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CMakeLists.txt
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1079 lines (964 loc) · 42.1 KB
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#===============================================================================
# CMake settings
#===============================================================================
cmake_minimum_required(VERSION 3.22.1)
project(dart)
string(TOUPPER ${PROJECT_NAME} PROJECT_NAME_UPPERCASE)
# Use MACOSX_RPATH by default on OS X. This was added in CMake 2.8.12 and
# became default in CMake 3.0. Explicitly setting this policy is necessary to
# suppress a warning in CMake 3.0 and above.
if(POLICY CMP0042)
cmake_policy(SET CMP0042 NEW)
endif()
# Simplify variable reference and escape sequence evaluation. This was added in
# CMake 3.1. Explicitly setting this policy is necessary to suppress a warning
# in CMake 3.1 and above.
if(POLICY CMP0053)
cmake_policy(SET CMP0053 NEW)
endif()
# Use DART_SOURCE/BINARY_DIR instead of CMAKE_SOURCE/BINARY_DIR to support the
# case that DART is built as a sub-project in another project.
set(DART_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR})
set(DART_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR})
include(GNUInstallDirs)
# Variables used in Components.cmake
set(INCLUDE_INSTALL_DIR ${CMAKE_INSTALL_INCLUDEDIR})
set(LIBRARY_INSTALL_DIR ${CMAKE_INSTALL_LIBDIR})
set(CONFIG_INSTALL_DIR "${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}/cmake")
# Set relative location to install additional documentation (sample data,
# examples, and tutorials)
set(DART_ADDITIONAL_DOCUMENTATION_INSTALL_PATH
"${CMAKE_INSTALL_DATAROOTDIR}/doc/${PROJECT_NAME}"
)
set(DART_EXAMPLES_INSTALL_PATH
"${DART_ADDITIONAL_DOCUMENTATION_INSTALL_PATH}"
CACHE PATH
"Install destination (relative to CMAKE_INSTALL_PREFIX) for DART example sources. Set to an empty string to skip installing example sources."
)
mark_as_advanced(DART_EXAMPLES_INSTALL_PATH)
set(CMAKE_DEBUG_POSTFIX "d")
set(CMAKE_MODULE_PATH "${DART_SOURCE_DIR}/cmake")
include(dart_defs)
include(compiler_cache)
# Initialize CMake component helpers (now part of dart_defs.cmake)
# Uses the following variables:
# - LIBRARY_INSTALL_DIR
# - CONFIG_INSTALL_DIR
initialize_component_helpers(${PROJECT_NAME})
if(BUILD_SHARED_LIBS)
set(DART_BUILD_SHARED_VALUE 1)
else()
set(DART_BUILD_SHARED_VALUE 0)
endif()
#===============================================================================
# Project settings
#===============================================================================
# Extract version numbers from package.xml
# Supports both release versions (X.Y.Z) and dev versions (X.Y.Z.devN)
file(READ package.xml PACKAGE_XML)
string(
REGEX MATCH "<version>[0-9]+\\.[0-9]+\\.[0-9]+(\\.(dev|alpha|beta|rc)[0-9]+)?</version>"
DIRTY_VERSION_STRING
"${PACKAGE_XML}"
)
# Remove <version> tags to get clean version string
string(
REGEX REPLACE "^<version>([0-9]+\\.[0-9]+\\.[0-9]+(\\.(dev|alpha|beta|rc)[0-9]+)?)</version>$" "\\1"
DART_VERSION_FULL
"${DIRTY_VERSION_STRING}"
)
# Extract numeric components
string(
REGEX REPLACE "^([0-9]+)\\.([0-9]+)\\.([0-9]+)(\\.(dev|alpha|beta|rc)[0-9]+)?$" "\\1"
DART_MAJOR_VERSION
"${DART_VERSION_FULL}"
)
string(
REGEX REPLACE "^([0-9]+)\\.([0-9]+)\\.([0-9]+)(\\.(dev|alpha|beta|rc)[0-9]+)?$" "\\2"
DART_MINOR_VERSION
"${DART_VERSION_FULL}"
)
string(
REGEX REPLACE "^([0-9]+)\\.([0-9]+)\\.([0-9]+)(\\.(dev|alpha|beta|rc)[0-9]+)?$" "\\3"
DART_PATCH_VERSION
"${DART_VERSION_FULL}"
)
# Extract suffix if present (e.g., "dev0" from "7.0.0.dev0")
string(
REGEX MATCH "\\.(dev|alpha|beta|rc)[0-9]+" DART_VERSION_SUFFIX "${DART_VERSION_FULL}"
)
if(DART_VERSION_SUFFIX)
string(SUBSTRING "${DART_VERSION_SUFFIX}" 1 -1 DART_VERSION_SUFFIX) # Remove leading dot
else()
set(DART_VERSION_SUFFIX "")
endif()
# DART_VERSION: Short version for CMake compatibility (X.Y.Z)
set(DART_VERSION "${DART_MAJOR_VERSION}.${DART_MINOR_VERSION}.${DART_PATCH_VERSION}")
# DART_VERSION_FULL: Complete version including suffix (X.Y.Z or X.Y.Z.devN)
# Already set above
set(DART_PKG_DESC "Dynamic Animation and Robotics Toolkit.")
