include_directories (
  ${PROJECT_SOURCE_DIR}/include
  ${PROJECT_BINARY_DIR}/include
  ${Boost_INCLUDE_DIRS}
  ${PROJECT_SOURCE_DIR}/test/gtest/include
  ${PROJECT_SOURCE_DIR}/test/gtest
  ${PROJECT_SOURCE_DIR}/test
  ${IGNITION-MATH_INCLUDE_DIRS}
)

link_directories(
  ${Boost_LIBRARY_DIRS}
  ${IGNITION-MATH_LIBRARY_DIRS}
)

if (USE_EXTERNAL_URDF)
  link_directories(${URDF_LIBRARY_DIRS})
endif()

if (USE_EXTERNAL_TINYXML)
  link_directories(${tinyxml_LIBRARY_DIRS})
endif()

configure_file (test_config.h.in ${PROJECT_BINARY_DIR}/test_config.h)

# Build gtest
add_library(gtest STATIC gtest/src/gtest-all.cc)
add_library(gtest_main STATIC gtest/src/gtest_main.cc)
target_link_libraries(gtest_main gtest)
set(GTEST_LIBRARY "${PROJECT_BINARY_DIR}/test/libgtest.a")
set(GTEST_MAIN_LIBRARY "${PROJECT_BINARY_DIR}/test/libgtest_main.a")

execute_process(COMMAND cmake -E remove_directory ${CMAKE_BINARY_DIR}/test_results)
execute_process(COMMAND cmake -E make_directory ${CMAKE_BINARY_DIR}/test_results)
include_directories(${GTEST_INCLUDE_DIRS})

add_subdirectory(integration)
add_subdirectory(performance)