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# SPDX-FileCopyrightText: 2012-2021 Istituto Italiano di Tecnologia (IIT)
# SPDX-FileCopyrightText: 2009 RobotCub Consortium
# SPDX-License-Identifier: BSD-3-Clause
#[=======================================================================[.rst:
FindODE
-------
Options::
ODE_DOUBLE_PRECISION -use double precision ode libraries
ODE_STATIC -link against static libraries
On exit create the following variables::
ODE_INCLUDE_DIRS - Directories to include to use ODE
ODE_LIBRARIES - Default library to link against to use ODE
ODE_FOUND - If false, library not found
#]=======================================================================]
# find (all) header files for include directories:
if(NOT ODE_DIR)
set(ODE_ENV_DIR $ENV{ODE_DIR})
if(ODE_ENV_DIR)
find_path(ODE_DIR include/ode/ode.h HINTS "${ODE_ENV_DIR}")
else()
find_path(ODE_DIR include/ode/ode.h ${CMAKE_PROJECT_DIR})
endif()
endif()
find_path(ODE_INCLUDE_DIRS ode/ode.h HINTS "${ODE_DIR}/include")
mark_as_advanced(ODE_INCLUDE_DIRS)
set(ODE_SYSTEM_LIBS)
set(ODE_SYSTEM_LIBS_FOUND FALSE)
set(ODE_FOUND FALSE)
if(MSVC)
option(ODE_STATIC "Link ODE as static library? Warning in windows, to coexist with YARP you need to set this to FALSE" TRUE)
option(ODE_DOUBLE_PRECISION "Use double precision version of the ODE library" TRUE)
#search static and dynamic libs, single and double precision
find_library(ODE_MAIN_STATIC_DOUBLE_DB
NAMES ode ode_doubled
HINTS "${ODE_DIR}/lib/debuglib" "${ODE_DIR}/lib/debugdoublelib")
find_library(ODE_MAIN_STATIC_DOUBLE_RE
NAMES ode ode_double
HINTS "${ODE_DIR}/lib/releaselib" "${ODE_DIR}/lib/releasedoublelib")
find_library(ODE_MAIN_DLL_DOUBLE_DB
NAMES ode ode_doubled
HINTS "${ODE_DIR}/lib/debugdll" "${ODE_DIR}/lib/debugdoubledll")
find_library(ODE_MAIN_DLL_DOUBLE_RE
NAMES ode ode_double
HINTS "${ODE_DIR}/lib/releasedll" "${ODE_DIR}/lib/releasedoubledll")
find_library(ODE_MAIN_STATIC_SINGLE_DB
NAMES ode ode_singled
HINTS "${ODE_DIR}/lib/debuglib" "${ODE_DIR}/lib/debugsinglelib")
find_library(ODE_MAIN_STATIC_SINGLE_RE
NAMES ode ode_single
HINTS "${ODE_DIR}/lib/releaselib" "${ODE_DIR}/lib/releasesinglelib")
find_library(ODE_MAIN_DLL_SINGLE_DB
NAMES ode ode_singled
HINTS "${ODE_DIR}/lib/debugdll" "${ODE_DIR}/lib/debugsingledll")
find_library(ODE_MAIN_DLL_SINGLE_RE
NAMES ode ode_single
HINTS "${ODE_DIR}/lib/releasedll" "${ODE_DIR}/lib/releasesingledll")
mark_as_advanced(ODE_MAIN_STATIC_SINGLE_DB
ODE_MAIN_STATIC_SINGLE_RE
ODE_MAIN_STATIC_DOUBLE_DB
ODE_MAIN_STATIC_DOUBLE_RE
ODE_MAIN_DLL_DOUBLE_DB
ODE_MAIN_DLL_DOUBLE_RE
ODE_MAIN_DLL_SINGLE_DB
ODE_MAIN_DLL_SINGLE_RE)
set(ODE_SYSTEM_LIBS opengl32 glu32)
set(ODE_SYSTEM_LIBS_FOUND TRUE)