set(DART_PKG_EXTERNAL_DEPS "assimp, ccd, eigen3, fcl, octomap")
set_property(GLOBAL PROPERTY DART_PKG_LINK_LIBS "")
set_property(GLOBAL PROPERTY DART_PUBLIC_INCLUDE_DIRS "")
set_property(GLOBAL PROPERTY DART_PUBLIC_SYSTEM_INCLUDE_DIRS "")
set_property(GLOBAL PROPERTY DART_EXTRA_LINK_LIBS "")
set_property(GLOBAL PROPERTY DART_EXTRA_COMPILE_OPTIONS "")
function(_dart_pkgconfig_collect output_var)
set(_converted "")
set(_expect_framework FALSE)
foreach(_lib IN LISTS ARGN)
if(NOT _lib)
continue()
endif()
if(_expect_framework)
list(APPEND _converted "-framework" "${_lib}")
set(_expect_framework FALSE)
continue()
endif()
if(_lib STREQUAL "optimized" OR _lib STREQUAL "debug" OR _lib STREQUAL "general")
continue()
elseif(_lib STREQUAL "-framework")
set(_expect_framework TRUE)
continue()
elseif(TARGET "${_lib}")
get_target_property(_iface "${_lib}" INTERFACE_LINK_LIBRARIES)
if(_iface)
_dart_pkgconfig_collect(_nested ${_iface})
list(APPEND _converted ${_nested})
endif()
get_target_property(_imported "${_lib}" IMPORTED_LOCATION)
if(NOT _imported)
get_target_property(_imported "${_lib}" IMPORTED_IMPLIB)
endif()
if(_imported)
list(APPEND _converted "${_imported}")
endif()
elseif(_lib MATCHES "^-.*")
list(APPEND _converted "${_lib}")
elseif(IS_ABSOLUTE "${_lib}")
list(APPEND _converted "${_lib}")
else()
list(APPEND _converted "-l${_lib}")
endif()
endforeach()
set("${output_var}" "${_converted}" PARENT_SCOPE)
endfunction()
function(dart_pkgconfig_append_libraries)
if(NOT ARGN)
return()
endif()
_dart_pkgconfig_collect(_converted ${ARGN})
if(_converted)
set_property(GLOBAL APPEND PROPERTY DART_PKG_LINK_LIBS ${_converted})
endif()
endfunction()
#===============================================================================
# Build options
#===============================================================================
# Simulation-experimental options
option(DART_EXPERIMENTAL_VERBOSE "Show detailed simulation-experimental dependency information" OFF)
if(MSVC)
set(DART_RUNTIME_LIBRARY "/MD" CACHE STRING "BaseName chosen by the user at CMake configure time")
set_property(CACHE DART_RUNTIME_LIBRARY PROPERTY STRINGS /MD /MT)
dart_option(DART_MSVC_DEFAULT_OPTIONS "Build DART with default Visual Studio options" OFF CATEGORY msvc)
# Option to force /MD (Release runtime) for all configurations including Debug.
# This is useful when linking against pre-built libraries (e.g., conda-forge packages)
# that are built with /MD to avoid LNK2038 runtime library mismatch errors.
# Default: ON (recommended for most users using package managers like conda/pixi)
# Set to OFF if you're building all dependencies from source with matching runtime libraries.
dart_option(DART_MSVC_FORCE_RELEASE_RUNTIME
"Force /MD (Release DLL runtime) for all configurations to match pre-built packages (conda-forge, vcpkg, etc.)" ON
CATEGORY msvc)
if(DART_MSVC_FORCE_RELEASE_RUNTIME AND CMAKE_VERSION VERSION_GREATER_EQUAL "3.15")
# Use modern CMake 3.15+ approach with CMAKE_MSVC_RUNTIME_LIBRARY
# This sets /MD for all configurations (Debug, Release, RelWithDebInfo, MinSizeRel)
set(CMAKE_MSVC_RUNTIME_LIBRARY "MultiThreadedDLL" CACHE STRING
"MSVC runtime library - forced to /MD for all configs" FORCE)
message(STATUS "DART_MSVC_FORCE_RELEASE_RUNTIME=ON: Using /MD for all configurations")
message(STATUS " This avoids LNK2038 errors when linking pre-built packages built with /MD")
message(STATUS " Set -DDART_MSVC_FORCE_RELEASE_RUNTIME=OFF if building all deps from source")
endif()
else()
dart_option(BUILD_SHARED_LIBS "Build shared libraries" ON CATEGORY build)
endif()
dart_option(DART_BUILD_DARTPY "Build dartpy" OFF CATEGORY build)
dart_option(DART_BUILD_GUI "Build GUI library" ON CATEGORY build)
set(_dart_user_set_build_gui_raylib FALSE)
if(DEFINED DART_BUILD_GUI_RAYLIB)
set(_dart_user_set_build_gui_raylib TRUE)
endif()
dart_option(DART_BUILD_GUI_RAYLIB "Build experimental Raylib GUI backend" OFF CATEGORY build)
if(NOT _dart_user_set_build_gui_raylib AND DEFINED DART_BUILD_RAYLIB)
message(WARNING "DART_BUILD_RAYLIB is deprecated; use DART_BUILD_GUI_RAYLIB instead.")
if(DART_BUILD_RAYLIB)
set(_dart_build_gui_raylib_value ON)
else()
set(_dart_build_gui_raylib_value OFF)
endif()
set(DART_BUILD_GUI_RAYLIB "${_dart_build_gui_raylib_value}" CACHE BOOL "Build experimental Raylib GUI backend" FORCE)
unset(DART_BUILD_RAYLIB CACHE)
unset(_dart_build_gui_raylib_value)
endif()
unset(_dart_user_set_build_gui_raylib)
dart_option(DART_BUILD_COLLISION_BULLET "Embed the Bullet collision backend into the core dart target" OFF CATEGORY build)
dart_option(DART_BUILD_COLLISION_ODE "Embed the ODE collision backend into the core dart target" OFF CATEGORY build)
dart_option(DART_BUILD_EXAMPLES "Build example targets" ON CATEGORY build)
dart_option(DART_BUILD_TUTORIALS "Build tutorial targets" ON CATEGORY build)
dart_option(DART_BUILD_TESTS "Build C++ tests" ON CATEGORY build)
dart_option(DART_BUILD_PROFILE "Build DART with profiling options" OFF CATEGORY performance)
dart_option(DART_PROFILE_BUILTIN "Enable built-in text profiling backend" ON CATEGORY performance)
dart_option(DART_PROFILE_TRACY "Enable Tracy profiling backend" ON CATEGORY performance)
dart_option(DART_CODECOV "Turn on codecov support" OFF CATEGORY performance)
