Merge pull request #217 from dartsim/windows_support

Fix supporting Visual Studio with DART-Prerequisites installation package

CMakeLists.txt

@@ -18,8 +18,11 @@ message(STATUS "CMAKE_BINARY_DIR = ${CMAKE_BINARY_DIR}")
 
 option(ENABLE_OPENMP "Build with OpenMP parallaization enabled" ON)
 option(BUILD_CORE_ONLY "Build only the core of DART" OFF)
-if(NOT MSVC)
-    OPTION(BUILD_SHARED_LIBS "Build shared libraries" ON)
+if(MSVC)
+  set(RUNTIME_LIBRARY "/MD" CACHE STRING "BaseName chosen by the user at CMake configure time")
+  set_property(CACHE RUNTIME_LIBRARY PROPERTY STRINGS /MD /MT)
+elseif()
+  option(BUILD_SHARED_LIBS "Build shared libraries" ON)
 endif()
 
 ###############
@@ -42,8 +45,8 @@ endif()
 
 if(MSVC)
   message(STATUS "Setup Visual Studio Specific Flags")
-  set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} /MDd /Zi /Gy /W1 /EHsc")
-  set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} /MD /Zi /GL /Gy /W1 /EHsc /arch:SSE2")
+  set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} ${RUNTIME_LIBRARY}d /Zi /Gy /W1 /EHsc")
+  set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${RUNTIME_LIBRARY} /Zi /GL /Gy /W1 /EHsc /arch:SSE2")
   set(CMAKE_EXE_LINKER_FLAGS_RELEASE "/LTCG")
 elseif(CMAKE_COMPILER_IS_GNUCXX)
   set(CMAKE_CXX_FLAGS "-Wall -msse2 -fPIC")

cmake/FindFCL.cmake

@@ -15,7 +15,7 @@ find_path(FCL_INCLUDE_DIR fcl/collision.h
 set(FCL_INCLUDE_DIRS ${FCL_INCLUDE_DIR})
 
 if(MSVC)
-    set(FCL_LIBRARIES optimized fcl ccd debug fcld ccdd)
+    set(FCL_LIBRARIES optimized fcl optimized ccd debug fcld debug ccdd)
 else()
     find_library(FCL_LIBRARY fcl)
     find_library(CCD_LIBRARY ccd)