CMakeLists.txt

#
# Copyright (c) 2020-2021 UNITN, NYU
#
# This file is part of consim
# consim is free software: you can redistribute it
# and/or modify it under the terms of the GNU Lesser General Public
# License as published by the Free Software Foundation, either version
# 3 of the License, or (at your option) any later version.
# consim is distributed in the hope that it will be
# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
# General Lesser Public License for more details. You should have
# received a copy of the GNU Lesser General Public License along with
# consim If not, see
# <http://www.gnu.org/licenses/>.

CMAKE_MINIMUM_REQUIRED(VERSION 2.6)

SET(PROJECT_NAME consim)
SET(PROJECT_DESCRIPTION "Efficient Contact Dynamics Simulation based on Pinocchio")
SET(PROJECT_URL "http://github.com/stack-of-tasks/consim")
OPTION(INSTALL_DOCUMENTATION "Generate and install the documentation" OFF)

INCLUDE(cmake/base.cmake)
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/eigen.cmake)
INCLUDE(cmake/python.cmake)
INCLUDE(cmake/ide.cmake)
INCLUDE(cmake/apple.cmake)
INCLUDE(cmake/test.cmake)



SET(DOXYGEN_USE_MATHJAX YES)

# Handle APPLE Cmake policy
IF(APPLE)
  APPLY_DEFAULT_APPLE_CONFIGURATION()
ENDIF(APPLE)

# Disable -Werror on Unix for now.
SET(CXX_DISABLE_WERROR True)
SET(CMAKE_VERBOSE_MAKEFILE True)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")

SETUP_PROJECT()

IF(WIN32)
  SET(LINK copy_if_different)
ELSE(WIN32)
  SET(LINK create_symlink)
ENDIF(WIN32)

# --- OPTIONS ----------------------------------------
OPTION (BUILD_PYTHON_INTERFACE "Build the python binding" ON)
OPTION (BUILD_UNIT_TESTS "Build the unitary tests" ON)
OPTION (INITIALIZE_WITH_NAN "Initialize Eigen entries with NaN" OFF)
OPTION (EIGEN_RUNTIME_NO_MALLOC "If ON, it can assert in case of runtime allocation" ON)
OPTION (EIGEN_NO_AUTOMATIC_RESIZING "If ON, it forbids automatic resizing of dynamics arrays and matrices" OFF)

IF(INITIALIZE_WITH_NAN)
  MESSAGE(STATUS "Initialize with NaN all the Eigen entries.")
  ADD_DEFINITIONS(-DEIGEN_INITIALIZE_MATRICES_BY_NAN)
ENDIF(INITIALIZE_WITH_NAN)

IF(EIGEN_RUNTIME_NO_MALLOC)
  MESSAGE(STATUS "Option EIGEN_RUNTIME_NO_MALLOC on.")
  ADD_DEFINITIONS(-DEIGEN_RUNTIME_NO_MALLOC)
ENDIF(EIGEN_RUNTIME_NO_MALLOC)

IF(EIGEN_NO_AUTOMATIC_RESIZING)
  MESSAGE(STATUS "Option EIGEN_NO_AUTOMATIC_RESIZING on.")
  ADD_DEFINITIONS(-DEIGEN_NO_AUTOMATIC_RESIZING)
ENDIF(EIGEN_NO_AUTOMATIC_RESIZING)

# ----------------------------------------------------
# --- DEPENDENCIES -----------------------------------
# ----------------------------------------------------
ADD_REQUIRED_DEPENDENCY("eigen3 >= 3.2.0") # Eigen::Ref appeared from 3.2.0

# Fail-safe support for catkin-ized pinocchio:
#  - If catkin-based pinocchio is installed it runs the CFG_EXTRAS to set up the Pinocchio preprocessor directives
#  - If it isn't, nothing happens and the subsequent pkg-config check takes care of everything.
find_package(catkin QUIET COMPONENTS pinocchio)

ADD_REQUIRED_DEPENDENCY("pinocchio >= 2.0.0")

SET(BOOST_REQUIERED_COMPONENTS filesystem system)
SET(BOOST_BUILD_COMPONENTS unit_test_framework)
SET(BOOST_OPTIONAL_COMPONENTS "")

IF(BUILD_PYTHON_INTERFACE)
  SET(BOOST_OPTIONAL_COMPONENTS ${BOOST_OPTIONAL_COMPONENTS})
  FINDPYTHON()
  INCLUDE_DIRECTORIES(SYSTEM ${PYTHON_INCLUDE_DIRS}) 
  ADD_REQUIRED_DEPENDENCY("eigenpy >= 1.4.0")
ENDIF(BUILD_PYTHON_INTERFACE)

SET(BOOST_COMPONENTS ${BOOST_REQUIERED_COMPONENTS} ${BOOST_OPTIONAL_COMPONENTS} ${BOOST_BUILD_COMPONENTS})
SEARCH_FOR_BOOST()

ADD_REQUIRED_DEPENDENCY("expokit")
ADD_REQUIRED_DEPENDENCY("eiquadprog")


# Path to boost headers
INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
# ----------------------------------------------------
# --- INCLUDE ----------------------------------------
# ----------------------------------------------------

FILE(GLOB ${PYWRAP}_HEADERS
    include/consim/bindings/python/common.hpp
    include/consim/bindings/python/base.hpp
    include/consim/bindings/python/explicit_euler.hpp
    include/consim/bindings/python/implicit_euler.hpp
    include/consim/bindings/python/exponential.hpp
    include/consim/bindings/python/rk4.hpp
    include/consim/bindings/python/rigid_euler.hpp
    include/consim/bindings/python/contacts.hpp
    include/consim/bindings/python/stop_watch.hpp
)

SET(HEADERS
    include/consim/contact.hpp
    include/consim/object.hpp
    include/consim/simulators/common.hpp
    include/consim/simulators/base.hpp
    include/consim/simulators/explicit_euler.hpp
    include/consim/simulators/rk4.hpp
    include/consim/simulators/implicit_euler.hpp
    include/consim/simulators/exponential.hpp
    include/consim/simulators/rigid_euler.hpp
    include/consim/real_time_tools.hpp
 )

LIST(REMOVE_DUPLICATES HEADERS)

SET(HEADERS_FULL_PATH "")
FOREACH(header ${HEADERS})
  LIST(APPEND HEADERS_FULL_PATH "${CMAKE_SOURCE_DIR}/${header}")
  GET_FILENAME_COMPONENT(headerName ${header} NAME)
  GET_FILENAME_COMPONENT(headerPath ${header} PATH)
  INSTALL(FILES ${${PROJECT_NAME}_SOURCE_DIR}/${header}
    DESTINATION ${CMAKE_INSTALL_PREFIX}/${headerPath}
          PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
ENDFOREACH(header ${HEADERS})

# --- MAIN LIBRARY -------------------------------------------------------------
ADD_SUBDIRECTORY(src)

# --- BINDINGS ----------------------------------------------------------------
IF(BUILD_PYTHON_INTERFACE)
  SET(PYWRAP ${PROJECT_NAME}_pywrap)
  ADD_SUBDIRECTORY(bindings)
ENDIF(BUILD_PYTHON_INTERFACE)
# --- UNIT TESTS ---------------------------------------------------------------
ADD_SUBDIRECTORY(tests)

# --- PACKAGING ----------------------------------------------------------------
PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})

SETUP_PROJECT_FINALIZE()