# Backward compatibility: accept legacy DART_PROFILE_TEXT if provided.
if(NOT DEFINED DART_PROFILE_BUILTIN AND DEFINED DART_PROFILE_TEXT)
set(DART_PROFILE_BUILTIN "${DART_PROFILE_TEXT}")
endif()
# Keep legacy variable names in scope for consumers (macros expect ENABLE_*).
set(DART_PROFILE_TEXT "${DART_PROFILE_BUILTIN}")
set(DART_PROFILE_ENABLE_TEXT "${DART_PROFILE_BUILTIN}")
set(DART_PROFILE_ENABLE_TRACY "${DART_PROFILE_TRACY}")
# Warning: DART_ENABLE_SIMD should be ON only when you build DART and the DART
# dependent projects on the same machine. If this option is on, then compile
# option `-march=native` is added to the target `dart` that enables all
# instruction subsets supported by the local machine. If the architecture of
# local machines are different then the projects will be built with different
# compile options, which may cause runtime errors especially memory alignment
# errors.
dart_option(DART_ENABLE_SIMD
"Build DART with all SIMD instructions on the current local machine" OFF CATEGORY performance)
dart_option(DART_SIMD_FORCE_SCALAR
"Force dart::simd to use scalar fallback (for testing)" OFF CATEGORY performance)
dart_option(DART_FAST_DEBUG "Add -O1 option for DEBUG mode build" OFF CATEGORY performance)
dart_option(DART_ENABLE_ASAN "Build DART with AddressSanitizer instrumentation" OFF CATEGORY diagnostics)
# GCC and Clang add ANSI-formatted colors when they detect the output medium is a
# terminal. However, this doesn't work in some cases such as when the makefile is
# invoked by Ninja. DART_FORCE_COLORED_OUTPUT can be used in this case to enforce
# to always generate ANSI-formatted colors regardless of the output medium types.
# See: https://medium.com/@alasher/colored-c-compiler-output-with-ninja-clang-gcc-10bfe7f2b949
dart_option(DART_FORCE_COLORED_OUTPUT
"Always produce ANSI-colored output (GNU/Clang only)." OFF CATEGORY diagnostics)
dart_option(DART_USE_SYSTEM_IMGUI
"Use system-installed ImGui instead of fetching from GitHub (recommended for package distributions)" OFF CATEGORY system)
dart_option(DART_USE_SYSTEM_RAYLIB
"Use system-installed Raylib instead of fetching from GitHub (recommended for package distributions)" OFF CATEGORY system)
dart_option(DART_USE_SYSTEM_GOOGLEBENCHMARK "Use system GoogleBenchmark" OFF CATEGORY system)
dart_option(DART_USE_SYSTEM_GOOGLETEST "Use system GoogleTest" OFF CATEGORY system)
dart_option(DART_USE_SYSTEM_NANOBIND "Use system nanobind" OFF CATEGORY system)
dart_option(DART_USE_SYSTEM_TRACY "Use system Tracy" OFF CATEGORY system)
dart_option(DART_USE_SYSTEM_ODE
"Use system-installed ODE instead of fetching from Bitbucket (set OFF only when system ODE is unavailable)" ON CATEGORY system)
dart_option(DART_USE_SYSTEM_BULLET
"Use system-installed Bullet instead of fetching from GitHub (set OFF only when system Bullet is unavailable)" ON CATEGORY system)
dart_option(DART_VERBOSE "Whether print detailed information in CMake process" OFF CATEGORY diagnostics)
dart_option(
DART_ENABLE_SDFORMAT
"Enable sdformat support in dart-utils (disable on platforms without sdformat)"
ON
CATEGORY build
)
dart_option(
DART_BUILD_SIMULATION_EXPERIMENTAL
"Build experimental simulation module (dart::simulation::experimental)"
OFF
CATEGORY build
)
dart_configure_compiler_cache()
#===============================================================================
# Print intro
#===============================================================================
message(STATUS "")
message(STATUS "============================================")
message(STATUS " DART ${DART_VERSION}")
message(STATUS "============================================")
message(STATUS "")
dart_print_options()
# Print build tool information
message(STATUS "[ Build Tools ]")
message(STATUS "- CMake : ${CMAKE_VERSION}")
message(STATUS "- C++ : ${CMAKE_CXX_COMPILER_ID} ${CMAKE_CXX_COMPILER_VERSION}")
if(MSVC)
message(STATUS "- CMAKE_TOOLCHAIN_FILE: ${CMAKE_TOOLCHAIN_FILE}")
endif()
message(STATUS "")
#===============================================================================
# CodeCov settings
#===============================================================================
if(DART_CODECOV)
# Set up custom targets for code coverage
dart_coverage(
INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/dart
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/dart
)
# Code Coverage Configuration
add_library(coverage_config INTERFACE)
# CodeCov can only be enabled in Debug mode
if(NOT CMAKE_BUILD_TYPE STREQUAL "Debug")
message(FATAL_ERROR "CodeCov can only be enabled in Debug mode")
endif()
# CodeCov can only be enabled with GCC or Clang
if(NOT CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
message(FATAL_ERROR "CodeCov can only be enabled with GCC or Clang")
endif()
# Add required flags (GCC & LLVM/Clang)
target_compile_options(coverage_config INTERFACE
-O0 # no optimization
-g # generate debug info
--coverage # sets all required flags
)
# Add required flags (GCC & LLVM/Clang)
target_link_options(coverage_config INTERFACE --coverage)
# Export CodeCov configuration
install(TARGETS coverage_config DESTINATION lib EXPORT coverage_config)
install(EXPORT coverage_config DESTINATION ${CONFIG_INSTALL_DIR})
endif()
#===============================================================================
# Build type settings
#===============================================================================
set(_dart_known_build_types Debug Release RelWithDebInfo MinSizeRel None)
if(NOT CMAKE_CONFIGURATION_TYPES)
if(NOT CMAKE_BUILD_TYPE)
set(
CMAKE_BUILD_TYPE
Release
CACHE STRING
"Choose the type of build, options are: Debug | Release | RelWithDebInfo | MinSizeRel | None"
FORCE
)
message(STATUS "Setting CMAKE_BUILD_TYPE to '${CMAKE_BUILD_TYPE}'.")
