CMakeLists.txt

#
# Copyright 2012-2019 CNRS-UM LIRMM, CNRS-AIST JRL
#

cmake_minimum_required(VERSION 3.1.3)

set(PROJECT_NAME Tasks)
set(PROJECT_DESCRIPTION "...")
set(PROJECT_URL "https://github.com/jrl-umi3218/Tasks")
set(PROJECT_DEBUG_POSTFIX "_d")
set(PROJECT_VERSION 1.8.1)
set(PROJECT_USE_CMAKE_EXPORT TRUE)

# Disable -Werror on Unix for now.
set(CXX_DISABLE_WERROR True)
set(DOXYGEN_USE_MATHJAX "YES")

include(cmake/base.cmake)
include(cmake/cython/cython.cmake)
include(cmake/msvc-specific.cmake)

project(Tasks CXX)

if(UNIX
   AND NOT EMSCRIPTEN
   AND NOT (APPLE AND CMAKE_SYSTEM_PROCESSOR MATCHES "arm")
)
  include(CheckCXXSourceCompiles)
  check_cxx_compiler_flag("-msse2" SSE2_SUPPORTED)
  if(SSE2_SUPPORTED)
    add_definitions(-mfpmath=sse -msse2)
  endif()
endif()

if(NOT WIN32)
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -pedantic")
endif()

add_project_dependency(RBDyn REQUIRED NO_MODULE)
add_project_dependency(sch-core REQUIRED NO_MODULE)
add_project_dependency(eigen-qld REQUIRED NO_MODULE)
find_package(eigen-lssol QUIET NO_MODULE)
if(${eigen-lssol_FOUND})
  add_project_dependency(eigen-lssol REQUIRED NO_MODULE)
endif()

# For MSVC, set local environment variable to enable finding the built dll of the main
# library when launching ctest with RUN_TESTS
if(MSVC)
  set(CMAKE_MSVCIDE_RUN_PATH "\$(SolutionDir)/src/\$(Configuration)")
endif(MSVC)

add_subdirectory(src)

if(${BUILD_TESTING})
  add_subdirectory(tests)
endif()

if(${PYTHON_BINDING})
  add_subdirectory(binding/python)
endif()