297 lines
7.9 KiB
CMake
297 lines
7.9 KiB
CMake
include (${gazebo_cmake_dir}/GazeboUtils.cmake)
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include (CheckIncludeFiles)
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include (CheckFunctionExists)
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include (CheckLibraryExists)
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include_directories(SYSTEM
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${CMAKE_CURRENT_BINARY_DIR}
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${CMAKE_SOURCE_DIR}/deps/opende/include
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${CMAKE_SOURCE_DIR}/deps/opende/ou/include
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${CMAKE_SOURCE_DIR}/deps/opende/OPCODE
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${CMAKE_SOURCE_DIR}/deps/opende/GIMPACT/include
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${CMAKE_SOURCE_DIR}/deps/threadpool
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${Boost_INCLUDE_DIRS}
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${CCD_INCLUDE_DIRS}
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)
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link_directories(
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${CCD_LIBRARY_DIRS}
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${Boost_LIBRARY_DIR}
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)
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if (HAVE_DART)
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include_directories(${DARTCore_INCLUDE_DIRS})
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link_directories(${DARTCore_LIBRARY_DIRS})
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endif()
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if (HAVE_BULLET)
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include_directories(${BULLET_INCLUDE_DIRS})
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link_directories(${BULLET_LIBRARY_DIRS})
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endif()
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add_subdirectory(OPCODE)
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add_subdirectory(GIMPACT)
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add_subdirectory(ou)
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CHECK_CXX_SOURCE_COMPILES("#include <alloca.h>
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int main() {alloca(0); return 1;}" HAVE_ALLOCA)
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CHECK_CXX_SOURCE_COMPILES("#include <math.h>
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int main() {atan2f(0,0); return 1;}" HAVE_ATAN2F)
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CHECK_CXX_SOURCE_COMPILES("#include <math.h>
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int main() {copysign(0,0); return 1;}" HAVE_COPYSIGN)
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CHECK_CXX_SOURCE_COMPILES("#include <math.h>
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int main() {copysignf(0,0); return 1;}" HAVE_COPYSIGNF)
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CHECK_CXX_SOURCE_COMPILES("#include <math.h>
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int main() {cosf(0); return 1;}" HAVE_COSF)
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CHECK_CXX_SOURCE_COMPILES("#include <math.h>
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int main() {fabsf(0); return 1;}" HAVE_FABSF)
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CHECK_CXX_SOURCE_COMPILES("#include <math.h>
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int main() {floor(0); return 1;}" HAVE_FLOOR)
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CHECK_CXX_SOURCE_COMPILES("#include <math.h>
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int main() {fmodf(0,0); return 1;}" HAVE_FMODF)
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CHECK_CXX_SOURCE_COMPILES("#include <sys/time.h>
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int main() {gettimeofday(0,0); return 1;}" HAVE_GETTIMEOFDAY)
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CHECK_CXX_SOURCE_COMPILES("#include <math.h>
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int main() {isnan(0); return 1;}" HAVE_ISNAN)
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CHECK_CXX_SOURCE_COMPILES("#include <math.h>
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int main() {isnanf(0); return 1;}" HAVE_ISNANF)
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CHECK_CXX_SOURCE_COMPILES("#include <stdlib.h>
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int main() {malloc(0); return 1;}" HAVE_MALLOC)
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CHECK_CXX_SOURCE_COMPILES("#include <string.h>
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int main() {memmove(0,0,0); return 1;}" HAVE_MEMMOVE)
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CHECK_CXX_SOURCE_COMPILES("#include <string.h>
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int main() {memset(0,0,0); return 1;}" HAVE_MEMSET)
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CHECK_CXX_SOURCE_COMPILES("#include <stdlib.h>
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int main() {realloc(0,0); return 1;}" HAVE_REALLOC)
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CHECK_CXX_SOURCE_COMPILES("#include <sys/select.h>
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int main() {select(0,0,0,0,0); return 1;}" HAVE_SELECT)
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CHECK_CXX_SOURCE_COMPILES("#include <math.h>
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int main() {sinf(0); return 1;}" HAVE_SINF)
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CHECK_CXX_SOURCE_COMPILES("#include <stdio.h>
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int main() {sprintf(0,0); return 1;}" HAVE_SPRINTF)
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CHECK_CXX_SOURCE_COMPILES("#include <math.h>
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int main() {sqrt(0); return 1;}" HAVE_SQRT)
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CHECK_CXX_SOURCE_COMPILES("#include <math.h>
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int main() {sqrtf(0); return 1;}" HAVE_SQRTF)
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CHECK_CXX_SOURCE_COMPILES("#include <stdarg.h>
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#include <stdio.h>
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int main() {va_list ap; vprintf(0,ap); return 1;}" HAVE_VPRINTF)
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CHECK_CXX_SOURCE_COMPILES("#include <stdarg.h>
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#include <stdio.h>
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int main() {va_list ap; vsnprintf(0,0,0,ap); return 1;}" HAVE_VSNPRINTF)
