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