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CMakeLists.txt
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cmake_minimum_required(VERSION 3.9.0)
project(coppeliaSim)
set(CMAKE_INCLUDE_CURRENT_DIR ON)
set(CMAKE_AUTOMOC ON)
set(CMAKE_AUTOUIC ON)
set(CMAKE_AUTORCC ON)
set(CMAKE_MACOSX_RPATH 1)
set(CMAKE_AUTOUIC_SEARCH_PATHS ui)
if(NOT LUA_INCLUDE_DIR OR NOT LUA_LIBRARIES)
find_package(Lua 5.3 EXACT REQUIRED)
endif()
if(UNIX AND NOT APPLE)
find_package(PkgConfig REQUIRED)
pkg_check_modules(tinyxml2 REQUIRED IMPORTED_TARGET tinyxml2)
add_library(tinyxml2::tinyxml2 ALIAS PkgConfig::tinyxml2)
else()
find_package(TinyXML2 REQUIRED COMPONENTS shared)
endif()
find_package(Eigen3)
if(NOT EIGEN_FOUND)
include(FetchContent)
FetchContent_Declare(eigen3src
URL https://gitlab.com/libeigen/eigen/-/archive/3.3.8/eigen-3.3.8.tar.gz
SOURCE_DIR ${CMAKE_CURRENT_BINARY_DIR}/eigen3
)
if(NOT EXISTS "${CMAKE_CURRENT_BINARY_DIR}/eigen3/Eigen/Sparse")
message(STATUS "Downloading eigen-3.3.8 source...")
FetchContent_Populate(eigen3src)
endif()
set(EIGEN_INCLUDE_DIR ${CMAKE_CURRENT_BINARY_DIR}/eigen3)
endif()
find_package(Boost REQUIRED)
set(WITH_QSCINTILLA true CACHE BOOL "Link QScintilla library (you'll need to set QSCINTILLA_DIR and QSCINTILLA_LIBRARY variables)")
if(WITH_QSCINTILLA)
set(QSCINTILLA_DIR NOTFOUND CACHE PATH "Path to the QScintilla directory")
if(EXISTS "${QSCINTILLA_DIR}")
message(STATUS "QSCINTILLA_DIR: ${QSCINTILLA_DIR}")
else()
message(FATAL_ERROR "The specified QSCINTILLA_DIR (${QSCINTILLA_DIR}) does not exist")
endif()
# try to figure out the QSCINTILLA_BUILD_DIR (only if it is valid)
if(EXISTS "${QSCINTILLA_DIR}/Qt4Qt5/release/moc_qsciscintilla.cpp")
set(QSCINTILLA_BUILD_DIR ${QSCINTILLA_DIR}/Qt4Qt5/)
message(STATUS "Found QSCINTILLA_BUILD_DIR at ${QSCINTILLA_BUILD_DIR}")
endif()
endif()
if(NOT COPPELIASIM_INCLUDE_DIR)
if(DEFINED ENV{COPPELIASIM_ROOT_DIR})
set(COPPELIASIM_INCLUDE_DIR $ENV{COPPELIASIM_ROOT_DIR}/programming/include)
else()
set(COPPELIASIM_INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../programming/include)
endif()
endif()
add_library(coppeliaSim SHARED "")
set(WITH_GUI true CACHE BOOL "Enable gui")
target_compile_features(coppeliaSim PRIVATE cxx_std_17)
target_include_directories(coppeliaSim PRIVATE ${LUA_INCLUDE_DIR})
target_include_directories(coppeliaSim PRIVATE ${EIGEN_INCLUDE_DIR})
if(WITH_QSCINTILLA)
target_include_directories(coppeliaSim PRIVATE ${QSCINTILLA_DIR}/Qt4Qt5)
target_include_directories(coppeliaSim PRIVATE ${QSCINTILLA_DIR}/include)
if(NOT QSCINTILLA_LIBRARY)
if(CMAKE_BUILD_TYPE MATCHES [Dd][Ee][Bb][Uu][Gg])
set(QSCINTILLA_LIBRARY_SUFFIX _debug)
endif()
set(QSCINTILLA_LIBRARY_NAME ${CMAKE_SHARED_LIBRARY_PREFIX}qscintilla2_qt5${QSCINTILLA_LIBRARY_SUFFIX}${CMAKE_SHARED_LIBRARY_SUFFIX})
if(EXISTS ${QSCINTILLA_BUILD_DIR}/release/${QSCINTILLA_LIBRARY_NAME})
