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CMakeLists.txt
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cmake_minimum_required(VERSION 2.6)
cmake_policy(SET CMP0003 NEW)
set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true)
include(FindPkgConfig)
include(CheckIncludeFiles)
project(ChoreonoidEditor)
if(UNIX)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
add_definitions("-pthread")
endif()
pkg_check_modules(CHOREONOID choreonoid)
include_directories(${CHOREONOID_INCLUDE_DIRS})
link_directories(${CHOREONOID_LIBRARY_DIRS})
execute_process(COMMAND ${PKG_CONFIG_EXECUTABLE} --variable=plugindir choreonoid
OUTPUT_VARIABLE CNOID_PLUGIN_SUBDIR
OUTPUT_STRIP_TRAILING_WHITESPACE)
STRING(REGEX REPLACE "([0-9]+).[0-9]+.[0-9]+" "\\1" CNOID_MAJOR_VERSION ${CHOREONOID_VERSION})
STRING(REGEX REPLACE "[0-9]+.([0-9]+).[0-9]+" "\\1" CNOID_MINOR_VERSION ${CHOREONOID_VERSION})
STRING(REGEX REPLACE "[0-9]+.[0-9]+.([0-9]+)" "\\1" CNOID_PATCH_VERSION ${CHOREONOID_VERSION})
set(CNOID_VERSION ${CNOID_MAJOR_VERSION}.${CNOID_MINOR_VERSION})
set(CNOID_FULL_VERSION ${CNOID_MAJOR_VERSION}.${CNOID_MINOR_VERSION}.${CNOID_PATCH_VERSION})
if(MSVC AND CMAKE_CL_64)
add_definitions(-D_WIN64)
endif()
if(MSVC)
set_property(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS_DEBUG _ITERATOR_DEBUG_LEVEL=1)
endif()
if(NOT CMAKE_BUILD_TYPE)
set(
CMAKE_BUILD_TYPE Release CACHE STRING
"Choose the type of build, options are: None Debug Release RelWithDebInfo MinSizeRel."
FORCE)
endif()
if(UNIX)
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -finline-functions")
option(ENABLE_GCC_FVISIBILITY_HIDDEN "Use the -fvisibility=hidden option when the sources are compiled" ON)
endif()
set(ADDITIONAL_CXX_FLAGS_RELEASE ${ADDITIONAL_CXX_FLAGS_RELEASE} CACHE STRING "Additional c++ compiler optimization flags")
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${EXTRA_CXX_FLAGS_RELEASE} ${ADDITIONAL_CXX_FLAGS_RELEASE}")
if(MSVC)
set(ext_compiler_options "/Ob2 /Ox /Oi /Ot /Oy /GT /GS- /fp:fast")
if(CMAKE_CL_64)
set(MSVC_ENABLE_SSE OFF CACHE BOOL "Enable SSE instructions on VC++." FORCE)
else()
option(MSVC_ENABLE_SSE "Enable SSE instructions on VC++." ON)
endif()
if(MSVC_ENABLE_SSE)
set(ext_compiler_options "${ext_compiler_options} /arch:SSE /arch:SSE2 /fp:fast")
endif()
option(MSVC_ENABLE_AVX "Enable AVX instructions on VC++." OFF)
if(MSVC_ENABLE_AVX)
set(ext_compiler_options "${ext_compiler_options} /arch:AVX")
endif()
set(ext_linker_options "")
option(MSVC_ENABLE_GLOBAL_OPTIMIZATION "Global optimization with compiler option /GL and linker option /LTCG" ON)
if(MSVC_ENABLE_GLOBAL_OPTIMIZATION)
set(ext_compiler_options "${ext_compiler_options} /GL")
set(ext_linker_options "${ext_linker_options} /LTCG")
endif()
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${ext_compiler_options}")
set(CMAKE_MODULE_LINKER_FLAGS_RELEASE "${CMAKE_MODULE_LINKER_FLAGS_RELEASE} ${ext_linker_options}")
set(CMAKE_SHARED_LINKER_FLAGS_RELEASE "${CMAKE_SHARED_LINKER_FLAGS_RELEASE} ${ext_linker_options}")