else()
set(
CMAKE_BUILD_TYPE
"${CMAKE_BUILD_TYPE}"
CACHE STRING
"Choose the type of build, options are: Debug | Release | RelWithDebInfo | MinSizeRel | None"
FORCE
)
endif()
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${_dart_known_build_types})
endif()
string(TOUPPER "${CMAKE_BUILD_TYPE}" CMAKE_BUILD_TYPE_UPPERCASE)
set(DART_BUILD_MODE_DEBUG FALSE)
set(DART_BUILD_MODE_RELEASE FALSE)
if("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "DEBUG")
set(DART_BUILD_MODE_DEBUG TRUE)
elseif("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "RELEASE")
set(DART_BUILD_MODE_RELEASE TRUE)
elseif("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "RELWITHDEBINFO")
set(DART_BUILD_MODE_RELEASE TRUE)
elseif("${CMAKE_BUILD_TYPE_UPPERCASE}" STREQUAL "MINSIZEREL")
set(DART_BUILD_MODE_RELEASE TRUE)
endif()
# Active log level:
#
# - TRACE: To enable log with DART_TRACE() and below
# - DEBUG: To enable log with DART_DEBUG() and below
# - INFO: To enable log with DART_INFO() and below
# - WARN: To enable log with DART_WARN() and below
# - ERROR: To enable log with DART_ERROR() and below
# - FATAL: To enable log with DART_FATAL()
# - OFF: To turn off all the logs
if(DART_BUILD_MODE_DEBUG)
set(DART_ACTIVE_LOG_LEVEL "DEBUG" CACHE STRING "Compile time active log level to enable")
else()
set(DART_ACTIVE_LOG_LEVEL "INFO" CACHE STRING "Compile time active log level to enable")
endif()
set_property(CACHE DART_ACTIVE_LOG_LEVEL PROPERTY STRINGS TRACE DEBUG INFO WARN ERROR FATAL OFF)
if(DART_BUILD_MODE_DEBUG)
option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" OFF)
else()
option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" ON)
endif()
option(DART_BUILD_WHEELS "Indicate building dartpy for wheels" OFF)
#===============================================================================
# Uninstall
#===============================================================================
# Add an "uninstall" target early so that fetched dependencies (e.g., raylib)
# don't create their own conflicting target.
# https://gitlab.kitware.com/cmake/community/-/wikis/doc/cmake/recipe/AddUninstallTarget
if(NOT TARGET uninstall)
file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/cmake")
configure_file(
"${CMAKE_CURRENT_SOURCE_DIR}/cmake/uninstall_target.cmake.in"
"${CMAKE_CURRENT_BINARY_DIR}/cmake/cmake_uninstall.cmake"
IMMEDIATE @ONLY
)
add_custom_target(uninstall
COMMAND "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/cmake/cmake_uninstall.cmake"
)
endif()
#===============================================================================
# Find dependencies
#===============================================================================
include(dart_find_dependencies)
#===============================================================================
# Check for non-case-sensitive filesystems
#===============================================================================
execute_process(COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/scripts/case_sensitive_filesystem
RESULT_VARIABLE FILESYSTEM_CASE_SENSITIVE_RETURN)
if(${FILESYSTEM_CASE_SENSITIVE_RETURN} EQUAL 0)
set(FILESYSTEM_CASE_SENSITIVE TRUE)
else()
set(FILESYSTEM_CASE_SENSITIVE FALSE)
endif()
#===============================================================================
# Compiler flags
#===============================================================================
if(MSVC)
# Visual Studio 2022 17.10+ required for C++20 support
set(msvc_required_version 1940)
if(MSVC_VERSION VERSION_LESS ${msvc_required_version} AND ${CMAKE_CXX_COMPILER_ID} STREQUAL "MSVC")
message(FATAL_ERROR "Visual Studio ${MSVC_VERSION} is detected, but "
"${PROJECT_NAME_UPPERCASE} requires ${msvc_required_version} or greater (Visual Studio 2022 17.10+)."
)
endif()
if(DART_TREAT_WARNINGS_AS_ERRORS)
add_compile_options(/WX)
endif()
# /MP - Multi-processor compilation (uses all available cores)
# /FS - Force synchronous PDB writes (prevents PDB conflicts in parallel builds with /MP)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc /permissive- /Zc:twoPhase- /MP /FS")
set(CMAKE_EXE_LINKER_FLAGS_RELEASE "/INCREMENTAL:NO")
if(NOT DART_MSVC_DEFAULT_OPTIONS)
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} ${DART_RUNTIME_LIBRARY}d /Zi /Gy /W1 /EHsc")
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${DART_RUNTIME_LIBRARY} /Zi /GL /Gy /W1 /EHsc")
endif()
add_definitions(-D_CRT_SECURE_NO_WARNINGS -D_ENABLE_EXTENDED_ALIGNED_STORAGE)
add_compile_options(/wd4005)
add_compile_options(/wd4099)
add_compile_options(/wd4146) # for FCL warnings: https://github.com/dartsim/dart/runs/4568423649?check_suite_focus=true#step:5:407
add_compile_options(/wd4244)
add_compile_options(/wd4250)
add_compile_options(/wd4267)
add_compile_options(/wd4305)
add_compile_options(/wd4334)
add_compile_options(/wd4838)
add_compile_options(/wd4996)
add_compile_options(/bigobj)
elseif(CMAKE_COMPILER_IS_GNUCXX)