set(QSCINTILLA_LIBRARY ${QSCINTILLA_BUILD_DIR}/release/${QSCINTILLA_LIBRARY_NAME})
elseif(EXISTS ${QSCINTILLA_BUILD_DIR}/${QSCINTILLA_LIBRARY_NAME})
set(QSCINTILLA_LIBRARY ${QSCINTILLA_BUILD_DIR}/${QSCINTILLA_LIBRARY_NAME})
else()
set(QSCINTILLA_LIBRARY NOTFOUND)
endif()
endif()
if(WIN32)
# on Windows it fails to link
# workaround is to link some moc files from the QScintilla project
if(NOT QSCINTILLA_BUILD_DIR)
message(FATAL_ERROR "QSCINTILLA_BUILD_DIR is not set")
endif()
file(TO_CMAKE_PATH ${QSCINTILLA_BUILD_DIR} QSCINTILLA_BUILD_DIR)
message(STATUS "QSCINTILLA_BUILD_DIR: ${QSCINTILLA_BUILD_DIR}")
if(EXISTS "${QSCINTILLA_BUILD_DIR}/debug/moc_qsciscintilla.cpp")
target_sources(coppeliaSim PRIVATE
${QSCINTILLA_BUILD_DIR}/debug/moc_qsciscintilla.cpp
${QSCINTILLA_BUILD_DIR}/debug/moc_qsciscintillabase.cpp
)
elseif(EXISTS "${QSCINTILLA_BUILD_DIR}/release/moc_qsciscintilla.cpp")
target_sources(coppeliaSim PRIVATE
${QSCINTILLA_BUILD_DIR}/release/moc_qsciscintilla.cpp
${QSCINTILLA_BUILD_DIR}/release/moc_qsciscintillabase.cpp
)
else()
message(FATAL_ERROR "The specified QSCINTILLA_BUILD_DIR (${QSCINTILLA_BUILD_DIR}) does not exist or it is not valid")
endif()
endif()
if(EXISTS "${QSCINTILLA_LIBRARY}")
message(STATUS "QSCINTILLA_LIBRARY: ${QSCINTILLA_LIBRARY}")
else()
message(FATAL_ERROR "The specified QSCINTILLA_LIBRARY (${QSCINTILLA_LIBRARY}) does not exist")
endif()
endif()
target_compile_definitions(coppeliaSim PRIVATE SIM_MATH_DOUBLE)
target_compile_definitions(coppeliaSim PRIVATE UID=int) # <-- to be modified once we switch to long long handles
#target_compile_definitions(coppeliaSim PRIVATE TMPOPERATION) # <-- remove once we release V4.6 (i.e. V4.5 needs to support both serialization formats)
set(Qt Qt5 CACHE STRING "Qt version to use (e.g. Qt5)")
set_property(CACHE Qt PROPERTY STRINGS Qt5 Qt6) #
if(Qt STREQUAL Qt5)
set(USES_QGLWIDGET true CACHE BOOL "Use the old QGLWidget instead of QOpenGLWidget")
else()
unset(USES_QGLWIDGET CACHE)
endif()
if(WITH_GUI)
find_package(${Qt} COMPONENTS Widgets REQUIRED)
target_compile_definitions(coppeliaSim PRIVATE SIM_WITH_GUI)
target_compile_definitions(coppeliaSim PRIVATE QT_DISABLE_DEPRECATED_BEFORE=0)
find_package(OpenGL REQUIRED)
find_package(${Qt} COMPONENTS Gui OpenGL REQUIRED)
if(Qt STREQUAL Qt6)
find_package(${Qt} COMPONENTS OpenGLWidgets REQUIRED)
endif()
endif()
if(USES_QGLWIDGET)
target_compile_definitions(coppeliaSim PRIVATE USES_QGLWIDGET)
endif()
find_package(${Qt} COMPONENTS Core PrintSupport Network REQUIRED)
if(MSVC)
target_compile_options(coppeliaSim PRIVATE /FI"simMainHeader.h")
set(CMAKE_CXXFLAGS "${CMAKE_CXXFLAGS} -fp:precise")
set(CMAKE_CXXFLAGS_RELEASE "${CMAKE_CXXFLAGS_RELEASE} -O2")
set(CMAKE_CXXFLAGS "${CMAKE_CXXFLAGS} -W3")
set(CMAKE_CXXFLAGS "${CMAKE_CXXFLAGS} -wd4100") # "unreferenced formal parameter"
set(CMAKE_CXXFLAGS "${CMAKE_CXXFLAGS} -wd4996") # "function or variable may be unsafe..."
