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pre-commit : run all (format listfiles using gersemi)
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@ManifoldFR
ManifoldFR committed Feb 12, 2025
1 parent 1e512fe commit 3c34940
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Showing 7 changed files with 459 additions and 292 deletions.
195 changes: 123 additions & 72 deletions CMakeLists.txt
View file
Original file line number Diff line number Diff line change
Expand Up @@ -37,28 +37,41 @@ set(CXX_DISABLE_WERROR TRUE)

set(PROJECT_NAME coal)
set(PROJECT_ORG "coal-library")
set(PROJECT_DESCRIPTION
set(
PROJECT_DESCRIPTION
"Coal, The Collision Detection Library. Previously known as HPP-FCL, fork of FCL -- The Flexible Collision Library"
)
)
set(PROJECT_URL "https://github.com/coal-library/coal")
SET(PROJECT_USE_CMAKE_EXPORT TRUE)
SET(PROJECT_COMPATIBILITY_VERSION AnyNewerVersion)
set(PROJECT_USE_CMAKE_EXPORT TRUE)
set(PROJECT_COMPATIBILITY_VERSION AnyNewerVersion)
# To enable jrl-cmakemodules compatibility with workspace we must define the two
# following lines
set(PROJECT_AUTO_RUN_FINALIZE FALSE)
set(PROJECT_SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR})

SET(PROJECT_USE_KEYWORD_LINK_LIBRARIES TRUE)
SET(DOXYGEN_USE_TEMPLATE_CSS TRUE)
set(PROJECT_USE_KEYWORD_LINK_LIBRARIES TRUE)
set(DOXYGEN_USE_TEMPLATE_CSS TRUE)

# ----------------------------------------------------
# --- OPTIONS ---------------------------------------
# Need to be set before including base.cmake
# ----------------------------------------------------
option(INSTALL_DOCUMENTATION "Generate and install the documentation" OFF)
option(COAL_TURN_ASSERT_INTO_EXCEPTION "Turn some critical Coal asserts to exception." FALSE)
option(COAL_ENABLE_LOGGING "Activate logging for warnings or error messages. Turned on by default in Debug." FALSE)
option(COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL "Make Coal retro-compatible with HPP-FCL." FALSE)
option(
COAL_TURN_ASSERT_INTO_EXCEPTION
"Turn some critical Coal asserts to exception."
FALSE
)
option(
COAL_ENABLE_LOGGING
"Activate logging for warnings or error messages. Turned on by default in Debug."
FALSE
)
option(
COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL
"Make Coal retro-compatible with HPP-FCL."
FALSE
)

# Check if the submodule cmake have been initialized
set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")
Expand All @@ -70,22 +83,24 @@ else()
get_property(
JRL_CMAKE_MODULES
TARGET jrl-cmakemodules::jrl-cmakemodules
PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
PROPERTY INTERFACE_INCLUDE_DIRECTORIES
)
message(STATUS "JRL cmakemodules found on system at ${JRL_CMAKE_MODULES}")
elseif(${CMAKE_VERSION} VERSION_LESS "3.14.0")
message(
FATAL_ERROR
"\nCan't find jrl-cmakemodules. Please either:\n"
" - use git submodule: 'git submodule update --init'\n"
" - or install https://github.com/jrl-umi3218/jrl-cmakemodules\n"
" - or upgrade your CMake version to >= 3.14 to allow automatic fetching\n"
"\nCan't find jrl-cmakemodules. Please either:\n"
" - use git submodule: 'git submodule update --init'\n"
" - or install https://github.com/jrl-umi3218/jrl-cmakemodules\n"
" - or upgrade your CMake version to >= 3.14 to allow automatic fetching\n"
)
else()
message(STATUS "JRL cmakemodules not found. Let's fetch it.")
include(FetchContent)
FetchContent_Declare(
"jrl-cmakemodules"
GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git")
GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git"
)
FetchContent_MakeAvailable("jrl-cmakemodules")
FetchContent_GetProperties("jrl-cmakemodules" SOURCE_DIR JRL_CMAKE_MODULES)
endif()
Expand All @@ -94,60 +109,76 @@ endif()
# Use BoostConfig module distributed by boost library instead of using FindBoost module distributed
# by CMake.
# There is one unresolved issue with FindBoost and clang-cl so we deactivate it in this case.
IF(NOT WIN32 OR NOT ${CMAKE_CXX_COMPILER_ID} MATCHES "Clang")
IF(POLICY CMP0167)
CMAKE_POLICY(SET CMP0167 NEW)
if(NOT WIN32 OR NOT ${CMAKE_CXX_COMPILER_ID} MATCHES "Clang")
if(POLICY CMP0167)
cmake_policy(SET CMP0167 NEW)
# Set a default value to this policy to avoid issue with find_dependency
# macro redefinition with different policy in some modules.
SET(CMAKE_POLICY_DEFAULT_CMP0167 NEW)
ENDIF()
ENDIF()
set(CMAKE_POLICY_DEFAULT_CMP0167 NEW)
endif()
endif()

