CMakeLists.txt source
# # This file is part of Magnum. # # Original authors — credit is appreciated but not required: # # 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018, 2019, # 2020, 2021, 2022, 2023, 2024 — Vladimír Vondruš <mosra@centrum.cz> # 2019 — Konstantinos Chatzilygeroudis <costashatz@gmail.com> # # This is free and unencumbered software released into the public domain. # # Anyone is free to copy, modify, publish, use, compile, sell, or distribute # this software, either in source code form or as a compiled binary, for any # purpose, commercial or non-commercial, and by any means. # # In jurisdictions that recognize copyright laws, the author or authors of # this software dedicate any and all copyright interest in the software to # the public domain. We make this dedication for the benefit of the public # at large and to the detriment of our heirs and successors. We intend this # dedication to be an overt act of relinquishment in perpetuity of all # present and future rights to this software under copyright law. # # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL # THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER # IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN # CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. # cmake_minimum_required(VERSION 3.5) project(MagnumDartExample CXX) # Add module path in case this is project root if(PROJECT_SOURCE_DIR STREQUAL CMAKE_SOURCE_DIR) set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/../../modules/") endif() set(DART_EXAMPLE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/urdf) set(DART_EXAMPLE_INSTALL_DIR ${MAGNUM_DATA_INSTALL_DIR}/examples/dart) # We need the URDF loader of DART for this example find_package(DART 6.0.0 CONFIG REQUIRED OPTIONAL_COMPONENTS io-urdf utils-urdf) if(NOT (DART_utils-urdf_FOUND OR DART_io-urdf_FOUND) OR (DART_VERSION STRLESS 6.0.0)) message(FATAL_ERROR "DART version >= 6 and DART urdf library are required for this example!") endif() configure_file(${CMAKE_CURRENT_SOURCE_DIR}/configure.h.cmake ${CMAKE_CURRENT_BINARY_DIR}/configure.h) find_package(Corrade REQUIRED Main) find_package(Magnum REQUIRED GL MeshTools Primitives SceneGraph Sdl2Application Shaders Trade) find_package(MagnumIntegration REQUIRED Dart) set_directory_properties(PROPERTIES CORRADE_USE_PEDANTIC_FLAGS ON) add_executable(magnum-dart WIN32 DartExample.cpp) target_include_directories(magnum-dart PRIVATE ${CMAKE_CURRENT_BINARY_DIR}) target_link_libraries(magnum-dart PRIVATE Corrade::Main Magnum::Application Magnum::MeshTools Magnum::Magnum Magnum::SceneGraph Magnum::Primitives Magnum::Shaders MagnumIntegration::Dart dart) if(DART_utils-urdf_FOUND) target_link_libraries(magnum-dart PRIVATE dart-utils-urdf) elseif(DART_io-urdf_FOUND) target_link_libraries(magnum-dart PRIVATE dart-io-urdf) endif() install(TARGETS magnum-dart DESTINATION ${MAGNUM_BINARY_INSTALL_DIR}) install(FILES urdf/iiwa14/link_0.stl urdf/iiwa14/link_1.stl urdf/iiwa14/link_2.stl urdf/iiwa14/link_3.stl urdf/iiwa14/link_4.stl urdf/iiwa14/link_5.stl urdf/iiwa14/link_6.stl urdf/iiwa14/link_7.stl DESTINATION ${DART_EXAMPLE_INSTALL_DIR}/iiwa14) install(FILES urdf/robotiq/inner_finger_fine.stl urdf/robotiq/inner_knuckle_fine.stl urdf/robotiq/outer_finger_fine.stl urdf/robotiq/outer_knuckle_fine.stl urdf/robotiq/robotiq_85_base_link_fine.stl DESTINATION ${DART_EXAMPLE_INSTALL_DIR}/robotiq) install(FILES urdf/iiwa14_simple.urdf urdf/robotiq.urdf DESTINATION ${DART_EXAMPLE_INSTALL_DIR}) # Make the executable a default target to build & run in Visual Studio set_property(DIRECTORY ${PROJECT_SOURCE_DIR} PROPERTY VS_STARTUP_PROJECT magnum-dart)