set(CMAKE_CXXFLAGS "${CMAKE_CXXFLAGS} -wd4101") # "unreferenced local variable"
if(MSVC_VERSION EQUAL 1900)
target_compile_definitions(coppeliaSim PRIVATE SIM_COMPILER_STR=\"MSVC2015\")
elseif(MSVC_VERSION GREATER 1900 AND MSVC_VERSION LESS 1920)
target_compile_definitions(coppeliaSim PRIVATE SIM_COMPILER_STR=\"MSVC2017\")
else()
target_compile_definitions(coppeliaSim PRIVATE SIM_COMPILER_STR=\"MSVC2019\")
endif()
else()
target_compile_options(coppeliaSim PRIVATE -include simMainHeader.h)
set(CMAKE_CXXFLAGS_DEBUG "${CMAKE_CXXFLAGS_DEBUG} -O0 -g -ggdb")
set(CMAKE_CXXFLAGS_RELEASE "${CMAKE_CXXFLAGS_RELEASE} -O3")
set(CMAKE_CXXFLAGS "${CMAKE_CXXFLAGS} -Wall")
set(CMAKE_CXXFLAGS "${CMAKE_CXXFLAGS} -Wno-strict-aliasing")
set(CMAKE_CXXFLAGS "${CMAKE_CXXFLAGS} -Wno-unused-parameter")
set(CMAKE_CXXFLAGS "${CMAKE_CXXFLAGS} -Wno-unused-but-set-variable")
set(CMAKE_CXXFLAGS "${CMAKE_CXXFLAGS} -Wno-unused-local-typedefs")
set(CMAKE_CXXFLAGS "${CMAKE_CXXFLAGS} -Wno-empty-body")
set(CMAKE_CXXFLAGS "${CMAKE_CXXFLAGS} -Wno-write-strings")
set(CMAKE_CXXFLAGS "${CMAKE_CXXFLAGS} -Wno-narrowing")
if(APPLE)
set(CMAKE_CXXFLAGS "${CMAKE_CXXFLAGS} -mmacosx-version-min=10.7")
target_compile_definitions(coppeliaSim PRIVATE SIM_COMPILER_STR=\"Clang\")
target_compile_definitions(coppeliaSim PRIVATE GL_SILENCE_DEPRECATION)
else()
target_compile_definitions(coppeliaSim PRIVATE SIM_COMPILER_STR=\"GCC\")
endif()
# XXX: why don't we simply use CMAKE_CXX_COMPILER_ID?
endif()
if(WIN32)
target_compile_definitions(coppeliaSim PRIVATE WIN_SIM)
target_compile_definitions(coppeliaSim PRIVATE SIM_PLATFORM=\"windows\")
elseif(APPLE)
target_compile_definitions(coppeliaSim PRIVATE MAC_SIM)
target_compile_definitions(coppeliaSim PRIVATE SIM_PLATFORM=\"macOS\")
elseif(UNIX)
target_compile_definitions(coppeliaSim PRIVATE LIN_SIM)
target_compile_definitions(coppeliaSim PRIVATE SIM_PLATFORM=\"linux\")
endif()
target_include_directories(coppeliaSim
PRIVATE
sourceCode
sourceCode/communication
sourceCode/communication/serialPort
sourceCode/drawingObjects
sourceCode/platform
sourceCode/collections
sourceCode/collisions
sourceCode/distances
sourceCode/pathPlanning_old
sourceCode/sceneObjects
sourceCode/sceneObjects/related
sourceCode/sceneObjects/graphObjectRelated
sourceCode/sceneObjects/proximitySensorObjectRelated
sourceCode/sceneObjects/shapeObjectRelated
sourceCode/mainContainers
sourceCode/mainContainers/sceneContainers
sourceCode/mainContainers/applicationContainers
sourceCode/scripting
sourceCode/pagesAndViews
sourceCode/textures
sourceCode/serialization
sourceCode/strings
sourceCode/interfaces
sourceCode/interfaces/interfaceStack
sourceCode/menusAndSimilar
sourceCode/variousFunctions
sourceCode/geometricAlgorithms
sourceCode/various
sourceCode/visual
sourceCode/displ
sourceCode/utils
sourceCode/undoRedo
sourceCode/backwardCompatibility/pathPlanning
sourceCode/backwardCompatibility/collisions
sourceCode/backwardCompatibility/distances
sourceCode/backwardCompatibility/kinematics
sourceCode/backwardCompatibility/tubes
sourceCode/backwardCompatibility/wireless
sourceCode/backwardCompatibility/customUserInterfaces
sourceCode/backwardCompatibility/draw
sourceCode/backwardCompatibility/geom
sourceCode/backwardCompatibility/interfaces
sourceCode/backwardCompatibility/sceneContainers
sourceCode/backwardCompatibility/sceneObjects
sourceCode/backwardCompatibility/scripting
sourceCode/backwardCompatibility/scripting/customScriptFuncAndVar
sourceCode/backwardCompatibility/utils
sourceCode/backwardCompatibility/various
${COPPELIASIM_INCLUDE_DIR}
)
if(WITH_GUI)
target_include_directories(coppeliaSim PRIVATE
sourceCode/gui/dialogs
sourceCode/gui/dialogs/other
sourceCode/gui/platform
