cmake_minimum_required(VERSION 3.9) project(iMSTK VERSION 5.0.0 LANGUAGES C CXX) if(UNIX AND NOT APPLE) set(LINUX TRUE) endif() #----------------------------------------------------------------------------- # Set a default build type if none was specified #----------------------------------------------------------------------------- if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES) message(STATUS "Setting build type to 'Release' as none was specified.") set(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build." FORCE) endif() set(CMAKE_DEBUG_POSTFIX "d") set_property(GLOBAL PROPERTY USE_FOLDERS ON) if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT) set(CMAKE_INSTALL_PREFIX ${CMAKE_BINARY_DIR}/install CACHE PATH "Install location" FORCE) endif() set(CMAKE_PREFIX_PATH ${CMAKE_INSTALL_PREFIX}) #----------------------------------------------------------------------------- # Project install directories #----------------------------------------------------------------------------- if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT) set(CMAKE_INSTALL_PREFIX ${CMAKE_BINARY_DIR}/install CACHE PATH "Install location" FORCE) endif() set(CMAKE_PREFIX_PATH ${CMAKE_INSTALL_PREFIX}) # Let's go ahead and make these directories file(MAKE_DIRECTORY ${CMAKE_INSTALL_PREFIX}/bin) file(MAKE_DIRECTORY ${CMAKE_INSTALL_PREFIX}/include) file(MAKE_DIRECTORY ${CMAKE_INSTALL_PREFIX}/lib) #----------------------------------------------------------------------------- # Update CMake module path & cmake dir #----------------------------------------------------------------------------- set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/CMake ${CMAKE_CURRENT_SOURCE_DIR}/CMake/Utilities ${CMAKE_INSTALL_PREFIX} ${CMAKE_INSTALL_PREFIX}/lib/cmake # Vega and VTK ) set(${PROJECT_NAME}_CMAKE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/CMake) #----------------------------------------------------------------------------- # C++11 Support #----------------------------------------------------------------------------- set(CMAKE_CXX_STANDARD 11) set(CMAKE_CXX_STANDARD_REQUIRED ON) set(THREADS_PREFER_PTHREAD_FLAG ON) # Prevents a compiler error for Visual Studio 15.8 if(MSVC) add_definitions(-D_CRT_SECURE_NO_WARNINGS) add_definitions(-D_SCL_SECURE_NO_WARNINGS) if(${MSVC_VERSION} GREATER_EQUAL 1915) add_definitions(-D_DISABLE_EXTENDED_ALIGNED_STORAGE) endif() endif() #----------------------------------------------------------------------------- # Options #----------------------------------------------------------------------------- # SWIG option(${PROJECT_NAME}_WRAP_CSHARP "Build iMSTK-C# wrapper code and lib" OFF) # SWIG will generate managed array using pinning if this option is ON. Otherwise using P/Invoke default array marshalling. option(${PROJECT_NAME}_SWIG_PINNED_ARRAY "Managed C# arrays using pinning" ON) mark_as_advanced(${PROJECT_NAME}_SWIG_PINNED_ARRAY) if (${PROJECT_NAME}_WRAP_CSHARP) find_package(SWIG REQUIRED) set(CMAKE_POSITION_INDEPENDENT_CODE ON) include_directories(${CMAKE_CURRENT_SOURCE_DIR}) set(CMAKE_SWIG_FLAGS "") endif() # CUDA option(${PROJECT_NAME}_ENABLE_CUDA_BACKEND "Enable iMSTK CUDA backend" OFF) if (${PROJECT_NAME}_ENABLE_CUDA_BACKEND) include(CheckLanguage) check_language(CUDA) if (CMAKE_CUDA_COMPILER) enable_language(CUDA) set(CMAKE_CUDA_SEPARABLE_COMPILATION ON) set(CUDA_PROPAGATE_HOST_FLAGS ON) if(NOT DEFINED CMAKE_CUDA_STANDARD) set(CMAKE_CUDA_STANDARD 11) set(CMAKE_CUDA_STANDARD_REQUIRED ON) endif() else() message(STATUS "WARNING: CUDA compiler NOT FOUND; CUDA backend not