# There is a known bug in GCC 12.1 and above that leads to spurious
# -Wmaybe-uninitialized warnings from gcc/x86_64-linux-gnu/12/include/avxintrin.h and
# -Warray-bounds warnings from gcc/x86_64-linux-gnu/12/include/avx512fintrin.h.
# The bug is tracked here: https://gcc.gnu.org/bugzilla/show_bug.cgi?id=105593
# The following workaround can be removed once the bug is fixed.
if(CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 12.1)
add_compile_options(-Wno-array-bounds)
add_compile_options(-Wno-dangling-pointer)
add_compile_options(-Wno-maybe-uninitialized)
add_compile_options(-Wno-stringop-overflow)
add_compile_options(-Wno-uninitialized)
endif()
add_compile_options(-Wall -Wextra -fPIC)
if(DART_TREAT_WARNINGS_AS_ERRORS)
add_compile_options(-Werror)
# Also treat preprocessor warnings (like #warning directives in deprecated
# headers) as errors
add_compile_options(-Werror=cpp)
endif()
execute_process(
COMMAND ${CMAKE_CXX_COMPILER} -dumpfullversion -dumpversion OUTPUT_VARIABLE GCC_VERSION)
if(DART_BUILD_WHEELS)
set(gcc_required_version 10.2.1) # Lowered from 11.2.0 to support older glibc-based wheel builds
else()
set(gcc_required_version 11.2.0)
endif()
if(GCC_VERSION VERSION_LESS ${gcc_required_version})
message(FATAL_ERROR "The installed g++ version is ${GCC_VERSION}. ${PROJECT_NAME} requires g++ ${gcc_required_version} or greater.")
endif()
if(GCC_VERSION VERSION_GREATER_EQUAL 13.2.0)
# GCC 13 currently reports noisy diagnostics in upstream dependencies; silence
# them until Eigen/FCL updates remove the false positives.
add_compile_options(-Wno-overloaded-virtual -Wno-alloc-size-larger-than -Wno-dangling-pointer)
endif()
if(GCC_VERSION VERSION_GREATER_EQUAL 15.0)
# TODO(GCC15): Remove once upstream dependencies (octomap, fcl) stop using
# <ciso646>, which is deprecated in C++20. GCC 15 emits a #warning that our
# -Werror=cpp flag treats as an error.
# Tracking: octomap uses <ciso646> in OcTreeKey.h; fcl pulls it in transitively.
add_compile_options(-Wno-error=cpp)
endif()
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG")
set(CMAKE_CXX_FLAGS_DEBUG "-g -fno-omit-frame-pointer -fno-inline-functions -fno-inline-functions-called-once -fno-optimize-sibling-calls")
if(DART_FAST_DEBUG)
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O1")
endif()
set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELEASE} ${CMAKE_CXX_FLAGS_DEBUG}")
set(CMAKE_CXX_FLAGS_PROFILE "${CMAKE_CXX_FLAGS_DEBUG} -pg")
set(CMAKE_SHARED_LINKER_FLAGS "-Wl,--no-undefined")
# Enforce to colorize compilation output
if(DART_FORCE_COLORED_OUTPUT)
add_compile_options(-fdiagnostics-color=always)
endif()
elseif("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang")
add_compile_options(-Wall -Wextra -fPIC)
if(DART_TREAT_WARNINGS_AS_ERRORS)
add_compile_options(-Werror)
# Also treat preprocessor warnings (like #warning directives in deprecated
# headers) as errors
add_compile_options(-Werror=cpp)
endif()
execute_process(
COMMAND ${CMAKE_CXX_COMPILER} -dumpversion OUTPUT_VARIABLE CLANG_VERSION)
if(CLANG_VERSION VERSION_LESS 6.0)
message(FATAL_ERROR "The installed Clang version is ${CLANG_VERSION}. ${PROJECT_NAME} requires clang 6.0 or greater.")
endif()
if("${CMAKE_SYSTEM_NAME}" MATCHES "Darwin")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -stdlib=libc++")
endif()
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG")
set(CMAKE_CXX_FLAGS_DEBUG "-g -fno-omit-frame-pointer -fno-inline-functions -fno-optimize-sibling-calls")
if(DART_FAST_DEBUG)
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O1")
endif()
set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELEASE} ${CMAKE_CXX_FLAGS_DEBUG}")
set(CMAKE_CXX_FLAGS_PROFILE "${CMAKE_CXX_FLAGS_DEBUG} -pg")
# Enforce to colorize compilation output
if(DART_FORCE_COLORED_OUTPUT)
add_compile_options(-fcolor-diagnostics)
endif()
else()
message(SEND_ERROR "Compiler[${CMAKE_CXX_COMPILER_ID}] not supported.")
endif()
if(DART_ENABLE_ASAN)
if(NOT (CMAKE_CXX_COMPILER_ID MATCHES "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "GNU"))
message(FATAL_ERROR "DART_ENABLE_ASAN is only supported with GCC or Clang.")
endif()
set(_DART_ASAN_FLAGS "-fsanitize=address")
add_compile_options(${_DART_ASAN_FLAGS})
add_link_options(${_DART_ASAN_FLAGS})
foreach(link_var CMAKE_EXE_LINKER_FLAGS CMAKE_SHARED_LINKER_FLAGS CMAKE_MODULE_LINKER_FLAGS)
set(${link_var} "${${link_var}} ${_DART_ASAN_FLAGS}")
endforeach()
foreach(lang C CXX)
set(CMAKE_${lang}_FLAGS "${CMAKE_${lang}_FLAGS} -fno-omit-frame-pointer")
endforeach()
set(CMAKE_REQUIRED_FLAGS "${CMAKE_REQUIRED_FLAGS} ${_DART_ASAN_FLAGS}")
set(CMAKE_REQUIRED_LINK_OPTIONS "${CMAKE_REQUIRED_LINK_OPTIONS} ${_DART_ASAN_FLAGS}")