sourceCode/gui/mainContainers
sourceCode/gui/mainContainers/sceneContainers
sourceCode/gui/mainContainers/applicationContainers
sourceCode/gui/editModes
sourceCode/gui/modelBrowser
sourceCode/gui/sceneHierarchy
sourceCode/gui/selectors
sourceCode/gui/menusAndSimilar
sourceCode/gui/various
sourceCode/gui/libs
sourceCode/gui/visual
sourceCode/gui/sceneObjects
sourceCode/gui/sceneObjects/visionSensorObjectRelated
sourceCode/gui/rendering
sourceCode/gui/communication/wireless
)
endif()
if(WITH_GUI)
target_sources(coppeliaSim PRIVATE
targaFiles.qrc
toolbarFiles.qrc
variousImageFiles.qrc
iconFiles.qrc
imageFiles.qrc
qdarkstyle/style.qrc
)
endif()
if(WITH_GUI)
target_sources(coppeliaSim PRIVATE
sourceCode/gui/rendering/rendering.cpp
sourceCode/gui/rendering/cameraRendering.cpp
sourceCode/gui/rendering/visionSensorRendering.cpp
sourceCode/gui/rendering/forceSensorRendering.cpp
sourceCode/gui/rendering/proximitySensorRendering.cpp
sourceCode/gui/rendering/dummyRendering.cpp
sourceCode/gui/rendering/scriptRendering.cpp
sourceCode/gui/rendering/lightRendering.cpp
sourceCode/gui/rendering/pointCloudRendering.cpp
sourceCode/gui/rendering/octreeRendering.cpp
sourceCode/gui/rendering/jointRendering.cpp
sourceCode/gui/rendering/graphRendering.cpp
sourceCode/gui/rendering/millRendering.cpp
sourceCode/gui/rendering/mirrorRendering.cpp
sourceCode/gui/rendering/pathRendering.cpp
sourceCode/gui/rendering/shapeRendering.cpp
sourceCode/gui/rendering/ghostRendering.cpp
sourceCode/gui/rendering/drawingObjectRendering.cpp
sourceCode/gui/rendering/ptCloudRendering_old.cpp
sourceCode/gui/rendering/collisionContourRendering.cpp
sourceCode/gui/rendering/distanceRendering.cpp
sourceCode/gui/rendering/bannerRendering.cpp
sourceCode/gui/rendering/thumbnailRendering.cpp
sourceCode/gui/rendering/pathPlanningTaskRendering_old.cpp
sourceCode/gui/rendering/broadcastDataVisualRendering.cpp
sourceCode/gui/rendering/dynamicsRendering.cpp
sourceCode/gui/rendering/environmentRendering.cpp
sourceCode/gui/rendering/pageRendering.cpp
sourceCode/gui/rendering/viewRendering.cpp
sourceCode/gui/dialogs/qdlgsettings.cpp
sourceCode/gui/dialogs/qdlglayers.cpp
sourceCode/gui/dialogs/qdlgavirecorder.cpp
sourceCode/gui/dialogs/qdlgabout.cpp
sourceCode/gui/dialogs/qdlgsimulation.cpp
sourceCode/gui/dialogs/qdlgcommonproperties.cpp
sourceCode/gui/dialogs/qdlgdetectableproperties.cpp
sourceCode/gui/dialogs/qdlgmodelproperties.cpp
sourceCode/gui/dialogs/qdlgassembly.cpp
sourceCode/gui/dialogs/qdlgslider.cpp
sourceCode/gui/dialogs/qdlgslider2.cpp
sourceCode/gui/dialogs/qdlgmodelthumbnailvisu.cpp
sourceCode/gui/dialogs/qdlgmodelthumbnail.cpp
sourceCode/gui/dialogs/qdlgenvironment.cpp
sourceCode/gui/dialogs/qdlgcolor.cpp
sourceCode/gui/dialogs/qdlgmaterial.cpp
sourceCode/gui/dialogs/qdlglightmaterial.cpp
sourceCode/gui/dialogs/qdlgcolorpulsation.cpp
sourceCode/gui/dialogs/qdlgfog.cpp
sourceCode/gui/dialogs/qdlgcollections.cpp
sourceCode/gui/dialogs/qdlgcollisions.cpp
sourceCode/gui/dialogs/qdlgdistances.cpp
sourceCode/gui/dialogs/qdlgentityvsentityselection.cpp
sourceCode/gui/dialogs/qdlgoldscripts.cpp
sourceCode/gui/dialogs/qdlgscaling.cpp
sourceCode/gui/dialogs/qdlgcameras.cpp
sourceCode/gui/dialogs/qdlglights.cpp
sourceCode/gui/dialogs/qdlgmirrors.cpp
sourceCode/gui/dialogs/qdlgdummies.cpp
sourceCode/gui/dialogs/qdlgscripts.cpp
sourceCode/gui/dialogs/qdlgoctrees.cpp
sourceCode/gui/dialogs/qdlgpointclouds.cpp
sourceCode/gui/dialogs/qdlguserparameters.cpp
sourceCode/gui/dialogs/qdlgforcesensors.cpp
sourceCode/gui/dialogs/qdlgprimitives.cpp
sourceCode/gui/dialogs/qdlgvisionsensors.cpp
sourceCode/gui/dialogs/qdlgimagecolor.cpp
sourceCode/gui/dialogs/qdlgshapes.cpp