set(CMAKE_EXE_LINKER_FLAGS_RELEASE "${CMAKE_EXE_LINKER_FLAGS_RELEASE} ${ext_linker_options}")
if(MSVC_ENABLE_SSE)
set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELWITHDEBINFO} /GS- /fp:fast /arch:SSE2 /arch:SSE2")
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} /fp:fast /arch:SSE2 /arch:SSE2")
endif()
endif()
# commands
if(UNIX)
set(RMDIR rm -fr)
elseif(WIN32)
set(RMDIR rmdir /S/Q)
endif()
# check "dlfcn.h" for using dlopen() and dlclose()
if(UNIX)
check_include_files(dlfcn.h HAVE_DLFCN_H)
if(NOT HAVE_DLFCN_H)
message(FATAL_ERROR "Could not find dlfcn.h")
endif()
endif()
# gettext
option(CNOID_ENABLE_GETTEXT "Enable the gettext library and translation messages for the internationalization" ON)
if(CNOID_ENABLE_GETTEXT)
if(WIN32)
if(CMAKE_CL_64)
FIND_PROGRAM(GETTEXT_MSGFMT_EXECUTABLE msgfmt ${PROJECT_SOURCE_DIR}/thirdparty/windows64/bin)
else()
FIND_PROGRAM(GETTEXT_MSGFMT_EXECUTABLE msgfmt ${PROJECT_SOURCE_DIR}/thirdparty/windows/bin)
endif()
else()
FIND_PROGRAM(GETTEXT_MSGFMT_EXECUTABLE msgfmt)
endif()
if(NOT GETTEXT_MSGFMT_EXECUTABLE)
message(FATAL_ERROR "Could not find the msgfmt command and gettext cannot be enabled.")
endif()
get_filename_component(GETTEXT_BINARY_DIR ${GETTEXT_MSGFMT_EXECUTABLE} PATH)
get_filename_component(GETTEXT_DIR ${GETTEXT_BINARY_DIR} PATH)
set(GETTEXT_INCLUDE_DIR ${GETTEXT_DIR}/include)
set(GETTEXT_LIBRARY_DIR ${GETTEXT_DIR}/lib)
include_directories(${GETTEXT_INCLUDE_DIR})
link_directories(${GETTEXT_LIBRARY_DIR})
if(WIN32)
set(GETTEXT_LIBRARIES intl)
elseif(APPLE)
set(GETTEXT_LIBRARIES intl)
#set(GETTEXT_STATIC_LIBRARIES
# ${GETTEXT_LIBRARY_DIR}/libintl.a
# ${GETTEXT_LIBRARY_DIR}/libiconv.a
# System.B
# /System/Library/Frameworks/CoreFoundation.framework)
else()
set(GETTEXT_LIBRARIES "")
endif()
if(MSVC)
#install_external_libraries(${GETTEXT_BINARY_DIR} ${GETTEXT_LIBRARY_DIR} ${GETTEXT_LIBRARIES})
if(CMAKE_CL_64)
install(FILES thirdparty/windows64/bin/libintl-8.dll DESTINATION bin)
else()
install(FILES thirdparty/windows/bin/intl.dll DESTINATION bin)
endif()
if(INSTALL_SDK)
if(CMAKE_CL_64)
install(FILES thirdparty/windows64/lib/intl.lib DESTINATION lib)
else()
install(FILES thirdparty/windows/lib/intl.lib DESTINATION lib)
endif()
install(FILES "${GETTEXT_INCLUDE_DIR}/libintl.h" DESTINATION ${CNOID_HEADER_SUBDIR})
endif()
endif()
else()
set(GETTEXT_LIBRARIES "")
endif()
# boost
# set(Boost_NO_SYSTEM_PATHS true)
set(Boost_USE_STATIC_LIBS OFF)
set(Boost_ADDITIONAL_VERSIONS "1.42" "1.42.0" "1.43" "1.43.0" "1.44" "1.44.0" "1.45" "1.45.0" "1.46" "1.46.0" "1.46.1" "1.47" "1.47.0" "1.48" "1.48.0" "1.49.0" "1.50.0")
if(MSVC)
find_package(Boost 1.36.0 QUIET OPTIONAL_COMPONENTS bzip2 zlib)
endif()
set(boost_packages system filesystem program_options regex thread iostreams date_time)
find_package(Boost 1.36.0 REQUIRED COMPONENTS ${boost_packages})
if(NOT Boost_FOUND)
set(BOOST_ROOT ${BOOST_ROOT} CACHE PATH "set the directory of the boost library")
message(FATAL_ERROR "Boost cannot be found. Please specify the boost top directory to BOOST_ROOT.")