# Disable Boost's embedded GDB scripts, which are known to trigger quoting issues
# with recent GCC versions when AddressSanitizer instrumentation is enabled.
add_compile_definitions(BOOST_ALL_NO_EMBEDDED_GDB_SCRIPTS)
endif()
if(DART_SIMD_FORCE_SCALAR)
add_compile_definitions(DART_SIMD_FORCE_SCALAR=1)
endif()
#===============================================================================
# Print build summary
#===============================================================================
if(DART_VERBOSE)
message(STATUS "")
message(STATUS "[ Build summary ]")
message(STATUS "CMAKE_GENERATOR : ${CMAKE_GENERATOR}")
message(STATUS "Compiler ID : ${CMAKE_CXX_COMPILER_ID}")
message(STATUS "Compiler version : ${CMAKE_CXX_COMPILER_VERSION}")
message(STATUS "Build type : ${CMAKE_BUILD_TYPE}")
message(STATUS "BUILD_SHARED_LIBS: ${BUILD_SHARED_LIBS}")
message(STATUS "Build gui : ${DART_BUILD_GUI}")
message(STATUS "Install path : ${CMAKE_INSTALL_PREFIX}")
message(STATUS "CXX_FLAGS : ${CMAKE_CXX_FLAGS}")
if(CMAKE_BUILD_TYPE_UPPERCASE STREQUAL "RELEASE")
message(STATUS "CXX_FLAGS_RELEASE: ${CMAKE_CXX_FLAGS_RELEASE}")
elseif(CMAKE_BUILD_TYPE_UPPERCASE STREQUAL "DEBUG")
message(STATUS "CXX_FLAGS_DEBUG : ${CMAKE_CXX_FLAGS_DEBUG}")
elseif(CMAKE_BUILD_TYPE_UPPERCASE STREQUAL "RELWITHDEBINFO")
message(STATUS "CXX_FLAGS_RELWITHDEBINFO: ${CMAKE_CXX_FLAGS_RELWITHDEBINFO}")
elseif(CMAKE_BUILD_TYPE_UPPERCASE STREQUAL "PROFILE")
message(STATUS "CXX_FLAGS_PROFILE: ${CMAKE_CXX_FLAGS_PROFILE}")
endif()
message(STATUS "DART_SOURCE_DIR : ${DART_SOURCE_DIR}")
message(STATUS "DART_BINARY_DIR : ${DART_BINARY_DIR}")
endif()
#===============================================================================
# Add sub-directories
#===============================================================================
add_subdirectory(dart)
if(DART_BUILD_SIMULATION_EXPERIMENTAL)
add_subdirectory(dart/simulation/experimental)
endif()
set(DART_IN_SOURCE_BUILD TRUE)
if(TARGET dart)
include(CTest)
if(DART_BUILD_TESTS AND BUILD_TESTING)
# Add a "tests" target to build unit tests.
if(MSVC)
add_subdirectory(tests)
else()
add_subdirectory(tests EXCLUDE_FROM_ALL)
endif()
if(DART_BUILD_SIMULATION_EXPERIMENTAL)
if(NOT EXISTS
"${CMAKE_CURRENT_SOURCE_DIR}/tests/unit/simulation/experimental/CMakeLists.txt")
if(NOT TARGET dart_experimental_tests)
add_custom_target(dart_experimental_tests)
endif()
endif()
endif()
elseif(NOT DART_BUILD_TESTS)
message(STATUS "Skipping tests (DART_BUILD_TESTS == OFF)")
else()
message(STATUS "Skipping tests (BUILD_TESTING == OFF)")
endif()
if(DART_BUILD_EXAMPLES)
if(TARGET dart-gui)
# Add example subdirectories and an "examples" target.
if(MSVC)
add_subdirectory(examples)
else()
add_subdirectory(examples EXCLUDE_FROM_ALL)
get_property(examples GLOBAL PROPERTY DART_EXAMPLES)
add_custom_target(examples DEPENDS ${examples})
endif()
if(DART_VERBOSE)
message(STATUS "")
message(STATUS "[ Examples ]")
foreach(example IN LISTS examples)
message(STATUS "Adding example: ${example}")
endforeach()
else()
list(LENGTH examples examples_length)
message(STATUS "Adding ${examples_length} examples")
endif()
else()
message(STATUS "Skipping examples (requires dart-gui target; enable DART_BUILD_GUI)")
endif()
else()
message(STATUS "Skipping examples (DART_BUILD_EXAMPLES == OFF)")
endif()
if(DART_BUILD_TUTORIALS)
if(TARGET dart-gui)