sourceCode/gui/dialogs/qdlgmultishapeedition.cpp
sourceCode/gui/dialogs/qdlgtextures.cpp
sourceCode/gui/dialogs/qdlgtextureselection.cpp
sourceCode/gui/dialogs/qdlggeometry.cpp
sourceCode/gui/dialogs/qdlgshapedyn.cpp
sourceCode/gui/dialogs/qdlgdetectionvolume.cpp
sourceCode/gui/dialogs/qdlgproximitysensors.cpp
sourceCode/gui/dialogs/qdlgproxsensdetectionparam.cpp
sourceCode/gui/dialogs/qdlgobjectdialogcontainer.cpp
sourceCode/gui/dialogs/qdlgshapeeditioncontainer.cpp
sourceCode/gui/dialogs/qdlgcalcdialogcontainer_OLD.cpp
sourceCode/gui/dialogs/qdlgheightfielddimension.cpp
sourceCode/gui/dialogs/qdlgstopscripts.cpp
sourceCode/gui/dialogs/qdlgtextureloadoptions.cpp
sourceCode/gui/dialogs/qdlgprogress.cpp
sourceCode/gui/dialogs/qdlgjoints.cpp
sourceCode/gui/dialogs/qdlgdependencyequation.cpp
sourceCode/gui/dialogs/qdlgjointdyn.cpp
sourceCode/gui/dialogs/qdlggraphs.cpp
sourceCode/gui/dialogs/qdlgdatastreamselection.cpp
sourceCode/gui/dialogs/qdlg2d3dgraphproperties.cpp
sourceCode/gui/dialogs/qdlgaddgraphcurve.cpp
sourceCode/gui/dialogs/qdlgik.cpp
sourceCode/gui/dialogs/qdlgikelements.cpp
sourceCode/gui/dialogs/qdlgikconditional.cpp
sourceCode/gui/dialogs/qdlgpaths.cpp
sourceCode/gui/dialogs/qdlgpathshaping.cpp
sourceCode/gui/dialogs/qdlgmessageandcheckbox.cpp
sourceCode/gui/dialogs/qdlgopenglsettings.cpp
sourceCode/gui/dialogs/qdlgtriangleedit.cpp
sourceCode/gui/dialogs/qdlgvertexedit.cpp
sourceCode/gui/dialogs/qdlgedgeedit.cpp
sourceCode/gui/dialogs/qdlgpathedit.cpp
sourceCode/gui/dialogs/qdlgtranslation.cpp
sourceCode/gui/dialogs/qdlgrotation.cpp
sourceCode/gui/dialogs/qdlgtranslationrotationcont.cpp
sourceCode/gui/communication/wireless/broadcastDataVisual.cpp
sourceCode/gui/dialogs/other/editboxdelegate.cpp
sourceCode/gui/dialogs/other/toolDlgWrapper.cpp
sourceCode/gui/dialogs/other/dlgEx.cpp
sourceCode/gui/dialogs/other/dlgCont.cpp
sourceCode/gui/dialogs/other/qsim_openglwidget.cpp
sourceCode/gui/platform/vMessageBox.cpp
sourceCode/gui/platform/vMenubar.cpp
sourceCode/gui/platform/vFileDialog.cpp
sourceCode/gui/platform/vDialog.cpp
sourceCode/gui/mainContainers/sceneContainers/oglSurface.cpp
sourceCode/gui/mainContainers/applicationContainers/globalGuiTextureContainer.cpp
sourceCode/gui/mainContainers/applicationContainers/codeEditorContainer.cpp
sourceCode/gui/editModes/editModeContainer.cpp
sourceCode/gui/editModes/shapeEditMode.cpp
sourceCode/gui/editModes/multishapeEditMode.cpp
sourceCode/gui/editModes/pathEditMode.cpp
sourceCode/gui/editModes/edgeCont.cpp
sourceCode/gui/editModes/pathPointManipulation.cpp
sourceCode/gui/sceneHierarchy/hierarchy.cpp
sourceCode/gui/sceneHierarchy/hierarchyElement.cpp
sourceCode/gui/modelBrowser/modelFolderWidget.cpp
sourceCode/gui/modelBrowser/modelListWidget.cpp
sourceCode/gui/modelBrowser/modelListWidgetBase.cpp
sourceCode/gui/selectors/pageSelector.cpp
sourceCode/gui/selectors/viewSelector.cpp
sourceCode/gui/menusAndSimilar/toolBarCommand.cpp
sourceCode/gui/menusAndSimilar/mainWindow.cpp
sourceCode/gui/menusAndSimilar/statusBar.cpp
sourceCode/gui/menusAndSimilar/helpMenu.cpp
sourceCode/gui/various/guiApp.cpp
sourceCode/gui/various/simRecorder.cpp
sourceCode/gui/various/uiThread.cpp
sourceCode/gui/various/simAndUiThreadSync.cpp
sourceCode/gui/libs/auxLibVideo.cpp
)
endif()
target_sources(coppeliaSim PRIVATE
${COPPELIASIM_INCLUDE_DIR}/simMath/mathFuncs.cpp
${COPPELIASIM_INCLUDE_DIR}/simMath/mXnMatrix.cpp
${COPPELIASIM_INCLUDE_DIR}/simMath/7Vector.cpp
${COPPELIASIM_INCLUDE_DIR}/simMath/4X4Matrix.cpp
${COPPELIASIM_INCLUDE_DIR}/simMath/4Vector.cpp
${COPPELIASIM_INCLUDE_DIR}/simMath/3X3Matrix.cpp
${COPPELIASIM_INCLUDE_DIR}/simMath/3Vector.cpp
sourceCode/backwardCompatibility/kinematics/ikGroup_old.cpp