endif()
if(Boost_VERSION GREATER "104699")
find_package(Boost 1.47.0 REQUIRED COMPONENTS chrono)
endif()
include_directories(${Boost_INCLUDE_DIRS})
link_directories(${Boost_LIBRARY_DIRS})
set_property(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS_RELEASE BOOST_DISABLE_ASSERTS)
# set_property(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS BOOST_FILESYSTEM_VERSION=2)
# eigen
if(NOT EIGEN_DIR)
if(UNIX)
pkg_check_modules(EIGEN eigen3)
if(EIGEN_FOUND)
set(EIGEN_DIR ${EIGEN_INCLUDE_DIRS})
endif()
endif()
else()
set(EIGEN_INCLUDE_DIRS ${EIGEN_DIR})
endif()
set(EIGEN_DIR ${EIGEN_DIR} CACHE PATH "The directory of the Eigen library")
if(NOT EIGEN_INCLUDE_DIRS)
message(FATAL_ERROR "Please specify the Eigen directory to EIGEN_DIR.")
else()
include_directories(${EIGEN_INCLUDE_DIRS})
endif()
set_property(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS EIGEN_NO_DEBUG)
#set_property(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS EIGEN_NO_DEBUG EIGEN_DONT_ALIGN)
# sdformat
set(SDFORMAT_DIR ${SDFORMAT_DIR} CACHE PATH "set the top directory of the SDFORMAT ")
if(UNIX)
if(NOT SDFORMAT_DIR)
pkg_check_modules(SDFORMAT REQUIRED sdformat)
endif()
elseif(MSVC)
if(NOT SDFORMAT_DIR)
message(FATAL_ERROR "Please specify the directory of the SDFORMAT to SDFORMAT_DIR.")
endif()
endif()
if(NOT SDFORMAT_FOUND)
set(SDFORMAT_LIBRARIES sdformat)
set(SDFORMAT_INCLUDE_DIRS ${SDFORMAT_DIR}/include)
set(SDFORMAT_LIBRARY_DIRS ${SDFORMAT_DIR}/lib)
endif()
include_directories(${SDFORMAT_INCLUDE_DIRS})
link_directories(${SDFORMAT_LIBRARY_DIRS})
# assimp
set(ASSIMP_DIR ${ASSIMP_DIR} CACHE PATH "set the top directory of the ASSIMP ")
if(UNIX)
if(NOT ASSIMP_DIR)
pkg_check_modules(ASSIMP REQUIRED assimp)
endif()
elseif(MSVC)
if(NOT ASSIMP_DIR)
message(FATAL_ERROR "Please specify the directory of the ASSIMP to ASSIMP_DIR.")
endif()
endif()
if(NOT ASSIMP_FOUND)
set(ASSIMP_LIBRARIES assimp)
set(ASSIMP_INCLUDE_DIRS ${ASSIMP_DIR}/include)
set(ASSIMP_LIBRARY_DIRS ${ASSIMP_DIR}/lib)
endif()
include_directories(${ASSIMP_INCLUDE_DIRS})
link_directories(${ASSIMP_LIBRARY_DIRS})
# doxygen
# find_package(Doxygen)
set_property(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS_DEBUG CNOID_DEBUG)
if(UNIX)
option(PUT_ALL_WARNINGS "put all warnings in compile" OFF)
if(PUT_ALL_WARNINGS)
list(APPEND CMAKE_C_FLAGS "-Wall")
list(APPEND CMAKE_CXX_FLAGS "-Wall")
endif()
option(CHECK_UNRESOLVED_SYMBOLS "check unresolved symbols in the object files when creating shared libraries" OFF)
#mark_as_advanced(CHECK_UNRESOLVED_SYMBOLS)
if(CHECK_UNRESOLVED_SYMBOLS)
if(NOT APPLE)
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,--unresolved-symbols=ignore-in-shared-libs -Wl,--warn-unresolved-symbols")
endif()
endif()