# if(ODE_MAIN_STATIC_DB OR ODE_MAIN_LIBRARY_DB OR ODE_MAIN_STATIC_RE OR ODE_MAIN_LIBRARY_RE)
# mark_as_advanced(CLEAR ODE_STATIC)
# else()
# mark_as_advanced(ODE_STATIC)
# endif()
if(ODE_STATIC AND NOT ODE_DOUBLE_PRECISION)
if(ODE_MAIN_STATIC_SINGLE_RE AND ODE_MAIN_STATIC_SINGLE_DB AND ODE_SYSTEM_LIBS_FOUND AND ODE_INCLUDE_DIRS)
set(ODE_FOUND TRUE)
set(ODE_LIBRARIES "${ODE_SYSTEM_LIBS};optimized;${ODE_MAIN_STATIC_SINGLE_RE};debug;${ODE_MAIN_STATIC_SINGLE_DB}")
endif()
endif()
if(ODE_STATIC AND ODE_DOUBLE_PRECISION)
if(ODE_MAIN_STATIC_DOUBLE_RE AND ODE_MAIN_STATIC_DOUBLE_DB AND ODE_SYSTEM_LIBS_FOUND AND ODE_INCLUDE_DIRS)
set(ODE_FOUND TRUE)
set(ODE_LIBRARIES "${ODE_SYSTEM_LIBS};optimized;${ODE_MAIN_STATIC_DOUBLE_RE};debug;${ODE_MAIN_STATIC_DOUBLE_DB}")
endif()
endif()
if(NOT ODE_STATIC AND NOT ODE_DOUBLE_PRECISION)
if(ODE_MAIN_DLL_SINGLE_RE AND ODE_MAIN_DLL_SINGLE_DB AND ODE_SYSTEM_LIBS_FOUND AND ODE_INCLUDE_DIRS)
set(ODE_FOUND TRUE)
set(ODE_LIBRARIES "${ODE_SYSTEM_LIBS};optimized;${ODE_MAIN_DLL_SINGLE_RE};debug;${ODE_MAIN_DLL_SINGLE_DB}")
endif()
endif()
if(NOT ODE_STATIC AND ODE_DOUBLE_PRECISION)
if(ODE_MAIN_DLL_DOUBLE_RE AND ODE_MAIN_DLL_DOUBLE_DB AND ODE_SYSTEM_LIBS_FOUND AND ODE_INCLUDE_DIRS)
set(ODE_FOUND TRUE)
set(ODE_LIBRARIES "${ODE_SYSTEM_LIBS};optimized;${ODE_MAIN_DLL_DOUBLE_RE};debug;${ODE_MAIN_DLL_DOUBLE_DB}")
endif()
endif()
else()
find_library(ODE_MAIN_LIBRARY NAMES ode libode HINTS "${ODE_DIR}/lib" "${ODE_DIR}/ode/src" "${ODE_DIR}/ode/src/.libs")
mark_as_advanced(ODE_MAIN_LIBRARY)
find_package(OpenGL)
if(NOT OPENGL_FOUND)
message(STATUS "Cannot find OpenGL, but ODE needs it")
endif(NOT OPENGL_FOUND)
set(ODE_SYSTEM_LIBS ${OPENGL_LIBRARIES})
set(ODE_SYSTEM_LIBS_FOUND ${OPENGL_FOUND})
if(ODE_MAIN_LIBRARY AND ODE_SYSTEM_LIBS_FOUND AND ODE_INCLUDE_DIRS)
set(ODE_FOUND TRUE)
set(ODE_LIBRARIES ${ODE_MAIN_LIBRARY} ${ODE_SYSTEM_LIBS})
#message(STATUS "ODE libraries: ${ODE_LIBRARIES}")
endif()
if(NOT CMAKE_CROSSCOMPILING)
include(CheckCXXSourceRuns)
set(CMAKE_REQUIRED_INCLUDES ${ODE_INCLUDE_DIRS})
set(CMAKE_REQUIRED_LIBRARIES ${ODE_LIBRARIES})
check_cxx_source_runs("extern \"C\" int dCheckConfiguration(const char*str); \n int main() { return dCheckConfiguration(\"ODE_double_precision\")?0:1; }\n" ODE_IS_DOUBLE)
else()
set(ODE_IS_DOUBLE FALSE)
endif()
if(ODE_IS_DOUBLE)
set(ODE_DOUBLE_PRECISION CACHE INTERNAL "true if ODE has double precision capabilities" TRUE)
else()
set(ODE_DOUBLE_PRECISION CACHE INTERNAL "true if ODE has double precision capabilities" FALSE)
endif()
endif()
if(ODE_FOUND)
if(NOT ODE_FIND_QUIETLY)
message(STATUS "Found ODE: ${ODE_LIBRARIES}")
endif(NOT ODE_FIND_QUIETLY)
else()
if(ODE_FIND_REQUIRED OR ODE_DIR)
if(ODE_DIR)
message(STATUS "ODE library not found, check ODE_DIR")
else()
message(FATAL_ERROR "ODE library not found, check ODE_DIR")
endif()
endif()
endif()
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