Merge pull request #172 from jcarpent/devel

Fix packaging of the project

CMakeLists.txt

@@ -57,6 +57,10 @@ include(cmake/hpp.cmake)
 include(cmake/apple.cmake)
 include(cmake/ide.cmake)
 
+SET(CMAKE_MODULE_PATH
+  ${CMAKE_SOURCE_DIR}/cmake-modules/
+  ${CMAKE_MODULE_PATH})
+
 # If needed, fix CMake policy for APPLE systems
 APPLY_DEFAULT_APPLE_CONFIGURATION()
 
@@ -68,8 +72,8 @@ PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
 ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED PKG_CONFIG_REQUIRES "eigen3 >= 3.0.0")
 
 if(BUILD_PYTHON_INTERFACE)
-  ADD_PROJECT_DEPENDENCY(eigenpy 2.2 REQUIRED)
-endif ()
+  FIND_PACKAGE(eigenpy 2.2 REQUIRED)
+endif()
 
 # Required dependencies
 set(BOOST_COMPONENTS thread date_time system)
@@ -81,10 +85,10 @@ endif ()
 
 search_for_boost()
 # Optional dependencies
-add_optional_dependency("octomap >= 1.6")
-if (OCTOMAP_FOUND)
+ADD_PROJECT_DEPENDENCY(octomap PKG_CONFIG_REQUIRES "octomap >= 1.6")
+if(octomap_FOUND)
   SET(HPP_FCL_HAVE_OCTOMAP TRUE)
-  string(REPLACE "." ";" VERSION_LIST ${OCTOMAP_VERSION})
+  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)
@@ -115,7 +119,7 @@ if(HPP_FCL_HAS_QHULL)
     )
 endif()
 
-ADD_REQUIRED_DEPENDENCY("assimp >= 2.0")
+FIND_PACKAGE(assimp REQUIRED)
 
 SET(${PROJECT_NAME}_HEADERS
   include/hpp/fcl/collision_data.h

cmake-modules/Findassimp.cmake

@@ -0,0 +1,25 @@
+#
+#   Copyright 2020 CNRS INRIA
+#
+#   Author: Guilhem Saurel
+#
+
+# Try to find assimp in standard prefixes and in ${assimp_PREFIX}
+# Once done this will define
+#  assimp_FOUND - System has assimp
+#  assimp_INCLUDE_DIR - The assimp include directories
+#  assimp_LIBRARY - The libraries needed to use assimp
+
+FIND_PATH(assimp_INCLUDE_DIR
+  NAMES assimp/defs.h
+  PATHS ${assimp_PREFIX} ${assimp_PREFIX}/include
+  )
+
+FIND_LIBRARY(assimp_LIBRARY
+  NAMES assimp
+  PATHS ${assimp_PREFIX} ${assimp_PREFIX}/lib
+  )
+
+INCLUDE(FindPackageHandleStandardArgs)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(assimp DEFAULT_MSG assimp_LIBRARY assimp_INCLUDE_DIR)
+mark_as_advanced(assimp_INCLUDE_DIR assimp_LIBRARY)

src/CMakeLists.txt

@@ -158,9 +158,18 @@ ADD_HEADER_GROUP(PROJECT_HEADERS_FULL_PATH)
 
 TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
   PUBLIC
-  Boost::thread
-  Boost::date_time
-  Boost::system
+  ${Boost_THREAD_LIBRARY}
+  ${Boost_DATE_TIME_LIBRARY}
+  ${Boost_SYSTEM_LIBRARY}
+#  Boost::thread
+#  Boost::date_time
+#  Boost::system
+  )
+
+TARGET_LINK_LIBRARIES(${LIBRARY_NAME}
+  PRIVATE
+  ${assimp_LIBRARY}
+  # assimp::assimp # Not working
   )
 
 if(HPP_FCL_HAS_QHULL)
@@ -173,28 +182,27 @@ endif()
 target_include_directories(${LIBRARY_NAME}
   SYSTEM PUBLIC
   ${EIGEN3_INCLUDE_DIR}
+  ${Boost_INCLUDE_DIRS}
+  )
+target_include_directories(${LIBRARY_NAME}
+  SYSTEM PRIVATE
+  ${assimp_INCLUDE_DIR}
   )
 
 target_include_directories(${LIBRARY_NAME}
   PUBLIC
   $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
   )
 
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} assimp)
-if (NOT ${ASSIMP_VERSION} VERSION_LESS "2.0.1150")
-  target_compile_definitions(${LIBRARY_NAME} PRIVATE -DHPP_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES)
-  message(STATUS "Assimp version has unified headers")
-else()
-  message(STATUS "Assimp version does not have unified headers")
-endif()
-IF(OCTOMAP_FOUND)
-  PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} octomap)
+IF(octomap_FOUND)
+  target_include_directories(${LIBRARY_NAME} SYSTEM PUBLIC ${OCTOMAP_INCLUDE_DIRS})
+  target_link_libraries(${LIBRARY_NAME} PUBLIC ${OCTOMAP_LIBRARIES})
   target_compile_definitions (${LIBRARY_NAME} PUBLIC
     -DHPP_FCL_HAVE_OCTOMAP
     -DOCTOMAP_MAJOR_VERSION=${OCTOMAP_MAJOR_VERSION}
     -DOCTOMAP_MINOR_VERSION=${OCTOMAP_MINOR_VERSION}
     -DOCTOMAP_PATCH_VERSION=${OCTOMAP_PATCH_VERSION})
-ENDIF(OCTOMAP_FOUND)
+ENDIF(octomap_FOUND)
 
 install(TARGETS ${LIBRARY_NAME}
   EXPORT ${TARGETS_EXPORT_NAME}

src/mesh_loader/assimp.cpp

@@ -45,21 +45,12 @@
   #define AI_NO_EXCEPT
 #endif
 
-#ifdef HPP_FCL_USE_ASSIMP_UNIFIED_HEADER_NAMES
-  #include <assimp/DefaultLogger.hpp>
-  #include <assimp/IOStream.hpp>
-  #include <assimp/IOSystem.hpp>
-  #include <assimp/Importer.hpp>
-  #include <assimp/postprocess.h>
-  #include <assimp/scene.h>
-#else
-  #include <assimp/DefaultLogger.h>
-  #include <assimp/assimp.hpp>
-  #include <assimp/IOStream.h>
-  #include <assimp/IOSystem.h>
-  #include <assimp/aiPostProcess.h>
-  #include <assimp/aiScene.h>
-#endif
+#include <assimp/DefaultLogger.hpp>
+#include <assimp/IOStream.hpp>
+#include <assimp/IOSystem.hpp>
+#include <assimp/Importer.hpp>
+#include <assimp/postprocess.h>
+#include <assimp/scene.h>
 
 namespace hpp
 {

test/CMakeLists.txt

@@ -9,7 +9,6 @@ macro(add_fcl_test test_name source)
     Boost::unit_test_framework
     utility
     )
-  PKG_CONFIG_USE_DEPENDENCY(${test_name} assimp)
   target_compile_options(${test_name} PRIVATE "-Wno-c99-extensions")
   if(HPP_FCL_HAS_QHULL)
     target_compile_options(${test_name} PRIVATE -DHPP_FCL_HAS_QHULL)
@@ -49,7 +48,6 @@ add_fcl_test(convex convex.cpp)
 add_fcl_test(bvh_models bvh_models.cpp)
 
 add_fcl_test(profiling profiling.cpp)
-PKG_CONFIG_USE_DEPENDENCY(profiling assimp)
 
 add_fcl_test(gjk gjk.cpp)
 if(HPP_FCL_HAVE_OCTOMAP)