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Fix Bullet linking on MacOS #1101

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merged 5 commits into from
Jan 10, 2025
Merged

Fix Bullet linking on MacOS #1101

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78b5926
Use Bullet cmake targets when available
johnwason Jan 9, 2025
7314423
Guard creation of Bullet3::Bullet target
johnwason Jan 9, 2025
9561ee4
Windows does not have Bullet3Geometry.lib
johnwason Jan 10, 2025
a52c473
code format
johnwason Jan 10, 2025
459f9b2
Restore boost-stacktrace changes
johnwason Jan 10, 2025
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23 changes: 16 additions & 7 deletions tesseract_common/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -12,13 +12,22 @@ endif()
include(cmake/tesseract_macros.cmake)
list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake/")

find_package(
Boost REQUIRED
COMPONENTS system
filesystem
serialization
stacktrace_noop
OPTIONAL_COMPONENTS stacktrace_backtrace stacktrace_basic)
if(NOT APPLE)
find_package(
Boost REQUIRED
COMPONENTS system
filesystem
serialization
stacktrace_noop
OPTIONAL_COMPONENTS stacktrace_backtrace stacktrace_basic)
else()
find_package(
Boost REQUIRED
COMPONENTS system
filesystem
serialization
stacktrace_noop)
endif()
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find_package(Eigen3 REQUIRED)
find_package(TinyXML2 REQUIRED)
find_package(yaml-cpp REQUIRED)
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83 changes: 50 additions & 33 deletions tesseract_common/cmake/tesseract_macros.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -167,29 +167,6 @@ macro(find_bullet)
WARNING "Bullet does not appear to be build with double precision, current definitions: ${BULLET_DEFINITIONS}")
endif()

# Some Bullet installations (vcpkg) use absolute paths instead of relative to BULLET_ROOT_DIR in the CMake vars
set(BULLET_INCLUDE_DIRS_ABS "")
set(BULLET_LIBRARY_DIRS_ABS "")
if(NOT IS_ABSOLUTE "${BULLET_INCLUDE_DIR}")
foreach(dir IN LISTS BULLET_INCLUDE_DIRS)
list(APPEND BULLET_INCLUDE_DIRS_ABS "${BULLET_ROOT_DIR}/${dir}")
endforeach()
foreach(dir IN LISTS BULLET_LIBRARY_DIRS)
list(APPEND BULLET_LIBRARY_DIRS_ABS "${BULLET_ROOT_DIR}/${dir}")
endforeach()
else()
set(BULLET_INCLUDE_DIRS_ABS ${BULLET_INCLUDE_DIRS})
set(BULLET_LIBRARY_DIRS_ABS ${BULLET_LIBRARY_DIRS})
endif()

set(BULLET_LIBRARIES_ABS "")
foreach(BULLET_LIB IN LISTS BULLET_LIBRARIES)
find_library(BULLET_LIB_ABS_${BULLET_LIB} ${BULLET_LIB} PATHS ${BULLET_LIBRARY_DIRS_ABS} NO_DEFAULT_PATH REQUIRED)
list(APPEND BULLET_LIBRARIES_ABS "${BULLET_LIB_ABS_${BULLET_LIB}}")
message(STATUS "BULLET_LIB=${BULLET_LIB} BULLET_LIB_ABS=${BULLET_LIB_ABS_${BULLET_LIB}}")
endforeach()
message(STATUS "BULLET_LIBRARIES_ABS=${BULLET_LIBRARIES_ABS}")

set(BULLET_DEFINITIONS_STRIPED "")
foreach(DEF ${BULLET_DEFINITIONS})
string(STRIP ${DEF} DEF)
Expand All @@ -207,16 +184,56 @@ macro(find_bullet)
endif()
endforeach()