include("${JRL_CMAKE_MODULES}/base.cmake")
COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
project(${PROJECT_NAME} ${PROJECT_ARGS})

include("${JRL_CMAKE_MODULES}/boost.cmake")
include("${JRL_CMAKE_MODULES}/python.cmake")
include("${JRL_CMAKE_MODULES}/apple.cmake")
include("${JRL_CMAKE_MODULES}/ide.cmake")
include(CMakeDependentOption)

SET(CMAKE_MODULE_PATH
set(
CMAKE_MODULE_PATH
${JRL_CMAKE_MODULES}/find-external/assimp/
${CMAKE_MODULE_PATH})
${CMAKE_MODULE_PATH}
)

FUNCTION(set_standard_output_directory target)
SET_TARGET_PROPERTIES(
function(set_standard_output_directory target)
set_target_properties(
${target}
PROPERTIES
RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin
LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib
ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib
)
ENDFUNCTION()
endfunction()

set_default_cmake_build_type("RelWithDebInfo")
SET_DEFAULT_CMAKE_BUILD_TYPE("RelWithDebInfo")

# If needed, fix CMake policy for APPLE systems
APPLY_DEFAULT_APPLE_CONFIGURATION()

OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
CMAKE_DEPENDENT_OPTION(GENERATE_PYTHON_STUBS "Generate the Python stubs associated to the Python library" OFF BUILD_PYTHON_INTERFACE OFF)
option(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
cmake_dependent_option(
GENERATE_PYTHON_STUBS
"Generate the Python stubs associated to the Python library"
OFF
BUILD_PYTHON_INTERFACE
OFF
)

ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED PKG_CONFIG_REQUIRES "eigen3 >= 3.0.0")

if(BUILD_PYTHON_INTERFACE)
SET(PYTHON_COMPONENTS Interpreter Development NumPy)
set(PYTHON_COMPONENTS Interpreter Development NumPy)
FINDPYTHON(REQUIRED)
ADD_PROJECT_PRIVATE_DEPENDENCY(eigenpy 2.9.2 REQUIRED)
endif()

# Required dependencies
SET_BOOST_DEFAULT_OPTIONS()
EXPORT_BOOST_DEFAULT_OPTIONS()
ADD_PROJECT_DEPENDENCY(Boost REQUIRED chrono thread date_time serialization filesystem)
if (COAL_ENABLE_LOGGING)
ADD_PROJECT_DEPENDENCY(
Boost
REQUIRED
chrono
thread
date_time
serialization
filesystem
)
if(COAL_ENABLE_LOGGING)
ADD_PROJECT_DEPENDENCY(Boost REQUIRED log)
endif()
if(BUILD_PYTHON_INTERFACE)
Expand All @@ -165,14 +196,14 @@ endif()
# Optional dependencies
ADD_PROJECT_DEPENDENCY(octomap PKG_CONFIG_REQUIRES "octomap >= 1.6")
if(octomap_FOUND)
SET(COAL_HAS_OCTOMAP TRUE)
set(COAL_HAS_OCTOMAP TRUE)
string(REPLACE "." ";" VERSION_LIST ${octomap_VERSION})
list(GET VERSION_LIST 0 OCTOMAP_MAJOR_VERSION)
list(GET VERSION_LIST 1 OCTOMAP_MINOR_VERSION)
list(GET VERSION_LIST 2 OCTOMAP_PATCH_VERSION)
message(STATUS "COAL uses Octomap")
else()
SET(COAL_HAS_OCTOMAP FALSE)
set(COAL_HAS_OCTOMAP FALSE)
message(STATUS "COAL does not use Octomap")
endif()

