2019-04-26 11:20:11 +08:00
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find_package(MPI REQUIRED) # Added by zhangshuai 2019.04.22 for MPI
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2019-04-18 10:27:54 +08:00
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include_directories(SYSTEM
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${OPENGL_INCLUDE_DIR}
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${OGRE_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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${PROTOBUF_INCLUDE_DIR}
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${SDFormat_INCLUDE_DIRS}
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${IGNITION-MATH_INCLUDE_DIRS}
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${TBB_INCLUDEDIR}
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${tinyxml_INCLUDE_DIRS}
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2019-04-26 11:20:11 +08:00
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${MPI_INCLUDE_PATH} # Added by zhangshuai 2019.04.22 for MPI
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2019-04-18 10:27:54 +08:00
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)
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link_directories(
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${ogre_library_dirs}
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${Boost_LIBRARY_DIRS}
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${SDFormat_LIBRARY_DIRS}
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${PROJECT_BINARY_DIR}/test
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${TBB_LIBRARY_DIR}
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${CURL_LIBDIR}
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)
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if (WIN32)
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include_directories(${libdl_include_dir})
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endif()
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if (HAVE_BULLET)
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link_directories(${BULLET_LIBRARY_DIRS})
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endif()
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if (WIN32)
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add_definitions(-DBUILDING_DLL)
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endif()
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add_subdirectory(msgs)
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add_subdirectory(math)
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add_subdirectory(transport)
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add_subdirectory(common)
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add_subdirectory(rendering)
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add_subdirectory(gui)
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add_subdirectory(physics)
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add_subdirectory(sensors)
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add_subdirectory(util)
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add_subdirectory(test)
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add_dependencies(gazebo_physics gazebo_msgs)
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add_dependencies(gazebo_gui gazebo_msgs)
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add_dependencies(gazebo_rendering gazebo_msgs)
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add_dependencies(gazebo_sensors gazebo_rendering)
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2019-04-26 11:20:11 +08:00
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SET(CMAKE_C_COMPILER mpicc.openmpi) # Added by zhangshuai 2019.04.22 for MPI
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SET(CMAKE_CXX_COMPILER mpicxx.openmpi) # Added by zhangshuai 2019.04.22 for MPI
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2019-04-18 10:27:54 +08:00
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gz_add_executable(gzserver server_main.cc)
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target_link_libraries(gzserver
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libgazebo
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gazebo_common
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gazebo_util
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gazebo_transport
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gazebo_physics
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gazebo_sensors
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gazebo_rendering
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gazebo_msgs
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# Extra libs needed when linking statically (e.g., on WIN32)
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${freeimage_LIBRARIES}
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${TBB_LIBRARIES}
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)
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if (UNIX)
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target_link_libraries(gzserver pthread)
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endif()
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if ("${CMAKE_BUILD_TYPE}" STREQUAL "CHECK")
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target_link_libraries(gzserver gcov)
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endif()
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gz_install_executable(gzserver)
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manpage(gzserver 1)
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# gazebo executable doesn't yet work on Windows
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if (NOT WIN32)
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gz_add_executable(gazebo gazebo_main.cc)
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target_link_libraries(gazebo
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libgazebo
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libgazebo_client
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gazebo_common
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gazebo_util
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gazebo_transport
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gazebo_physics
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gazebo_sensors
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gazebo_rendering
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gazebo_msgs
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gazebo_gui
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)
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gz_install_executable(gazebo)
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manpage(gazebo 1)
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endif()
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gz_add_library(libgazebo Server.cc Master.cc gazebo.cc gazebo_shared.cc)
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set_target_properties(libgazebo PROPERTIES OUTPUT_NAME "gazebo")
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target_link_libraries(libgazebo
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gazebo_common
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gazebo_util
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gazebo_transport
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gazebo_physics
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gazebo_sensors
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gazebo_rendering
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gazebo_msgs
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gazebo_math
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)
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if (UNIX)
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target_link_libraries(libgazebo pthread)
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endif()
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add_dependencies(libgazebo gazebo_msgs)
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gz_install_library(libgazebo)
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gz_add_library(libgazebo_client gazebo_client.cc gazebo_shared.cc)
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set_target_properties(libgazebo_client PROPERTIES OUTPUT_NAME "gazebo_client")
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target_link_libraries(libgazebo_client
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gazebo_common
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gazebo_transport
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gazebo_util
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)
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if (UNIX)
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target_link_libraries(libgazebo_client pthread)
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endif()
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gz_install_library(libgazebo_client)
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set(headers
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gazebo_client.hh
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gazebo_core.hh
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gazebo.hh
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Master.hh
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Server.hh
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countTime.hh
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)
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gz_install_includes("" ${headers})
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