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Signed-off-by: Louise Poubel <louise@openrobotics.org>
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,74 @@ | ||
| # This component expresses custom features of the bullet plugin, which can | ||
| # expose native bullet data types. | ||
| ign_add_component(bullet INTERFACE | ||
| DEPENDS_ON_COMPONENTS sdf mesh | ||
| GET_TARGET_NAME features) | ||
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| link_directories(${BULLET_LIBRARY_DIRS}) | ||
| target_link_libraries(${features} INTERFACE IgnBullet::IgnBullet) | ||
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| ign_get_libsources_and_unittests(sources test_sources) | ||
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| # TODO(MXG): Think about an ign_add_plugin(~) macro for ign-cmake | ||
| set(engine_name bullet-plugin) | ||
| ign_add_component(${engine_name} | ||
| SOURCES ${sources} | ||
| DEPENDS_ON_COMPONENTS bullet | ||
| GET_TARGET_NAME bullet_plugin) | ||
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| target_link_libraries(${bullet_plugin} | ||
| PUBLIC | ||
| ${features} | ||
| ${PROJECT_LIBRARY_TARGET_NAME}-sdf | ||
| ${PROJECT_LIBRARY_TARGET_NAME}-mesh | ||
| ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER} | ||
| ignition-math${IGN_MATH_VER}::eigen3) | ||
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| # Note that plugins are currently being installed in 2 places: /lib and the engine-plugins dir | ||
| install(TARGETS ${bullet_plugin} DESTINATION ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR}) | ||
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| # The library created by `ign_add_component` includes the ign-physics version | ||
| # (i.e. libignition-physics1-name-plugin.so), but for portability, | ||
| # we also install an unversioned symlink into the same versioned folder. | ||
| set(versioned ${CMAKE_SHARED_LIBRARY_PREFIX}${bullet_plugin}${CMAKE_SHARED_LIBRARY_SUFFIX}) | ||
| set(unversioned ${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_NAME_NO_VERSION_LOWER}-${engine_name}${CMAKE_SHARED_LIBRARY_SUFFIX}) | ||
| if (WIN32) | ||
| # disable MSVC inherit via dominance warning | ||
| target_compile_options(${dartsim_plugin} PUBLIC "/wd4250") | ||
| INSTALL(CODE "EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E copy | ||
| ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR}\/${versioned} | ||
| ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR}\/${unversioned})") | ||
| else() | ||
| EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${versioned} ${unversioned}) | ||
| INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR}) | ||
| endif() | ||
| EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${versioned} ${unversioned}) | ||
| INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${IGNITION_PHYSICS_ENGINE_INSTALL_DIR}) | ||
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| # Testing | ||
| ign_build_tests( | ||
| TYPE UNIT_bullet | ||
| SOURCES ${test_sources} | ||
| LIB_DEPS | ||
| ${features} | ||
| ignition-plugin${IGN_PLUGIN_VER}::loader | ||
| ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER} | ||
| ${PROJECT_LIBRARY_TARGET_NAME}-sdf | ||
| ${PROJECT_LIBRARY_TARGET_NAME}-mesh | ||
| TEST_LIST tests) | ||
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| foreach(test ${tests}) | ||
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| target_compile_definitions(${test} PRIVATE | ||
| "bullet_plugin_LIB=\"$<TARGET_FILE:${bullet_plugin}>\"" | ||
| "TEST_WORLD_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/worlds/\"" | ||
| "IGNITION_PHYSICS_RESOURCE_DIR=\"${IGNITION_PHYSICS_RESOURCE_DIR}\"") | ||
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| endforeach() | ||
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| if(TARGET UNIT_FindFeatures_TEST) | ||
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| target_compile_definitions(UNIT_FindFeatures_TEST PRIVATE | ||
| "bullet_plugin_LIB=\"$<TARGET_FILE:${bullet_plugin}>\"") | ||
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| endif() |
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