# The RTTI such as dynamic_cast cannot work well with this option in the older GCC like that of Ubuntu 10.04.
# So currently this option should be only enabled for modules which may cause symbol conficts
#set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -Wl,-Bsymbolic")
elseif(MSVC)
set_property(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS _CRT_SECURE_NO_WARNINGS)
set_property(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS NOMINMAX _USE_MATH_DEFINES)
#list(APPEND CMAKE_CXX_FLAGS "/wd4250 /wd4251 /wd4275")
endif()
link_directories(${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR})
# Document installaiton
#install(FILES NEWS DESTINATION ${CNOID_DOC_SUBDIR})
#install(FILES LICENSE DESTINATION ${CNOID_DOC_SUBDIR})
function(add_cnoid_library)
add_library(${ARGV})
if(ENABLE_GCC_FVISIBILITY_HIDDEN)
get_target_property(compile_flags ${ARGV0} COMPILE_FLAGS)
if(NOT compile_flags)
set(compile_flags "")
endif()
if(ARGV1 STREQUAL "STATIC")
set(compile_flags "${compile_flags} -fPIC")
endif()
set_target_properties(${ARGV0} PROPERTIES COMPILE_FLAGS "${compile_flags} -fvisibility=hidden")
endif()
set_target_properties(${ARGV0} PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib
ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib
RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin)
if(ENABLE_INSTALL_RPATH)
if(APPLE)
set_target_properties(${ARGV0} PROPERTIES INSTALL_NAME_DIR "@rpath")
set_target_properties(${ARGV0} PROPERTIES LINK_FLAGS "-Wl,-rpath,@loader_path")
else()
set_target_properties(${ARGV0} PROPERTIES INSTALL_RPATH "$ORIGIN")
endif()
else()
if(APPLE)
set_target_properties(${ARGV0} PROPERTIES INSTALL_NAME_DIR "")
endif()
endif()
endfunction()
function(add_cnoid_plugin)
add_library(${ARGV})
if(ENABLE_GCC_FVISIBILITY_HIDDEN)
get_target_property(compile_flags ${ARGV0} COMPILE_FLAGS)
if(compile_flags)
set_target_properties(${ARGV0} PROPERTIES COMPILE_FLAGS "${compile_flags} -fvisibility=hidden")
else()
set_target_properties(${ARGV0} PROPERTIES COMPILE_FLAGS "-fvisibility=hidden")
endif()
endif()
#set_target_properties(${ARGV0} PROPERTIES
# LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR}
# ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR}
# RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CNOID_PLUGIN_SUBDIR})
if(ENABLE_INSTALL_RPATH)
if(APPLE)
set_target_properties(${ARGV0} PROPERTIES INSTALL_NAME_DIR "@rpath")
set_target_properties(${ARGV0} PROPERTIES LINK_FLAGS "-Wl,-rpath,@loader_path,-rpath,@loader_path/..")
else()
set_target_properties(${ARGV0} PROPERTIES INSTALL_RPATH "$ORIGIN:$ORIGIN/..")
endif()
else()
if(APPLE)
set_target_properties(${ARGV0} PROPERTIES INSTALL_NAME_DIR "")
else()
set_target_properties(${ARGV0} PROPERTIES INSTALL_RPATH "$ORIGIN")
endif()
endif()
endfunction()
function(add_cnoid_executable)
add_executable(${ARGV})
set_target_properties(${ARGV0} PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib
ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib
RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin)
if(ENABLE_INSTALL_RPATH)
if(APPLE)
set_target_properties(${ARGV0} PROPERTIES LINK_FLAGS "-Wl,-rpath,@executable_path/../lib")
elseif(UNIX)
set_target_properties(${ARGV0} PROPERTIES INSTALL_RPATH "$ORIGIN/../lib")
endif()
endif()
apply_common_setting_for_target(${ARGV0})
install(TARGETS ${ARGV0} RUNTIME DESTINATION bin CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel)
endfunction()
function(apply_common_setting_for_target target)
set(headers ${ARGV1})
if(MSVC)
if(MSVC_IDE)
if(headers)
source_group("Header Files" FILES ${headers})
endif()
#set_target_properties(${target} PROPERTIES PREFIX "../" IMPORT_PREFIX "../")
endif()
get_target_property(existing_compile_flags ${target} COMPILE_FLAGS)
if(existing_compile_flags STREQUAL existing_compile_flags-NOTFOUND)
set(existing_compile_flags "")
endif()
set_target_properties(${target} PROPERTIES COMPILE_FLAGS "${existing_compile_flags} /MP /wd4250 /wd4251 /wd4275 /wd4819")
get_target_property(existing_link_flags ${target} LINK_FLAGS)
if(existing_link_flags STREQUAL existing_link_flags-NOTFOUND)
set(existing_link_flags "")
endif()
set_target_properties(${target} PROPERTIES LINK_FLAGS "${existing_link_flags} /NODEFAULTLIB:LIBCMT")
set_target_properties(${target} PROPERTIES DEBUG_POSTFIX d)
endif()
endfunction()
function(apply_common_setting_for_library_core target)
set(headers ${ARGV1})
set_target_properties(${target} PROPERTIES VERSION ${CNOID_VERSION})
apply_common_setting_for_target(${target} "${headers}")
if(INSTALL_SDK)
install(TARGETS ${target}
RUNTIME DESTINATION bin CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel
LIBRARY DESTINATION lib CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel
ARCHIVE DESTINATION lib CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel)
else()
get_target_property(target_type ${target} TYPE)
if(target_type STREQUAL STATIC_LIBRARY)
install(TARGETS ${target}
LIBRARY DESTINATION lib CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel
ARCHIVE DESTINATION lib CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel)
else()
install(TARGETS ${target}
RUNTIME DESTINATION bin CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel
LIBRARY DESTINATION lib CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel)
endif()
endif()
endfunction()