# Add a "tutorials" target to build tutorials.
if(MSVC)
add_subdirectory(tutorials)
else()
add_subdirectory(tutorials EXCLUDE_FROM_ALL)
get_property(tutorials GLOBAL PROPERTY DART_TUTORIALS)
add_custom_target(tutorials DEPENDS ${tutorials})
endif()
if(DART_VERBOSE)
message(STATUS "")
message(STATUS "[ Tutorials ]")
foreach(tutorial IN LISTS tutorials)
message(STATUS "Adding tutorial: ${tutorial}")
endforeach()
else()
list(LENGTH tutorials tutorials_length)
message(STATUS "Adding ${tutorials_length} tutorials")
endif()
else()
message(STATUS "Skipping tutorials (requires dart-gui target; enable DART_BUILD_GUI)")
endif()
else()
message(STATUS "Skipping tutorials (DART_BUILD_TUTORIALS == OFF)")
endif()
if(DART_BUILD_GUI_RAYLIB)
if(MSVC)
add_subdirectory(examples/raylib)
else()
add_subdirectory(examples/raylib EXCLUDE_FROM_ALL)
endif()
if(TARGET examples AND TARGET dart_raylib)
add_dependencies(examples dart_raylib)
endif()
else()
message(STATUS "Skipping Raylib example (DART_BUILD_GUI_RAYLIB == OFF)")
endif()
endif()
add_subdirectory(python)
# Add 'ALL' target that builds everything
set(all_target_candidates)
if(DART_BUILD_DARTPY)
list(APPEND all_target_candidates dartpy)
endif()
if(DART_BUILD_TESTS AND BUILD_TESTING)
list(APPEND all_target_candidates tests_and_run pytest)
endif()
foreach(target_candidate IN LISTS all_target_candidates)
if(TARGET ${target_candidate})
list(APPEND all_targets ${target_candidate})
endif()
endforeach()
foreach(target_candidate IN LISTS examples)
if(TARGET ${target_candidate})
list(APPEND all_targets ${target_candidate})
endif()
endforeach()
foreach(target_candidate IN LISTS tutorials)
if(TARGET ${target_candidate})
list(APPEND all_targets ${target_candidate})
endif()
endforeach()
if(TARGET dart_raylib)
list(APPEND all_targets dart_raylib)
endif()
add_custom_target(ALL DEPENDS ${all_targets})
#===============================================================================
# CMake configuration files for components and targets
#===============================================================================
# Generate and install CMake configuration files for each component <C>:
# - <C>Component.cmake, which defines:
# - dart_<C>_DEPENDENCIES: list of component dependencies
# - dart_<C>_LIBRARIES: list of library targets in this component
# - <C>Targets.cmake, which creates IMPORTED targets
install_component_exports(${PROJECT_NAME})
#===============================================================================
# Configure files
#===============================================================================
if(DART_VERBOSE)
message(STATUS "")
message(STATUS "[ Configured files ]")
endif()
# Generate and install a Config.cmake file. This file includes the
# <C>Component.cmake and <C>Targets.cmake created above. It also uses the
# following variables:
#
# - PACKAGE_INCLUDE_INSTALL_DIR
# - PACKAGE_INCLUDE_DIRS
get_property(PACKAGE_INCLUDE_DIRS GLOBAL
PROPERTY "${PROJECT_NAME_UPPERCASE}_INCLUDE_DIRS")
# Generate the DART CMake Config and version files
include(CMakePackageConfigHelpers)
set(DART_CONFIG_IN ${DART_SOURCE_DIR}/cmake/${PROJECT_NAME_UPPERCASE}Config.cmake.in)
set(DART_CONFIG_OUT ${DART_BINARY_DIR}/${PROJECT_NAME_UPPERCASE}Config.cmake)
set(DART_VERSION_OUT ${DART_BINARY_DIR}/cmake/${PROJECT_NAME_UPPERCASE}ConfigVersion.cmake)
if(DART_VERBOSE)
message(STATUS ${DART_CONFIG_OUT})
message(STATUS ${DART_VERSION_OUT})
endif()
configure_package_config_file(
${DART_CONFIG_IN}
${DART_CONFIG_OUT}
INSTALL_DESTINATION "${CONFIG_INSTALL_DIR}"
PATH_VARS INCLUDE_INSTALL_DIR
)
write_basic_config_version_file(
${DART_VERSION_OUT}
VERSION ${${PROJECT_NAME_UPPERCASE}_VERSION}
COMPATIBILITY SameMajorVersion
)
install(
FILES ${DART_CONFIG_OUT} ${DART_VERSION_OUT}
DESTINATION "${CONFIG_INSTALL_DIR}"
)
# Generate the DART pkg-config
set(PC_CONFIG_IN ${DART_SOURCE_DIR}/cmake/dart.pc.in)
set(PC_CONFIG_OUT ${DART_BINARY_DIR}/cmake/dart.pc)
set(DART_PKG_LINK_LIBS "")
get_property(_dart_pkg_link_libs GLOBAL PROPERTY DART_PKG_LINK_LIBS)
if(_dart_pkg_link_libs)
string(JOIN " " DART_PKG_LINK_LIBS ${_dart_pkg_link_libs})
if(DART_PKG_LINK_LIBS)
set(DART_PKG_LINK_LIBS " ${DART_PKG_LINK_LIBS}")
endif()
endif()
set(DART_PKG_EXTRA_CFLAGS "")
get_property(_dart_pkg_includes GLOBAL PROPERTY DART_PUBLIC_INCLUDE_DIRS)
get_property(_dart_pkg_system_includes GLOBAL PROPERTY DART_PUBLIC_SYSTEM_INCLUDE_DIRS)
set(_dart_pkg_all_includes ${_dart_pkg_includes} ${_dart_pkg_system_includes})
if(_dart_pkg_all_includes)
list(REMOVE_DUPLICATES _dart_pkg_all_includes)
foreach(_inc IN LISTS _dart_pkg_all_includes)
if(_inc)
string(APPEND DART_PKG_EXTRA_CFLAGS " -I${_inc}")
endif()
endforeach()
endif()
cmake_path(IS_ABSOLUTE CMAKE_INSTALL_LIBDIR ABSOLUTE_CMAKE_INSTALL_LIBDIR)
if(ABSOLUTE_CMAKE_INSTALL_LIBDIR)