Expand All @@ -183,30 +214,37 @@ if(COAL_HAS_QHULL)
set(COAL_USE_SYSTEM_QHULL TRUE)
message(STATUS "COAL uses system Qhull")
else()
message(STATUS "Qhullcpp not found: it will be build from sources, if Qhull_r is found")
message(
STATUS
"Qhullcpp not found: it will be build from sources, if Qhull_r is found"
)
file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/third-parties)
execute_process(COMMAND ${CMAKE_COMMAND} -E create_symlink
${PROJECT_SOURCE_DIR}/third-parties/qhull/src/libqhullcpp
${PROJECT_BINARY_DIR}/third-parties/libqhullcpp
)
execute_process(
COMMAND
${CMAKE_COMMAND} -E create_symlink
${PROJECT_SOURCE_DIR}/third-parties/qhull/src/libqhullcpp
${PROJECT_BINARY_DIR}/third-parties/libqhullcpp
)
set(Qhullcpp_PREFIX ${PROJECT_BINARY_DIR}/third-parties)
find_path(Qhull_r_INCLUDE_DIR
find_path(
Qhull_r_INCLUDE_DIR
NAMES libqhull_r/libqhull_r.h
PATHS ${Qhull_PREFIX}
)
find_library(Qhull_r_LIBRARY
NAMES libqhull_r.so
PATHS ${Qhull_PREFIX}
)
)
find_library(Qhull_r_LIBRARY NAMES libqhull_r.so PATHS ${Qhull_PREFIX})
if(NOT Qhull_r_LIBRARY)
message(FATAL_ERROR "Qhull_r not found, please install it or turn COAL_HAS_QHULL OFF")
message(
FATAL_ERROR
"Qhull_r not found, please install it or turn COAL_HAS_QHULL OFF"
)
endif()
endif()
endif()

FIND_PACKAGE(assimp REQUIRED)
find_package(assimp REQUIRED)

SET(${PROJECT_NAME}_HEADERS
set(
${PROJECT_NAME}_HEADERS
include/coal/collision_data.h
include/coal/BV/kIOS.h
include/coal/BV/BV.h
Expand Down Expand Up @@ -325,10 +363,11 @@ SET(${PROJECT_NAME}_HEADERS
include/coal/serialization/quadrilateral.h
include/coal/serialization/triangle.h
include/coal/timings.h
)
)

if(COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL)
SET(HPP_FCL_BACKWARD_COMPATIBILITY_HEADERS
set(
HPP_FCL_BACKWARD_COMPATIBILITY_HEADERS
include/hpp/fcl/broadphase/broadphase_bruteforce.h
include/hpp/fcl/broadphase/broadphase_callbacks.h
include/hpp/fcl/broadphase/broadphase_collision_manager.h
Expand Down Expand Up @@ -454,48 +493,60 @@ if(COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL)
include/hpp/fcl/shape/geometric_shape_to_BVH_model.h
include/hpp/fcl/timings.h
include/hpp/fcl/warning.hh
)
LIST(APPEND ${PROJECT_NAME}_HEADERS ${HPP_FCL_BACKWARD_COMPATIBILITY_HEADERS})
HEADER_INSTALL(COMPONENT hpp-fcl-compatibility ${HPP_FCL_BACKWARD_COMPATIBILITY_HEADERS})
)
list(APPEND ${PROJECT_NAME}_HEADERS ${HPP_FCL_BACKWARD_COMPATIBILITY_HEADERS})
HEADER_INSTALL(
COMPONENT hpp-fcl-compatibility
${HPP_FCL_BACKWARD_COMPATIBILITY_HEADERS}
)
endif()