enabled!") set(${PROJECT_NAME}_ENABLE_CUDA_BACKEND OFF) endif() endif () # General Options option(${PROJECT_NAME}_BUILD_EXAMPLES "Build iMSTK examples" ON) option(${PROJECT_NAME}_BUILD_TESTING "Build iMSTK tests" ON) set(BUILD_TESTING OFF) if (${PROJECT_NAME}_BUILD_TESTING) set(BUILD_TESTING ON) endif () if (UNIX) option(${PROJECT_NAME}_USE_MODEL_REDUCTION "Build with model reduction, requires a VegaFEM built with Intel MKL and arpack" OFF) option(${PROJECT_NAME}_COLOR_OUTPUT "For coloring output in gcc" OFF) option(${PROJECT_NAME}_COVERAGE "Build for calculating coverage" OFF) option(${PROJECT_NAME}_USE_VTK_OSMESA "Build with VTK OSMesa rendering" OFF) if (${PROJECT_NAME}_COVERAGE AND NOT ${CMAKE_BUILD_TYPE} MATCHES [Dd][Ee][Bb][Uu][Gg]) message(WARNING "Coverage requires a debug build forcing debug") set(CMAKE_BUILD_TYPE "DEBUG") endif() endif() option(${PROJECT_NAME}_USE_VRPN "Build with VRPN support" OFF) option(${PROJECT_NAME}_USE_PHYSX "Build with Physx support" OFF) #----------------------------------------------------------------------------- # CTest/Dashboards #----------------------------------------------------------------------------- if (${PROJECT_NAME}_BUILD_TESTING) include(CTest) set_property(CACHE BUILD_TESTING PROPERTY TYPE INTERNAL) endif () #----------------------------------------------------------------------------- # SUPERBUILD #----------------------------------------------------------------------------- include(CMakePackageConfigHelpers) option(${PROJECT_NAME}_SUPERBUILD "Build ${PROJECT_NAME} and the projects it depends on." ON) if(${PROJECT_NAME}_SUPERBUILD) # Select the release version of PhysX to use set(${PROJECT_NAME}_PHYSX_CONFIGURATION "RELEASE" CACHE STRING "Select PhysX Library Type for Release and RelWithDebInfo builds") set(PHYSX_RELEASE_TYPES "RELEASE;CHECKED;PROFILE" CACHE INTERNAL "List of available PhysX release library types") set_property(CACHE ${PROJECT_NAME}_PHYSX_CONFIGURATION PROPERTY STRINGS ${PHYSX_RELEASE_TYPES}) #----------------------------------------------------------------------------- # Define External dependencies #----------------------------------------------------------------------------- macro(imstk_define_dependency extProj) list(APPEND ${PROJECT_NAME}_DEPENDENCIES ${extProj}) option(USE_SYSTEM_${extProj} "Exclude ${extProj} from superbuild and use an existing build." OFF) mark_as_advanced(USE_SYSTEM_${extProj}) endmacro() option(${PROJECT_NAME}_USE_Uncrustify "Use Uncrustify as a code style beautifier." ON) if(${PROJECT_NAME}_USE_Uncrustify) find_package (Python COMPONENTS Interpreter) if(Python_Interpreter_FOUND) imstk_define_dependency(Uncrustify) else() message(WARN "Uncrustify requires a python interpreter, please install python and rerun configure") endif() endif() option(${PROJECT_NAME}_USE_OpenHaptics "Use OpenHaptic Support." OFF) imstk_define_dependency(Assimp) imstk_define_dependency(Eigen3) imstk_define_dependency(g3log) imstk_define_dependency(LibNiFalcon) imstk_define_dependency(openvr) if (${PROJECT_NAME}_USE_PHYSX) imstk_define_dependency(PhysX) endif() imstk_define_dependency(tbb) imstk_define_dependency(VegaFEM) imstk_define_dependency(VTK) if(${PROJECT_NAME}_USE_OpenHaptics) imstk_define_dependency(OpenHaptics) endif() if (${PROJECT_NAME}_USE_VRPN) imstk_define_dependency(VRPN) endif() if(WIN32) imstk_define_dependency(PThreads) imstk_define_dependency(Libusb) #for VRPN imstk_define_dependency(FTD2XX) #for LibNiFalcon imstk_define_dependency(SFML) set(${PROJECT_NAME}_AUDIO_ENABLED "Windows OS detected: Building iMSTK with AUDIO support." ON) else() message("Warning: