featherstone
PKGCONFIG bullet
PKGCONFIG_VER_COMPARISON >=)
message(STATUS "-------------------------------------------\n")
# Plugin install dirs
set(GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR
${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/engine-plugins
)
set(GZ_PHYSICS_ENGINE_INSTALL_DIR
${CMAKE_INSTALL_PREFIX}/${GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR}
)
#============================================================================
# Configure the build
#============================================================================
gz_configure_build(QUIT_IF_BUILD_ERRORS
COMPONENTS sdf heightmap mesh dartsim tpe bullet bullet-featherstone)
#============================================================================
# Create package information
#============================================================================
gz_create_packages()
#============================================================================
# Create documentation
#============================================================================
configure_file(${CMAKE_SOURCE_DIR}/api.md.in ${CMAKE_BINARY_DIR}/api.md)
configure_file(${CMAKE_SOURCE_DIR}/tutorials.md.in ${CMAKE_BINARY_DIR}/tutorials.md)
gz_create_docs(
API_MAINPAGE_MD "${CMAKE_BINARY_DIR}/api.md"
TUTORIALS_MAINPAGE_MD "${CMAKE_BINARY_DIR}/tutorials.md"
TAGFILES
"${GZ-COMMON_DOXYGEN_TAGFILE} = ${GZ-COMMON_API_URL}"
"${GZ-PLUGIN_DOXYGEN_TAGFILE} = ${GZ-PLUGIN_API_URL}"
"${GZ-MATH_DOXYGEN_TAGFILE} = ${GZ-MATH_API_URL}"
)
file(COPY ${CMAKE_SOURCE_DIR}/tutorials/img/ DESTINATION ${CMAKE_BINARY_DIR}/doxygen/html/img/)