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CHECK_CXX_SOURCE_COMPILES("#include <stdio.h>
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int main() {snprintf(0,0,0); return 1;}" HAVE_SNPRINTF)
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CHECK_CXX_SOURCE_COMPILES("#include <limits>
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int main() {return 1;}" HAVE_LIMITS)
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CHECK_CXX_SOURCE_COMPILES("#include <boost/shared_array.hpp>
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int main() {return 1;}" HAVE_BOOST_SHARED_ARRAY_HPP)
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set (NDEBUG bool true)
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CHECK_INCLUDE_FILES(alloca.h HAVE_ALLOCA_H)
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CHECK_INCLUDE_FILES(dlfcn.h HAVE_DLFCN_H)
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CHECK_INCLUDE_FILES(float.h HAVE_FLOAT_H)
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CHECK_INCLUDE_FILES(inttypes.h HAVE_INTTYPES_H)
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CHECK_INCLUDE_FILES(malloc.h HAVE_MALLOC_H)
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CHECK_INCLUDE_FILES(math.h HAVE_MATH_H)
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CHECK_INCLUDE_FILES(memory.h HAVE_MEMORY_H)
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CHECK_INCLUDE_FILES(stdarg.h HAVE_STDARG_H)
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CHECK_INCLUDE_FILES(stdbool.h HAVE_STDBOOL_H)
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CHECK_INCLUDE_FILES(stdint.h HAVE_STDINT_H)
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CHECK_INCLUDE_FILES(stdio.h HAVE_STDIO_H)
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CHECK_INCLUDE_FILES(stdlib.h HAVE_STDLIB_H)
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CHECK_INCLUDE_FILES(strings.h HAVE_STRINGS_H)
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CHECK_INCLUDE_FILES(string.h HAVE_STRING_H)
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CHECK_INCLUDE_FILES(sys/select.h HAVE_SYS_SELECT_H)
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CHECK_INCLUDE_FILES(sys/socket.h HAVE_SYS_SOCKET_H)
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CHECK_INCLUDE_FILES(sys/stat.h HAVE_SYS_STAT_H)
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CHECK_INCLUDE_FILES(sys/time.h HAVE_SYS_TIME_H)
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CHECK_INCLUDE_FILES(sys/types.h HAVE_SYS_TYPES_H)
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CHECK_INCLUDE_FILES(time.h HAVE_TIME_H)
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CHECK_INCLUDE_FILES(unistd.h HAVE_UNISTD_H)
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CHECK_INCLUDE_FILES(obstack.h HAVE_OBSTACK)
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CHECK_LIBRARY_EXISTS(m cos "" HAVE_LIBM)
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configure_file(${CMAKE_SOURCE_DIR}/deps/opende/config.h.in ${CMAKE_CURRENT_BINARY_DIR}/config.h @ONLY)
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########################################
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# Include all the search paths for headers
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set ( sources
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src/array.cpp
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src/box.cpp
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src/capsule.cpp
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src/collision_cylinder_box.cpp
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src/collision_cylinder_plane.cpp
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src/collision_cylinder_sphere.cpp
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src/collision_cylinder_trimesh.cpp
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src/collision_kernel.cpp
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src/collision_libccd.cpp
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src/collision_quadtreespace.cpp
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src/collision_sapspace.cpp
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src/collision_space.cpp
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src/collision_transform.cpp
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src/collision_trimesh_box.cpp
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src/collision_trimesh_ccylinder.cpp
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src/collision_trimesh_disabled.cpp
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src/collision_trimesh_distance.cpp
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src/collision_trimesh_gimpact.cpp
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src/collision_trimesh_opcode.cpp
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src/collision_trimesh_plane.cpp
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src/collision_trimesh_ray.cpp
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src/collision_trimesh_sphere.cpp
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src/collision_trimesh_trimesh.cpp
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src/collision_trimesh_trimesh_new.cpp
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src/collision_util.cpp
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src/convex.cpp
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src/cylinder.cpp
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src/error.cpp
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src/export-dif.cpp
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src/heightfield.cpp
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src/io.cpp
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src/ioh5.cpp
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src/lcp.cpp
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src/mass.cpp
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src/mat.cpp
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src/matrix.cpp
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src/memory.cpp
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src/misc.cpp
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src/obstack.cpp
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src/ode.cpp
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src/odeinit.cpp
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src/odemath.cpp
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src/odeou.cpp
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src/odetls.cpp
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src/optimize.cpp
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src/plane.cpp
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src/quickstep.cpp
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src/quickstep_cg_lcp.cpp
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src/quickstep_pgs_lcp.cpp