# Absolute "CMAKE_INSTALL_*DIR" can be provided by user
# eg. to install libs and headers in different prefixes
# to split the package between propagated runtime dependency package
# and buildtime-only -dev package.
# In that case, the package can not be relocatable,
# and the installed files must not contain any "CMAKE_INSTALL_PREFIX"
# concatenated with a "CMAKE_INSTALL_*DIR". Use "CMAKE_INSTALL_FULL_*DIR".
set(PC_CONFIG_INSTALL_DIR ${CMAKE_INSTALL_FULL_LIBDIR}/pkgconfig)
set(PC_LIBDIR ${CMAKE_INSTALL_FULL_LIBDIR})
set(PC_INCLUDEDIR ${CMAKE_INSTALL_FULL_INCLUDEDIR})
else()
# When "CMAKE_INSTALL_*DIR" are relative, we should ensure the installed
# files contain relocatable references to install paths.
set(PC_CONFIG_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}/pkgconfig)
set(PC_LIBDIR "\${prefix}/${CMAKE_INSTALL_LIBDIR}")
set(PC_INCLUDEDIR "\${prefix}/${CMAKE_INSTALL_INCLUDEDIR}")
endif()
file(RELATIVE_PATH
RELATIVE_PATH_TO_INSTALL_PREFIX
"${PC_CONFIG_INSTALL_DIR}"
"${CMAKE_INSTALL_PREFIX}"
)
if(DART_VERBOSE)
message(STATUS ${PC_CONFIG_OUT})
endif()
configure_file(${PC_CONFIG_IN} ${PC_CONFIG_OUT} @ONLY)
install(FILES ${PC_CONFIG_OUT} DESTINATION ${PC_CONFIG_INSTALL_DIR})
# Install a Catkin 'package.xml' file. This is required by REP-136.
install(FILES package.xml DESTINATION
${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}
)
#===============================================================================
# Install sample data, examples, and tutorials
#===============================================================================
# Sample data
install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/data"
DESTINATION ${DART_ADDITIONAL_DOCUMENTATION_INSTALL_PATH}
)
# Examples source
if(NOT DART_EXAMPLES_INSTALL_PATH STREQUAL "")
install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/examples"
DESTINATION "${DART_EXAMPLES_INSTALL_PATH}"
)
endif()
# Tutorials source
install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/tutorials"
DESTINATION ${DART_ADDITIONAL_DOCUMENTATION_INSTALL_PATH}
)
#===============================================================================
# Code Formatting
#===============================================================================
if(DART_VERBOSE)
message(STATUS "")
message(STATUS "[ Code Formatting ]")
endif()
find_program(
CLANG_FORMAT_EXECUTABLE
NAMES clang-format-21 clang-format
)
get_property(formatting_files GLOBAL PROPERTY DART_FORMAT_FILES)
list(LENGTH formatting_files formatting_files_length)
if(CLANG_FORMAT_EXECUTABLE)
if(DART_VERBOSE)
message(STATUS "Looking for clang-format - found")
endif()
message(STATUS "Formatting on ${formatting_files_length} source files.")
if(formatting_files)
add_custom_target(
format
COMMAND ${CMAKE_COMMAND} -E echo "Formatting ${formatting_files_length} files... "
COMMAND ${CLANG_FORMAT_EXECUTABLE} -style=file -i ${formatting_files}
COMMAND ${CMAKE_COMMAND} -E echo "Done."
DEPENDS ${CLANG_FORMAT_EXECUTABLE}
WORKING_DIRECTORY ${DART_SOURCE_DIR}/dart
)
add_custom_target(
check-format
COMMAND ${CMAKE_COMMAND} -E echo "Checking ${formatting_files_length} files... "
COMMAND ${DART_SOURCE_DIR}/scripts/check_format.sh ${CLANG_FORMAT_EXECUTABLE} ${formatting_files}
COMMAND ${CMAKE_COMMAND} -E echo "Done."
DEPENDS ${CLANG_FORMAT_EXECUTABLE}
WORKING_DIRECTORY ${DART_SOURCE_DIR}/dart
)
else()
add_custom_target(
format
COMMAND ${CMAKE_COMMAND} -E echo "Warning: Not found any source files to format."
)
add_custom_target(
check-format
COMMAND ${CMAKE_COMMAND} -E echo "Warning: Not found any source files to check."
)
endif()
else()
if(DART_VERBOSE)
message(WARNING "Looking for clang-format - NOT found, please install clang-format to enable automatic code formatting")
endif()
endif()
#===============================================================================
# API Document using Doxygen
# References:
# http://mementocodex.wordpress.com/2013/01/19/how-to-generate-code-documentation-with-doxygen-and-cmake-a-slightly-improved-approach/
# http://www.cmake.org/pipermail/cmake/2007-February/012796.html
#===============================================================================
if(DOXYGEN_FOUND)
set(DOXYGEN_DOXYFILE_IN "${PROJECT_SOURCE_DIR}/docs/doxygen/Doxyfile.in" )
set(DOXYGEN_DOXYFILE "${PROJECT_BINARY_DIR}/docs/doxygen/Doxyfile" )
set(DOXYGEN_HTML_INDEX "${PROJECT_BINARY_DIR}/docs/doxygen/html/index.html")
set(DOXYGEN_OUTPUT_ROOT "${PROJECT_BINARY_DIR}/docs/doxygen/html" )
set(DOXYGEN_GENERATE_TAGFILE "${DOXYGEN_OUTPUT_ROOT}/${PROJECT_NAME}.tag" )
set(DOXYGEN_INCLUDE_PATH "${PROJECT_SOURCE_DIR}" )
set(DOXYGEN_INPUT_ROOT "${PROJECT_SOURCE_DIR}/dart" )
set(DOXYGEN_EXTRA_INPUTS "${PROJECT_SOURCE_DIR}/docs/doxygen/mainpage.dox" )
set(DOXYGEN_EXCLUDE "${PROJECT_SOURCE_DIR}/dart/external" )
set(DOXYGEN_STRIP_FROM_PATH "${CMAKE_CURRENT_SOURCE_DIR}" )
# Generate a Doxyfile. This uses the variables:
#
# - DOXYGEN_OUTPUT_ROOT
# - DOXYGEN_GENERATE_TAGFILE
# - DOXYGEN_EXTRA_INPUTS
# - DOXYGEN_INPUT_ROOT
# - DOXYGEN_EXCLUDE
# - DOXYGEN_STRIP_FROM_PATH
configure_file(${DOXYGEN_DOXYFILE_IN} ${DOXYGEN_DOXYFILE} @ONLY)
file(
COPY "${PROJECT_SOURCE_DIR}/docs/doxygen/DART logo.png"
DESTINATION ${DOXYGEN_OUTPUT_ROOT}
)
add_custom_command(