# (target "header1 header2 header3 ...")
function(apply_common_setting_for_library target)
apply_common_setting_for_library_core(${ARGV})
if(INSTALL_SDK)
set(headers ${ARGV1})
if(headers)
file(RELATIVE_PATH rel_src_dir ${PROJECT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR})
install(FILES ${headers} DESTINATION ${CNOID_HEADER_SUBDIR}/cnoid/${rel_src_dir})
endif()
endif()
endfunction()
function(apply_common_setting_for_ext_library)
apply_common_setting_for_library_core(${ARGV})
endfunction()
function(apply_common_setting_for_plugin target)
set(headers ${ARGV1})
apply_common_setting_for_target(${target} "${headers}")
if(INSTALL_SDK)
install(TARGETS ${target}
RUNTIME DESTINATION ${CNOID_PLUGIN_SUBDIR} CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel
LIBRARY DESTINATION ${CNOID_PLUGIN_SUBDIR} CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel
ARCHIVE DESTINATION lib CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel)
if(headers)
file(RELATIVE_PATH header_subdir ${PROJECT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR})
install(FILES ${headers} DESTINATION ${CNOID_HEADER_SUBDIR}/cnoid/${header_subdir})
endif()
else()
install(TARGETS ${target}
RUNTIME DESTINATION ${CNOID_PLUGIN_SUBDIR} CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel
LIBRARY DESTINATION ${CNOID_PLUGIN_SUBDIR} CONFIGURATIONS Release Debug RelWithDebInfo MinSizeRel)
endif()
endfunction()
#function(make_gettext_mofiles out_mofiles)
function(make_gettext_mofiles target out_mofiles)
configure_file(${PROJECT_SOURCE_DIR}/gettext.h.in ${CMAKE_CURRENT_SOURCE_DIR}/gettext.h)
set(${out_mofiles} "")
if(NOT CNOID_ENABLE_GETTEXT)
return()
endif()
file(GLOB pofiles ${CMAKE_CURRENT_SOURCE_DIR}/po/*.po)
foreach(pofile ${pofiles})
get_filename_component(lang ${pofile} NAME_WE)
set(message_location share/locale/${lang}/LC_MESSAGES)
#file(MAKE_DIRECTORY ${PROJECT_BINARY_DIR}/${message_location})
#set(mofile ${PROJECT_BINARY_DIR}/${message_location}/${target}-${CNOID_VERSION}.mo)
file(MAKE_DIRECTORY ${PROJECT_SOURCE_DIR}/${message_location})
set(mofile ${PROJECT_SOURCE_DIR}/${message_location}/${target}-${CNOID_VERSION}.mo)
add_custom_command(
OUTPUT ${mofile}
COMMAND ${GETTEXT_MSGFMT_EXECUTABLE} -o ${mofile} ${pofile}
DEPENDS ${pofile}
)
list(APPEND mofiles ${mofile})
install(FILES ${mofile} DESTINATION "share/locale/${lang}/LC_MESSAGES")
endforeach()
set(${out_mofiles} ${mofiles} PARENT_SCOPE)
endfunction()
add_subdirectory(src)
configure_file(Doxyfile.in ${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile @ONLY)