233 lines
7.5 KiB
CMake
233 lines
7.5 KiB
CMake
|
include (${gazebo_cmake_dir}/GazeboUtils.cmake)
|
||
|
|
|
||
|
|
# Set the build type. Options are:
|
||
|
|
# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
|
||
|
|
# Debug : w/ debug symbols, w/o optimization
|
||
|
|
# Release : w/o debug symbols, w/ optimization
|
||
|
|
# RelWithDebInfo : w/ debug symbols, w/ optimization
|
||
|
|
# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
|
||
|
|
|
||
|
|
set(opende_PACKAGE_PATH ${CMAKE_SOURCE_DIR}/deps/opende)
|
||
|
|
|
||
|
|
##############################################################################
|
||
|
|
|
||
|
|
|
||
|
|
include_directories(
|
||
|
|
${CMAKE_CURRENT_SOURCE_DIR}
|
||
|
|
${CMAKE_CURRENT_BINARY_DIR}
|
||
|
|
${CMAKE_CURRENT_BINARY_DIR}/../opende
|
||
|
|
${CMAKE_SOURCE_DIR}/deps/opende/include
|
||
|
|
${CMAKE_SOURCE_DIR}/deps/opende/src
|
||
|
|
${CMAKE_SOURCE_DIR}/deps/parallel_quickstep/include/parallel_quickstep
|
||
|
|
${Boost_INCLUDE_DIRS}
|
||
|
|
${CMAKE_SOURCE_DIR}/deps/threadpool
|
||
|
|
)
|
||
|
|
|
||
|
|
link_directories(
|
||
|
|
${Boost_LIBRARY_DIRS}
|
||
|
|
)
|
||
|
|
|
||
|
|
set (NDEBUG bool true)
|
||
|
|
|
||
|
|
set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DNDEBUG -DdNODEBUG -DdDOUBLE -DHAVE_CONFIG_H -DPIC")
|
||
|
|
|
||
|
|
if (SSE2_FOUND OR SSE3_FOUND OR SSSE3_FOUND OR SSE4_1_FOUND OR SSE4_2_FOUND)
|
||
|
|
set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DSSE")
|
||
|
|
endif()
|
||
|
|
|
||
|
|
set (CMAKE_SHARED_LINKER_FLAGS "${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE}} -MF -MT -fno-strict-aliasing -DPIC ")
|
||
|
|
|
||
|
|
set(PARALLEL_QUICKSTEP_FLAGS -O3 )#-DTIMING)# -DVERBOSE -DBENCHMARKING -DERROR )
|
||
|
|
add_definitions(${PARALLEL_QUICKSTEP_FLAGS})
|
||
|
|
|
||
|
|
# default to CPU fall back so everyone can compile this package
|
||
|
|
set(USE_CPU "1")
|
||
|
|
#set(USE_CUDA "1")
|
||
|
|
#set(USE_OPENCL "1")
|
||
|
|
#set(USE_OPENMP "1")
|
||
|
|
|
||
|
|
################################################
|
||
|
|
# Automatically set USE_CUDA to 1 if it is found
|
||
|
|
# uncomment to enable
|
||
|
|
################################################
|
||
|
|
# CMake 2.8.0 or greater required for built-in CUDA module
|
||
|
|
#if( ${CMAKE_MINOR_VERSION} GREATER 6.2 )
|
||
|
|
# if( ${CMAKE_MINOR_VERSION} LESS 8 )
|
||
|
|
# set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/CMakeModules/;${CMAKE_MODULE_PATH}")
|
||
|
|
# endif( ${CMAKE_MINOR_VERSION} LESS 8 )
|
||
|
|
# find_package(CUDA QUIET)
|
||
|
|
# if (CUDA_FOUND)
|
||
|
|
# set(USE_CPU)
|
||
|
|
# set(USE_CUDA "1")
|
||
|
|
# MESSAGE(STATUS "CUDA Found, compiling with CUDA support")
|
||
|
|
# else (CUDA_FOUND)
|
||
|
|
# MESSAGE(STATUS "CUDA Not Found, using default CPU")
|
||
|
|
# endif (CUDA_FOUND)
|
||
|
|
#endif( ${CMAKE_MINOR_VERSION} GREATER 6.2 )
|
||
|
|
|
||
|
|
if(DEFINED USE_CUDA)
|
||
|
|
|
||
|
|
# CMake 2.8.0 or greater required for built-in CUDA module
|
||
|
|
if( ${CMAKE_MINOR_VERSION} LESS 8 )
|
||
|
|
set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/CMakeModules/;${CMAKE_MODULE_PATH}")