sourceCode/backwardCompatibility/kinematics/_ikGroup_old.cpp
sourceCode/backwardCompatibility/kinematics/ikElement_old.cpp
sourceCode/backwardCompatibility/kinematics/ikGroupContainer.cpp
sourceCode/backwardCompatibility/kinematics/_ikGroupContainer_.cpp
sourceCode/backwardCompatibility/pathPlanning/pathPlanning_old.cpp
sourceCode/backwardCompatibility/pathPlanning/holonomicPathPlanning_old.cpp
sourceCode/backwardCompatibility/pathPlanning/holonomicPathNode_old.cpp
sourceCode/backwardCompatibility/pathPlanning/nonHolonomicPathPlanning_old.cpp
sourceCode/backwardCompatibility/pathPlanning/nonHolonomicPathNode_old.cpp
sourceCode/backwardCompatibility/pathPlanning/pathPlanningTask_old.cpp
sourceCode/backwardCompatibility/tubes/commTube.cpp
sourceCode/backwardCompatibility/wireless/broadcastDataContainer.cpp
sourceCode/backwardCompatibility/wireless/broadcastData.cpp
sourceCode/backwardCompatibility/customUserInterfaces/buttonBlock.cpp
sourceCode/backwardCompatibility/customUserInterfaces/softButton.cpp
sourceCode/backwardCompatibility/draw/bannerObject.cpp
sourceCode/backwardCompatibility/draw/ptCloud_old.cpp
sourceCode/backwardCompatibility/geom/linMotionRoutines.cpp
sourceCode/backwardCompatibility/interfaces/pathPlanningInterface.cpp
sourceCode/backwardCompatibility/sceneContainers/bannerContainer.cpp
sourceCode/backwardCompatibility/sceneContainers/registeredPathPlanningTasks.cpp
sourceCode/backwardCompatibility/sceneContainers/distanceObjectContainer_old.cpp
sourceCode/backwardCompatibility/sceneContainers/collisionObjectContainer_old.cpp
sourceCode/backwardCompatibility/sceneContainers/customData_old.cpp
sourceCode/backwardCompatibility/sceneContainers/commTubeContainer.cpp
sourceCode/backwardCompatibility/sceneContainers/ghostObjectContainer.cpp
sourceCode/backwardCompatibility/sceneContainers/pointCloudContainer_old.cpp
sourceCode/backwardCompatibility/sceneContainers/buttonBlockContainer.cpp
sourceCode/backwardCompatibility/sceneContainers/mainSettings_old.cpp
sourceCode/backwardCompatibility/sceneObjects/mill.cpp
sourceCode/backwardCompatibility/sceneObjects/path_old.cpp
sourceCode/backwardCompatibility/collisions/collisionObject_old.cpp
sourceCode/backwardCompatibility/distances/distanceObject_old.cpp
sourceCode/backwardCompatibility/sceneObjects/bezierPathPoint_old.cpp
sourceCode/backwardCompatibility/sceneObjects/simplePathPoint_old.cpp
sourceCode/backwardCompatibility/sceneObjects/pathPoint_old.cpp
sourceCode/backwardCompatibility/sceneObjects/pathCont_old.cpp
sourceCode/backwardCompatibility/sceneObjects/simpleFilter.cpp
sourceCode/backwardCompatibility/sceneObjects/composedFilter.cpp
sourceCode/backwardCompatibility/sceneObjects/graphingRoutines_old.cpp
sourceCode/backwardCompatibility/sceneObjects/graphDataComb_old.cpp
sourceCode/backwardCompatibility/sceneObjects/graphData_old.cpp
sourceCode/backwardCompatibility/sceneObjects/staticGraphCurve_old.cpp
sourceCode/backwardCompatibility/scripting/userParameters.cpp
sourceCode/backwardCompatibility/scripting/customScriptFuncAndVar/scriptCustomFuncAndVarContainer.cpp
sourceCode/backwardCompatibility/scripting/customScriptFuncAndVar/scriptCustomFunction.cpp
sourceCode/backwardCompatibility/scripting/customScriptFuncAndVar/scriptCustomVariable.cpp
sourceCode/backwardCompatibility/utils/threadPool_old.cpp
sourceCode/backwardCompatibility/various/memorizedConf_old.cpp
sourceCode/backwardCompatibility/various/ghostObject.cpp
sourceCode/drawingObjects/drawingObject.cpp
sourceCode/platform/vVarious.cpp
sourceCode/platform/vThread.cpp
sourceCode/platform/vMutex.cpp
sourceCode/platform/vFileFinder.cpp
sourceCode/platform/vFile.cpp
sourceCode/platform/vDateTime.cpp