IF(COAL_HAS_OCTOMAP)
LIST(APPEND ${PROJECT_NAME}_HEADERS
if(COAL_HAS_OCTOMAP)
list(
APPEND
${PROJECT_NAME}_HEADERS
include/coal/octree.h
include/coal/serialization/octree.h
include/coal/internal/traversal_node_octree.h
)
ENDIF(COAL_HAS_OCTOMAP)
endif(COAL_HAS_OCTOMAP)

add_subdirectory(doc)
add_subdirectory(src)
if (BUILD_PYTHON_INTERFACE)
if(BUILD_PYTHON_INTERFACE)
add_subdirectory(python)
endif ()
endif()
if(BUILD_TESTING)
add_subdirectory(test)
endif(BUILD_TESTING)

pkg_config_append_libs("coal")
IF(COAL_HAS_OCTOMAP)
PKG_CONFIG_APPEND_LIBS("coal")
if(COAL_HAS_OCTOMAP)
# FCL_HAVE_OCTOMAP kept for backward compatibility reasons.
PKG_CONFIG_APPEND_CFLAGS(
"-DCOAL_HAS_OCTOMAP -DCOAL_HAVE_OCTOMAP -DFCL_HAVE_OCTOMAP -DOCTOMAP_MAJOR_VERSION=${OCTOMAP_MAJOR_VERSION} -DOCTOMAP_MINOR_VERSION=${OCTOMAP_MINOR_VERSION} -DOCTOMAP_PATCH_VERSION=${OCTOMAP_PATCH_VERSION}")
ENDIF(COAL_HAS_OCTOMAP)
"-DCOAL_HAS_OCTOMAP -DCOAL_HAVE_OCTOMAP -DFCL_HAVE_OCTOMAP -DOCTOMAP_MAJOR_VERSION=${OCTOMAP_MAJOR_VERSION} -DOCTOMAP_MINOR_VERSION=${OCTOMAP_MINOR_VERSION} -DOCTOMAP_PATCH_VERSION=${OCTOMAP_PATCH_VERSION}"
)
endif(COAL_HAS_OCTOMAP)

# Install catkin package.xml
INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
install(FILES package.xml DESTINATION share/${PROJECT_NAME})

if(COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL)
include(CMakePackageConfigHelpers)
write_basic_package_version_file(hpp-fclConfigVersion.cmake
VERSION 3.0.0
COMPATIBILITY AnyNewerVersion)
install(FILES hpp-fclConfig.cmake ${CMAKE_CURRENT_BINARY_DIR}/hpp-fclConfigVersion.cmake
DESTINATION lib/cmake/hpp-fcl
COMPONENT hpp-fcl-compatibility)
write_basic_package_version_file(
hpp-fclConfigVersion.cmake
VERSION 3.0.0
COMPATIBILITY AnyNewerVersion
)
install(
FILES
hpp-fclConfig.cmake
${CMAKE_CURRENT_BINARY_DIR}/hpp-fclConfigVersion.cmake
DESTINATION lib/cmake/hpp-fcl
COMPONENT hpp-fcl-compatibility
)
include("${JRL_CMAKE_MODULES}/install-helpers.cmake")
add_install_target(NAME hpp-fcl-compatibility COMPONENT hpp-fcl-compatibility)
ADD_INSTALL_TARGET(NAME hpp-fcl-compatibility COMPONENT hpp-fcl-compatibility)
endif()