Building iMSTK WITHOUT audio support!") set(${PROJECT_NAME}_AUDIO_ENABLED OFF) endif() if(${PROJECT_NAME}_BUILD_TESTING) imstk_define_dependency(GTest) #----------------------------------------------------------------------------- # Allow CTest to cover Innerbuild #----------------------------------------------------------------------------- configure_file( "${CMAKE_CURRENT_LIST_DIR}/CMake/Utilities/imstkCTestAddInnerbuild.cmake.in" "${CMAKE_CURRENT_BINARY_DIR}/imstkCTestAddInnerbuild.cmake" @ONLY ) set_directory_properties(PROPERTIES TEST_INCLUDE_FILE "${CMAKE_CURRENT_BINARY_DIR}/imstkCTestAddInnerbuild.cmake" ) endif() if (${PROJECT_NAME}_BUILD_TESTING OR ${PROJECT_NAME}_BUILD_EXAMPLES) imstk_define_dependency(iMSTKData) endif() #----------------------------------------------------------------------------- # Solve project dependencies #----------------------------------------------------------------------------- # Call CMakeLists.txt in CMake/External which will solve the dependencies # and add the External projects, including this one: this top-level # CMakeLists.txt will be called back with SUPERBUILD=OFF, to execute # the rest of the code below (INNERBUILD), which explains the `return` add_subdirectory(CMake/External) return() endif() #----------------------------------------------------------------------------- # INNERBUILD #----------------------------------------------------------------------------- #----------------------------------------------------------------------------- # Find external dependencies #----------------------------------------------------------------------------- include(imstkFind) # Set where to look for packages (If not using system) set(PACKAGE_PREFIX_DIR ${CMAKE_INSTALL_PREFIX}) # Assimp find_package( Assimp REQUIRED ) # Eigen find_package( Eigen3 3.1.2 REQUIRED ) if(WIN32) # FTD2XX find_package( FTD2XX REQUIRED ) endif() # g3log find_package( g3log REQUIRED ) # LibNiFalcon find_package( LibNiFalcon REQUIRED) # Libusb find_package( Libusb REQUIRED) # OpenVR find_package( openvr REQUIRED ) # Select the release version of PhysX to use if (${PROJECT_NAME}_USE_PHYSX) add_compile_definitions(IMSTK_USE_PHYSX) set(PHYSX_CONFIGURATION "${PHYSX_CONFIGURATION}" CACHE STRING "Select PhysX Library Type for Release and RelWithDebInfo builds") set(PHYSX_RELEASE_TYPES "RELEASE;CHECKED;PROFILE" CACHE INTERNAL "List of available PhysX release library types") set_property(CACHE PHYSX_CONFIGURATION PROPERTY STRINGS ${PHYSX_RELEASE_TYPES}) find_package(PhysX REQUIRED) endif() # SFML if(APPLE OR LINUX) remove_definitions( -DiMSTK_AUDIO_ENABLED ) else() find_package( SFML REQUIRED ) add_definitions( -DiMSTK_AUDIO_ENABLED ) endif() # TBB find_package(tbb REQUIRED) # Define __TBB_NO_IMPLICIT_LINKAGE so that MSVC will not always look for tbb_debug in debug mode add_definitions(-D__TBB_NO_IMPLICIT_LINKAGE) # VegaFEM find_package( VegaFEM REQUIRED CONFIG ) # VRPN if (${PROJECT_NAME}_USE_VRPN) find_package( VRPN REQUIRED ) endif() # OpenHaptics if(${PROJECT_NAME}_USE_OpenHaptics) find_package( OpenHapticsSDK REQUIRED ) add_definitions( -DiMSTK_USE_OPENHAPTICS ) else() remove_definitions( -DiMSTK_USE_OPENHAPTICS ) endif() # VTK find_package(VTK CONFIG) # modules are linked via `VTK::CommonCore` # vtk_module_autoinit is needed list(APPEND VTK_DEPENDENCIES ChartsCore CommonCore CommonDataModel FiltersCore FiltersExtraction FiltersGeneral FiltersModeling FiltersSources IOExport IOImport IOPLY IOParallel IOParallelXML ImagingCore ImagingGeneral ImagingStencil InteractionStyle RenderingAnnotation