sourceCode/platform/vArchive.cpp
sourceCode/collections/collectionElement.cpp
sourceCode/collections/collection.cpp
sourceCode/collisions/collisionRoutines.cpp
sourceCode/distances/distanceRoutines.cpp
sourceCode/sceneObjects/related/sceneObject.cpp
sourceCode/sceneObjects/related/convexVolume.cpp
sourceCode/sceneObjects/related/viewableBase.cpp
sourceCode/sceneObjects/jointObject.cpp
sourceCode/sceneObjects/camera.cpp
sourceCode/sceneObjects/dummy.cpp
sourceCode/sceneObjects/script.cpp
sourceCode/sceneObjects/octree.cpp
sourceCode/sceneObjects/pointCloud.cpp
sourceCode/sceneObjects/forceSensor.cpp
sourceCode/sceneObjects/graph.cpp
sourceCode/sceneObjects/light.cpp
sourceCode/sceneObjects/mirror.cpp
sourceCode/sceneObjects/proximitySensor.cpp
sourceCode/sceneObjects/shape.cpp
sourceCode/sceneObjects/visionSensor.cpp
sourceCode/sceneObjects/graphObjectRelated/graphDataStream.cpp
sourceCode/sceneObjects/graphObjectRelated/graphCurve.cpp
sourceCode/sceneObjects/proximitySensorObjectRelated/proxSensorRoutine.cpp
sourceCode/sceneObjects/shapeObjectRelated/mesh.cpp
sourceCode/sceneObjects/shapeObjectRelated/meshWrapper.cpp
sourceCode/sceneObjects/shapeObjectRelated/volInt.cpp
sourceCode/communication/serialPort/serialPort.cpp
sourceCode/communication/serialPort/serial_win_mac_linux.cpp
sourceCode/communication/serialPort/serialPortWin.cpp
sourceCode/mainContainers/worldContainer.cpp
sourceCode/mainContainers/world.cpp
sourceCode/mainContainers/sceneContainers/drawingContainer.cpp
sourceCode/mainContainers/sceneContainers/textureContainer.cpp
sourceCode/mainContainers/sceneContainers/simulation.cpp
sourceCode/mainContainers/sceneContainers/collectionContainer.cpp
sourceCode/mainContainers/sceneContainers/outsideCommandQueue.cpp
sourceCode/mainContainers/sceneContainers/sceneObjectContainer.cpp
sourceCode/mainContainers/sceneContainers/embeddedScriptContainer.cpp
sourceCode/mainContainers/sceneContainers/environment.cpp
sourceCode/mainContainers/sceneContainers/dynamicsContainer.cpp
sourceCode/mainContainers/sceneContainers/customData.cpp
sourceCode/mainContainers/sceneContainers/cacheCont.cpp
sourceCode/mainContainers/sceneContainers/apiErrors.cpp
sourceCode/mainContainers/sceneContainers/undoBufferCont.cpp
sourceCode/mainContainers/applicationContainers/copyBuffer.cpp
sourceCode/mainContainers/applicationContainers/persistentDataContainer.cpp
sourceCode/mainContainers/applicationContainers/simulatorMessageQueue.cpp
sourceCode/mainContainers/applicationContainers/calculationInfo.cpp
sourceCode/mainContainers/applicationContainers/interfaceStackContainer.cpp
sourceCode/mainContainers/applicationContainers/addOnScriptContainer.cpp
sourceCode/mainContainers/applicationContainers/pluginContainer.cpp
sourceCode/mainContainers/applicationContainers/plugin.cpp
sourceCode/mainContainers/applicationContainers/pluginCallbackContainer.cpp
sourceCode/mainContainers/applicationContainers/pluginVariableContainer.cpp
sourceCode/mainContainers/applicationContainers/codeEditorInfos.cpp
sourceCode/mainContainers/applicationContainers/codeEditorFunctions.cpp
sourceCode/mainContainers/applicationContainers/codeEditorVariables.cpp
sourceCode/mainContainers/applicationContainers/serialPortContainer.cpp
sourceCode/scripting/scriptObject.cpp
sourceCode/scripting/outsideCommandQueueForScript.cpp
sourceCode/scripting/luaWrapper.cpp
sourceCode/pagesAndViews/pageContainer.cpp
sourceCode/pagesAndViews/sPage.cpp
sourceCode/pagesAndViews/sView.cpp
sourceCode/textures/textureObject.cpp
sourceCode/textures/imgLoaderSaver.cpp
sourceCode/textures/tGAFormat.cpp
sourceCode/textures/stb_image.c
sourceCode/textures/textureProperty.cpp
sourceCode/serialization/ser.cpp