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src/quickstep_update_bodies.cpp
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src/quickstep_util.cpp
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src/ray.cpp
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src/robuststep.cpp
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src/rotation.cpp
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src/sphere.cpp
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src/step.cpp
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src/step_bullet_lemke_wrapper.cpp
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src/step_bullet_pgs_wrapper.cpp
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src/step_dart_pgs_wrapper.cpp
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src/symm.c
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src/timer.cpp
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src/util.cpp
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src/fastdot.c
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src/fastldlt.c
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src/fastlsolve.c
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src/fastltsolve.c
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src/nextafterf.c
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src/joints/amotor.cpp
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src/joints/ball.cpp
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src/joints/contact.cpp
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src/joints/fixed.cpp
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src/joints/hinge2.cpp
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src/joints/hinge.cpp
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src/joints/joint.cpp
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src/joints/joints.h
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src/joints/lmotor.cpp
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src/joints/null.cpp
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src/joints/piston.cpp
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src/joints/plane2d.cpp
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src/joints/pr.cpp
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src/joints/pu.cpp
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src/joints/screw.cpp
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src/joints/dhinge.cpp
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src/joints/dball.cpp
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src/joints/gearbox.cpp
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src/joints/slider.cpp
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src/joints/universal.cpp
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)
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set ( headers
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include/ode/collision.h
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include/ode/collision_space.h
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include/ode/collision_trimesh.h
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include/ode/common.h
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include/ode/compatibility.h
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include/ode/contact.h
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include/ode/error.h
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include/ode/export-dif.h
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include/ode/h5dump.h
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include/ode/mass.h
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include/ode/matrix.h
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include/ode/memory.h
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include/ode/misc.h
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include/ode/objects.h
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include/ode/odeconfig.h
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include/ode/odecpp_collision.h
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include/ode/odecpp.h
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include/ode/ode.h
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include/ode/odeinit.h
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include/ode/odemath.h
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include/ode/odemath_legacy.h
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include/ode/rotation.h
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include/ode/timer.h
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)
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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 "${CMAKE_CXX_FLAGS} -DODE_SSE")
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endif()
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if (WIN32)
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set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DWIN32 -DODE_DLL")
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endif()
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set (CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} ${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE}} -MF -MT -fno-strict-aliasing -DPIC ")
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if (WIN32)
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add_library(gazebo_ode SHARED ${sources})
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else()
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gz_add_library(gazebo_ode ${sources})
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endif()
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target_link_libraries(gazebo_ode
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gazebo_opcode
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gazebo_gimpact
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gazebo_opende_ou
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${CCD_LIBRARIES}
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${Boost_LIBRARIES})
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if (HDF5_FOUND AND HDF5_INSTRUMENT)
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message(STATUS "HDF5 Found and Instrument enabled")
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target_link_libraries(gazebo_ode ${HDF5_LIBRARIES})
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endif()
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add_dependencies(gazebo_ode gazebo_opcode gazebo_gimpact)
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add_dependencies(gazebo_ode gazebo_opende_ou)
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gz_install_library(gazebo_ode)
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gz_install_includes("ode" ${headers})
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