RenderingContext2D RenderingContextOpenGL2 RenderingCore RenderingExternal RenderingOpenGL2 RenderingOpenVR RenderingVolume RenderingVolumeOpenGL2 ViewsContext2D) find_package(VTK COMPONENTS ${VTK_DEPENDENCIES}) if(${PROJECT_NAME}_USE_VTK_OSMESA) add_definitions(-DiMSTK_USE_VTK_OSMESA) endif() #-------------------------------------------------------------------------- # External Utility Packages #-------------------------------------------------------------------------- include(imstkAddExecutable) # Uncrustify find_program(Uncrustify_EXECUTABLE uncrustify) # include(SetupUncrustifyConfig) if(Uncrustify_EXECUTABLE) include(imstkAddUncrustifyCustomTarget) else(Uncrustify_EXECUTABLE) message(WARNING "uncrustify not found! Cannot run code-style test.") endif(Uncrustify_EXECUTABLE) #----------------------------------------------------------------------------- # Data #---------------------------------------------------------------------- if (${PROJECT_NAME}_BUILD_TESTING OR ${PROJECT_NAME}_BUILD_EXAMPLES) add_definitions( -DiMSTK_DATA_ROOT=\"${CMAKE_INSTALL_PREFIX}/data/\") # Note if the target name or data name changes this has to be changed as well add_custom_target(CopyDataFiles ALL COMMAND ${CMAKE_COMMAND} -E copy_directory ${CMAKE_BINARY_DIR}/../External/iMSTKData/src/Data ${CMAKE_INSTALL_PREFIX}/data ) endif() #----------------------------------------------------------------------------- # Testing #---------------------------------------------------------------------- if(${PROJECT_NAME}_BUILD_TESTING) find_package( GTest REQUIRED NO_DEFAULT_PATH) endif() #----------------------------------------------------------------------------- # Code Coverage #---------------------------------------------------------------------- if(${PROJECT_NAME}_COVERAGE) # Note HS Had to add ALL in setup_target_for_coverage to force the code coverage pass set(CODE_COVERAGE_VERBOSE ON) include(CodeCoverage) append_coverage_compiler_flags() setup_target_for_coverage_lcov( NAME Coverage EXECUTABLE ctest -E "(CodeFormatTest|RenderTest.*)" EXCLUDE "${CMAKE_BINARY_DIR}/../install/include/*" "/usr/*" "*/Testing/*" ) endif() # Folder name to put our headers/cmake config files under set(${PROJECT_NAME}_INSTALL_FOLDER ${PROJECT_NAME}-${${PROJECT_NAME}_VERSION_MAJOR}.${${PROJECT_NAME}_VERSION_MINOR}) #-------------------------------------------------------------------------- # Add Source code subdirectories #-------------------------------------------------------------------------- add_subdirectory(Source/Common) add_subdirectory(Source/Geometry) add_subdirectory(Source/MeshIO) add_subdirectory(Source/GeometryMappers) add_subdirectory(Source/DataStructures) add_subdirectory(Source/Constraint) add_subdirectory(Source/Devices) add_subdirectory(Source/Rendering/Materials) add_subdirectory(Source/Rendering) add_subdirectory(Source/Solvers) add_subdirectory(Source/DynamicalModels) add_subdirectory(Source/SceneEntities) add_subdirectory(Source/Animation) add_subdirectory(Source/Controllers) add_subdirectory(Source/CollisionDetection) add_subdirectory(Source/CollisionHandling) add_subdirectory(Source/Scene) add_subdirectory(Source/SimulationManager) add_subdirectory(Source/Testing) add_subdirectory(Source/Filtering) add_subdirectory(Source/FilteringCore) if (${PROJECT_NAME}_WRAP_CSHARP) add_subdirectory(Source/Wrappers) endif() #-------------------------------------------------------------------------- # Add Examples subdirectories #-------------------------------------------------------------------------- if(${PROJECT_NAME}_BUILD_EXAMPLES) add_subdirectory(Examples) endif() #-------------------------------------------------------------------------- # Add