setup_project_finalize()
SETUP_PROJECT_FINALIZE()
37 changes: 23 additions & 14 deletions doc/CMakeLists.txt
View file
Original file line number Diff line number Diff line change
@@ -1,19 +1,28 @@
SET(DOXYGEN_XML_OUTPUT "doxygen-xml" PARENT_SCOPE)
SET(DOXYGEN_FILE_PATTERNS "*.h *.hh *.hxx" PARENT_SCOPE)
SET(DOXYGEN_GENERATE_XML "YES" PARENT_SCOPE)
SET(DOXYGEN_EXPAND_ONLY_PREDEF "NO" PARENT_SCOPE)
SET(DOXYGEN_ENABLE_PREPROCESSING "YES" PARENT_SCOPE)
SET(DOXYGEN_MACRO_EXPANSION "YES" PARENT_SCOPE)
SET(DOXYGEN_EXCLUDE "${PROJECT_SOURCE_DIR}/include/hpp/")
set(DOXYGEN_XML_OUTPUT "doxygen-xml" PARENT_SCOPE)
set(DOXYGEN_FILE_PATTERNS "*.h *.hh *.hxx" PARENT_SCOPE)
set(DOXYGEN_GENERATE_XML "YES" PARENT_SCOPE)
set(DOXYGEN_EXPAND_ONLY_PREDEF "NO" PARENT_SCOPE)
set(DOXYGEN_ENABLE_PREPROCESSING "YES" PARENT_SCOPE)
set(DOXYGEN_MACRO_EXPANSION "YES" PARENT_SCOPE)
set(DOXYGEN_EXCLUDE "${PROJECT_SOURCE_DIR}/include/hpp/")

# We must not document octree if Octomap is not setup.
# This create a build issue when building the bindings because doxygen-autodoc will
# include octree.h that will include octomap.h.
IF(NOT COAL_HAS_OCTOMAP)
SET(DOXYGEN_EXCLUDE "${DOXYGEN_EXCLUDE} ${PROJECT_SOURCE_DIR}/include/coal/octree.h")
SET(DOXYGEN_EXCLUDE "${DOXYGEN_EXCLUDE} ${PROJECT_SOURCE_DIR}/include/coal/serialization/octree.h")
SET(DOXYGEN_EXCLUDE "${DOXYGEN_EXCLUDE} ${PROJECT_SOURCE_DIR}/include/coal/internal/traversal_node_octree.h")
ENDIF()
SET(DOXYGEN_EXCLUDE ${DOXYGEN_EXCLUDE} PARENT_SCOPE)
if(NOT COAL_HAS_OCTOMAP)
set(
DOXYGEN_EXCLUDE
"${DOXYGEN_EXCLUDE} ${PROJECT_SOURCE_DIR}/include/coal/octree.h"
)
set(
DOXYGEN_EXCLUDE
"${DOXYGEN_EXCLUDE} ${PROJECT_SOURCE_DIR}/include/coal/serialization/octree.h"
)
set(
DOXYGEN_EXCLUDE
"${DOXYGEN_EXCLUDE} ${PROJECT_SOURCE_DIR}/include/coal/internal/traversal_node_octree.h"
)
endif()
set(DOXYGEN_EXCLUDE ${DOXYGEN_EXCLUDE} PARENT_SCOPE)

SET(DOXYGEN_PREDEFINED "IS_DOXYGEN" PARENT_SCOPE)
set(DOXYGEN_PREDEFINED "IS_DOXYGEN" PARENT_SCOPE)
9 changes: 5 additions & 4 deletions hpp-fclConfig.cmake
View file
Original file line number Diff line number Diff line change
Expand Up @@ -19,8 +19,9 @@ if(NOT TARGET hpp-fcl::hpp-fcl)

set_target_properties(
hpp-fcl::hpp-fcl
PROPERTIES INTERFACE_COMPILE_DEFINITIONS
"COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL"
INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
INTERFACE_LINK_LIBRARIES "coal::coal")
PROPERTIES
INTERFACE_COMPILE_DEFINITIONS "COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL"
INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
INTERFACE_LINK_LIBRARIES "coal::coal"
)
endif()
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