if(NOT TARGET Bullet3::Bullet)
add_library(Bullet3::Bullet INTERFACE IMPORTED)
set_target_properties(Bullet3::Bullet PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${BULLET_INCLUDE_DIRS_ABS}")
set_target_properties(Bullet3::Bullet PROPERTIES INTERFACE_LINK_LIBRARIES "${BULLET_LIBRARIES_ABS}")
set_target_properties(Bullet3::Bullet PROPERTIES INTERFACE_COMPILE_DEFINITIONS "${BULLET_DEFINITIONS_STRIPED}")
endif()
if(TARGET Bullet3Common)
if(NOT TARGET Bullet3::Bullet)
add_library(Bullet3::Bullet INTERFACE IMPORTED)
if(NOT WIN32)
set_target_properties(Bullet3::Bullet PROPERTIES INTERFACE_LINK_LIBRARIES
"BulletCollision;Bullet3Geometry;Bullet3Common;LinearMath")
else()
set_target_properties(Bullet3::Bullet PROPERTIES INTERFACE_LINK_LIBRARIES
"BulletCollision;Bullet3Common;LinearMath")
endif()

find_library(HACD_LIBRARY HACD HINTS ${BULLET_LIBRARY_DIRS_ABS})
if(NOT HACD_LIBRARY)
message(
WARNING "HACD not found! Convex decomposition library will not be built. Install libbullet-extras-dev on Linux.")
set_target_properties(Bullet3::Bullet PROPERTIES INTERFACE_COMPILE_DEFINITIONS "${BULLET_DEFINITIONS_STRIPED}")
endif()
else()

# Some Bullet installations (vcpkg) use absolute paths instead of relative to BULLET_ROOT_DIR in the CMake vars
set(BULLET_INCLUDE_DIRS_ABS "")
set(BULLET_LIBRARY_DIRS_ABS "")
if(NOT IS_ABSOLUTE "${BULLET_INCLUDE_DIR}")
foreach(dir IN LISTS BULLET_INCLUDE_DIRS)
list(APPEND BULLET_INCLUDE_DIRS_ABS "${BULLET_ROOT_DIR}/${dir}")
endforeach()
foreach(dir IN LISTS BULLET_LIBRARY_DIRS)
list(APPEND BULLET_LIBRARY_DIRS_ABS "${BULLET_ROOT_DIR}/${dir}")
endforeach()
else()
set(BULLET_INCLUDE_DIRS_ABS ${BULLET_INCLUDE_DIRS})
set(BULLET_LIBRARY_DIRS_ABS ${BULLET_LIBRARY_DIRS})
endif()

set(BULLET_LIBRARIES_ABS "")
foreach(BULLET_LIB IN LISTS BULLET_LIBRARIES)
find_library(BULLET_LIB_ABS_${BULLET_LIB} ${BULLET_LIB} PATHS ${BULLET_LIBRARY_DIRS_ABS} NO_DEFAULT_PATH REQUIRED)
list(APPEND BULLET_LIBRARIES_ABS "${BULLET_LIB_ABS_${BULLET_LIB}}")
message(STATUS "BULLET_LIB=${BULLET_LIB} BULLET_LIB_ABS=${BULLET_LIB_ABS_${BULLET_LIB}}")
endforeach()
message(STATUS "BULLET_LIBRARIES_ABS=${BULLET_LIBRARIES_ABS}")

if(NOT TARGET Bullet3::Bullet)
add_library(Bullet3::Bullet INTERFACE IMPORTED)
set_target_properties(Bullet3::Bullet PROPERTIES INTERFACE_INCLUDE_DIRECTORIES "${BULLET_INCLUDE_DIRS_ABS}")
set_target_properties(Bullet3::Bullet PROPERTIES INTERFACE_LINK_LIBRARIES "${BULLET_LIBRARIES_ABS}")
set_target_properties(Bullet3::Bullet PROPERTIES INTERFACE_COMPILE_DEFINITIONS "${BULLET_DEFINITIONS_STRIPED}")
endif()

find_library(HACD_LIBRARY HACD HINTS ${BULLET_LIBRARY_DIRS_ABS})
if(NOT HACD_LIBRARY)
message(
WARNING "HACD not found! Convex decomposition library will not be built. Install libbullet-extras-dev on Linux."
)
endif()
endif()
endmacro()
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