|
||
|
|
endif( ${CMAKE_MINOR_VERSION} LESS 8 )
|
||
|
|
|
||
|
|
find_package(CUDA QUIET REQUIRED)
|
||
|
|
|
||
|
|
include_directories( ${CUDA_INCLUDE_DIRS} )
|
||
|
|
add_definitions(-DUSE_CUDA)
|
||
|
|
|
||
|
|
set(CUDA_ATTACH_VS_BUILD_RULE_TO_CUDA_FILE OFF)
|
||
|
|
|
||
|
|
#default to oldest stuff
|
||
|
|
set(CUDA_TARGET_SM "sm_10")
|
||
|
|
|
||
|
|
if (NOT DEFINED CUDA_TARGET_SM)
|
||
|
|
set(CUDA_TARGET_SM "sm_20")
|
||
|
|
endif (NOT DEFINED CUDA_TARGET_SM)
|
||
|
|
|
||
|
|
if (CUDA_TARGET_SM STREQUAL "sm_10")
|
||
|
|
set(DOUBLE_SUPPORT_ENABLED FALSE)
|
||
|
|
set(ATOMIC_SUPPORT_ENABLED FALSE)
|
||
|
|
add_definitions(-DCUDA_SM10)
|
||
|
|
message(STATUS "using sm_10 without DOUBLE_SUPPORT_ENABLED and ATOMIC_SUPPORT_ENABLED")
|
||
|
|
elseif (CUDA_TARGET_SM STREQUAL "sm_11")
|
||
|
|
set(DOUBLE_SUPPORT_ENABLED FALSE)
|
||
|
|
set(ATOMIC_SUPPORT_ENABLED TRUE)
|
||
|
|
add_definitions(-DCUDA_SM11)
|
||
|
|
message(STATUS "using sm_11 with ATOMIC_SUPPORT_ENABLED")
|
||
|
|
elseif (CUDA_TARGET_SM STREQUAL "sm_12")
|
||
|
|
set(DOUBLE_SUPPORT_ENABLED FALSE)
|
||
|
|
set(ATOMIC_SUPPORT_ENABLED TRUE)
|
||
|
|
message(STATUS "using sm_12 with ATOMIC_SUPPORT_ENABLED")
|
||
|
|
add_definitions(-DCUDA_SM12)
|
||
|
|
elseif (CUDA_TARGET_SM STREQUAL "sm_13")
|
||
|
|
set(DOUBLE_SUPPORT_ENABLED TRUE)
|
||
|
|
set(ATOMIC_SUPPORT_ENABLED TRUE)
|
||
|
|
message(STATUS "using sm_13 with DOUBLE_SUPPORT_ENABLED and ATOMIC_SUPPORT_ENABLED")
|
||
|
|
add_definitions(-DCUDA_SM13)
|
||
|
|
elseif (CUDA_TARGET_SM STREQUAL "sm_20")
|
||
|
|
set(DOUBLE_SUPPORT_ENABLED TRUE)
|
||
|
|
set(ATOMIC_SUPPORT_ENABLED TRUE)
|
||
|
|
message(STATUS "using sm_20 with DOUBLE_SUPPORT_ENABLED and ATOMIC_SUPPORT_ENABLED")
|
||
|
|
add_definitions(-DCUDA_SM20)
|
||
|
|
else()
|
||
|
|
message( FATAL_ERROR "Unknown CUDA_TARGET_SM: '${CUDA_TARGET_SM}', must be one of: 'sm_10' 'sm_11' 'sm_12' 'sm_13' 'sm_20'")
|
||
|
|
endif()
|
||
|
|
|
||
|
|
message(STATUS "CUDA Target Architecture: ${CUDA_TARGET_SM}")
|
||
|
|
|
||
|
|
if (DOUBLE_SUPPORT_ENABLED)
|
||
|
|
add_definitions(-DCUDA_DOUBLESUPPORT)
|
||
|
|
else (DOUBLE_SUPPORT_ENABLED)
|
||
|
|
add_definitions(-DCUDA_NODOUBLESUPPORT)
|
||
|
|
endif (DOUBLE_SUPPORT_ENABLED)
|
||
|
|
|
||
|
|
if (ATOMIC_SUPPORT_ENABLED)
|
||
|
|
add_definitions(-DCUDA_ATOMICSUPPORT)
|
||
|
|
else (ATOMIC_SUPPORT_ENABLED)
|
||
|
|
add_definitions(-DCUDA_NOATOMICSUPPORT)
|
||
|
|
endif (ATOMIC_SUPPORT_ENABLED)
|
||
|
|
|
||
|
|
set(CUDA_SOURCE_FILES src/cuda_kernels.cu src/test_lib.cpp )
|
||
|
|
set(CUDA_SOLVER_SOURCE_FILES
|
||
|
|
src/parallel_stepper.cpp
|
||
|
|
src/parallel_solver.cpp
|
||
|
|
src/parallel_batch.cpp
|
||
|
|
src/parallel_reduce.cpp
|
||
|
|
src/parallel_quickstep.cpp
|
||
|
|
src/cuda_solver.cpp)
|
||
|
|
|
||
|
|
set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} -use_fast_math -O3 "-arch;${CUDA_TARGET_SM}" ${parallel_quickstep_CFLAGS_OTHER})
|
||
|
|
|
||
|
|
cuda_compile(CUDA_GEN_FILES ${CUDA_SOURCE_FILES} SHARED -fPic)
|
||
|
|
|
||
|
|
gz_add_library(parallel_quickstep
|
||
|
|
${CUDA_GEN_FILES}
|
||
|