sourceCode/serialization/huffman.c
sourceCode/interfaces/sim.cpp
sourceCode/interfaces/simInternal.cpp
sourceCode/interfaces/luaScriptFunctions.cpp
sourceCode/interfaces/interfaceStack/interfaceStack.cpp
sourceCode/interfaces/interfaceStack/interfaceStackObject.cpp
sourceCode/interfaces/interfaceStack/interfaceStackNull.cpp
sourceCode/interfaces/interfaceStack/interfaceStackBool.cpp
sourceCode/interfaces/interfaceStack/interfaceStackNumber.cpp
sourceCode/interfaces/interfaceStack/interfaceStackInteger.cpp
sourceCode/interfaces/interfaceStack/interfaceStackString.cpp
sourceCode/interfaces/interfaceStack/interfaceStackTable.cpp
sourceCode/menusAndSimilar/addOperations.cpp
sourceCode/menusAndSimilar/fileOperations.cpp
sourceCode/menusAndSimilar/moduleMenuItemContainer.cpp
sourceCode/menusAndSimilar/moduleMenuItem.cpp
sourceCode/variousFunctions/sceneObjectOperations.cpp
sourceCode/geometricAlgorithms/meshRoutines.cpp
sourceCode/geometricAlgorithms/meshManip.cpp
sourceCode/geometricAlgorithms/edgeElement.cpp
sourceCode/geometricAlgorithms/algos.cpp
sourceCode/various/userSettings.cpp
sourceCode/various/folderSystem.cpp
sourceCode/various/app.cpp
sourceCode/various/simThread.cpp
sourceCode/various/dynMaterialObject.cpp
sourceCode/various/sigHandler.cpp
sourceCode/various/engineProperties.cpp
sourceCode/undoRedo/undoBufferArrays.cpp
sourceCode/undoRedo/undoBuffer.cpp
sourceCode/undoRedo/undoBufferCameras.cpp
sourceCode/displ/colorObject.cpp
sourceCode/visual/thumbnail.cpp
sourceCode/utils/utils.cpp
sourceCode/utils/tt.cpp
sourceCode/utils/confReaderAndWriter.cpp
sourceCode/utils/base64.cpp
sourceCode/utils/cbor.cpp
sourceCode/utils/annJson.cpp
sourceCode/utils/sha256.cpp
sourceCode/utils/instance_id.cpp
)
if(NOT PLUS)
target_sources(coppeliaSim PRIVATE
sourceCode/interfaces/simFlavor.cpp
sourceCode/interfaces/gm.cpp
)
endif()
target_sources(coppeliaSim PRIVATE
sourceCode/platform/vSimUiMutex.cpp
sourceCode/platform/wThread.cpp
sourceCode/various/simQApp.cpp
)
if(WITH_GUI)
target_sources(coppeliaSim PRIVATE
sourceCode/gui/sceneObjects/visionSensorObjectRelated/offscreenGlContext.cpp
sourceCode/gui/sceneObjects/visionSensorObjectRelated/frameBufferObject.cpp
sourceCode/gui/sceneObjects/visionSensorObjectRelated/visionSensorGlStuff.cpp
sourceCode/gui/visual/oGL.cpp
sourceCode/gui/visual/oglExt.cpp
sourceCode/gui/visual/glBufferObjects.cpp
)
endif()
target_link_libraries(coppeliaSim Boost::boost)
target_link_libraries(coppeliaSim tinyxml2::tinyxml2)
target_link_libraries(coppeliaSim ${LUA_LIBRARIES})
if(WITH_QSCINTILLA)
target_link_libraries(coppeliaSim ${QSCINTILLA_LIBRARY})
endif()
target_link_libraries(coppeliaSim Qt::Core Qt::PrintSupport Qt::Network)
if(WITH_GUI)
target_link_libraries(coppeliaSim Qt::Gui)
target_link_libraries(coppeliaSim Qt::Widgets)
target_link_libraries(coppeliaSim OpenGL::GL)
target_link_libraries(coppeliaSim Qt::OpenGL)
if(Qt STREQUAL Qt6)
target_link_libraries(coppeliaSim Qt::OpenGLWidgets)
endif()
endif()
if(WIN32)
target_link_libraries(coppeliaSim
winmm
Shell32
opengl32
user32
Dbghelp
)
endif()
if(PLUS)
add_subdirectory(${PLUS} ${CMAKE_CURRENT_BINARY_DIR}/plus)
target_include_directories(coppeliaSim PRIVATE ${PLUS}/sourceCode)
endif()
if(WITH_QSCINTILLA AND APPLE)
get_filename_component(QSCINTILLA_LIB_NAME ${QSCINTILLA_LIBRARY} NAME)
add_custom_command(TARGET coppeliaSim POST_BUILD COMMAND ${CMAKE_INSTALL_NAME_TOOL} -change ${QSCINTILLA_LIB_NAME} @executable_path/../Frameworks/${QSCINTILLA_LIB_NAME} $<TARGET_FILE:coppeliaSim>)
endif()
if(NOT WITH_GUI)
set_target_properties(coppeliaSim PROPERTIES OUTPUT_NAME "coppeliaSimHeadless")
endif()
if(INSTALL_DIR)
install(TARGETS coppeliaSim DESTINATION "${INSTALL_DIR}")
endif()