setup script for *nix systems #-------------------------------------------------------------------------- if(NOT WIN32) # Create setup shell script to create an environment for running examples set(LIBRARY_PATH_VAR "LD_LIBRARY_PATH") if( APPLE ) set(LIBRARY_PATH_VAR "DYLD_FALLBACK_LIBRARY_PATH") endif() configure_file( ${CMAKE_SOURCE_DIR}/CMake/setup_iMSTK.sh.in ${CMAKE_INSTALL_PREFIX}/setup_iMSTK.sh @ONLY) endif() #-------------------------------------------------------------------------- # Install Find Modules #-------------------------------------------------------------------------- set(${PROJECT_NAME}_INSTALL_CONFIG_DIR "lib/cmake/${${PROJECT_NAME}_INSTALL_FOLDER}") file(MAKE_DIRECTORY ${CMAKE_INSTALL_PREFIX}/${${PROJECT_NAME}_INSTALL_CONFIG_DIR}/modules) file(GLOB modules ${CMAKE_SOURCE_DIR}/CMake/Find*.cmake) foreach(module ${modules}) install(FILES ${module} DESTINATION "${${PROJECT_NAME}_INSTALL_CONFIG_DIR}/modules") endforeach() install(FILES ${CMAKE_SOURCE_DIR}/CMake/Utilities/imstkFind.cmake DESTINATION "${${PROJECT_NAME}_INSTALL_CONFIG_DIR}/modules") #-------------------------------------------------------------------------- # Innerbuild dummy test #-------------------------------------------------------------------------- add_test( NAME imstkDummyTest COMMAND ${CMAKE_COMMAND} -E echo "Success" ) #-------------------------------------------------------------------------- # Export Targets #-------------------------------------------------------------------------- # This variable controls the prefix used to generate the following files: # ${PROJECT_NAME}ConfigVersion.cmake # ${PROJECT_NAME}Config.cmake # ${PROJECT_NAME}Targets.cmake # and it also used to initialize ${PROJECT_NAME}_INSTALL_CONFIG_DIR value. set(export_config_name ${PROJECT_NAME}) string(TOLOWER "${PROJECT_NAME}" PROJECT_NAMESPACE) set(PROJECT_NAMESPACE "${PROJECT_NAMESPACE}::") #------------------------------------------------------------------------------ # Configure ${PROJECT_NAME}ConfigVersion.cmake common to build and install tree include(CMakePackageConfigHelpers) set(config_version_file ${PROJECT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake) write_basic_package_version_file( ${config_version_file} VERSION "${${PROJECT_NAME}_VERSION}" COMPATIBILITY AnyNewerVersion ) #------------------------------------------------------------------------------ # Export '${PROJECT_NAME}Targets.cmake' for a build tree export( EXPORT ${PROJECT_NAME}Targets FILE ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Targets.cmake NAMESPACE ${PROJECT_NAMESPACE} ) # Configure '${PROJECT_NAME}Config.cmake' for a build tree set(build_config ${CMAKE_BINARY_DIR}/${PROJECT_NAME}Config.cmake) configure_package_config_file( CMake/${PROJECT_NAME}Config.cmake.in ${build_config} INSTALL_DESTINATION "${PROJECT_BINARY_DIR}" ) #------------------------------------------------------------------------------ # Export '${PROJECT_NAME}Targets.cmake' for an install tree install( EXPORT ${PROJECT_NAME}Targets FILE ${PROJECT_NAME}Targets.cmake NAMESPACE ${PROJECT_NAMESPACE} DESTINATION ${${PROJECT_NAME}_INSTALL_CONFIG_DIR} ) set(install_config ${PROJECT_BINARY_DIR}/CMakeFiles/${PROJECT_NAME}Config.cmake) configure_package_config_file( CMake/${PROJECT_NAME}Config.cmake.in ${install_config} INSTALL_DESTINATION ${${PROJECT_NAME}_INSTALL_CONFIG_DIR} ) # Install config files install( FILES ${config_version_file} ${install_config} DESTINATION "${${PROJECT_NAME}_INSTALL_CONFIG_DIR}" )