|
${CUDA_SOURCE_FILES}
|
||
|
|
${CUDA_SOLVER_SOURCE_FILES}
|
||
|
|
)
|
||
|
|
add_executable(parallel_quickstep_lib_test src/main_for_lib.cpp )
|
||
|
|
target_link_libraries(parallel_quickstep gazebo_ode)
|
||
|
|
target_link_libraries(parallel_quickstep ${CUDA_LIBRARIES})
|
||
|
|
target_link_libraries(parallel_quickstep ${Boost_LIBRARIES})
|
||
|
|
target_link_libraries(parallel_quickstep_lib_test parallel_quickstep)
|
||
|
|
cuda_build_clean_target()
|
||
|
|
add_dependencies(parallel_quickstep gazebo_ode)
|
||
|
|
gz_install_library(parallel_quickstep)
|
||
|
|
set (CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fopenmp ")
|
||
|
|
|
||
|
|
elseif( DEFINED USE_OPENMP )
|
||
|
|
|
||
|
|
add_definitions(-DUSE_OPENMP -fopenmp)
|
||
|
|
|
||
|
|
set(OPENMP_SOLVER_SOURCE_FILES
|
||
|
|
src/parallel_stepper.cpp
|
||
|
|
src/parallel_solver.cpp
|
||
|
|
src/parallel_batch.cpp
|
||
|
|
src/parallel_reduce.cpp
|
||
|
|
src/parallel_quickstep.cpp
|
||
|
|
src/openmp_solver.cpp
|
||
|
|
src/openmp_kernels.cpp )
|
||
|
|
|
||
|
|
gz_add_library(parallel_quickstep
|
||
|
|
${OPENMP_SOLVER_SOURCE_FILES}
|
||
|
|
)
|
||
|
|
target_link_libraries(parallel_quickstep gazebo_ode)
|
||
|
|
target_link_libraries(parallel_quickstep ${Boost_LIBRARIES})
|
||
|
|
set (CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fopenmp ")
|
||
|
|
|
||
|
|
elseif( DEFINED USE_OPENCL )
|
||
|
|
|
||
|
|
set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/CMakeModules/;${CMAKE_MODULE_PATH}")
|
||
|
|
find_package( OpenCL REQUIRED )
|
||
|
|
add_definitions(-DUSE_OPENCL -fopenmp)
|
||
|
|
#include_directories( ${OPENCL_INCLUDE_DIRS} )
|
||
|
|
include_directories( ${CUDA_TOOLKIT_ROOT_DIR}/include )
|
||
|
|
|
||
|
|
set(OPENCL_SOLVER_SOURCE_FILES
|
||
|
|
src/opencl_utils.cpp
|
||
|
|
src/opencl_solver.cpp
|
||
|
|
src/opencl_kernels.cpp
|
||
|
|
src/parallel_stepper.cpp
|
||
|
|
src/parallel_solver.cpp
|
||
|
|
src/parallel_batch.cpp
|
||
|
|
src/parallel_reduce.cpp
|
||
|
|
src/parallel_quickstep.cpp)
|
||
|
|
|
||
|
|
gz_add_library(parallel_quickstep
|
||
|
|
${OPENCL_SOLVER_SOURCE_FILES}
|
||
|
|
)
|
||
|
|
|
||
|
|
target_link_libraries(parallel_quickstep gazebo_ode)
|
||
|
|
target_link_libraries(parallel_quickstep ${OPENCL_LIBRARIES})
|
||
|
|
target_link_libraries(parallel_quickstep ${Boost_LIBRARIES})
|
||
|
|
add_executable(parallel_quickstep_lib_test src/main_for_lib.cpp src/test_lib.cpp)
|
||
|
|
target_link_libraries(parallel_quickstep_lib_test parallel_quickstep)
|
||
|
|
|
||
|
|
elseif( DEFINED USE_CPU )
|
||
|
|
|
||
|
|
add_definitions(-DUSE_CPU)
|
||
|
|
|
||
|
|
set(CPU_SOLVER_SOURCE_FILES
|
||
|
|
src/parallel_stepper.cpp
|
||
|
|
src/parallel_quickstep.cpp)
|
||
|
|
|
||
|
|
gz_add_library(parallel_quickstep
|
||
|
|
${CPU_SOLVER_SOURCE_FILES}
|
||
|
|
)
|
||
|
|
|
||
|
|
target_link_libraries(parallel_quickstep gazebo_ode)
|
||
|
|
target_link_libraries(parallel_quickstep ${Boost_LIBRARIES})
|
||
|
|
set (CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} -fopenmp ")
|
||
|
|
|
||
|
|
endif()
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
|