CMakeLists.txt

cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)

#============================================================================
# Initialize the project
#============================================================================
project(gz-rendering7 VERSION 7.0.0)

#============================================================================
# Find gz-cmake
#============================================================================
# If you get an error at this line, you need to install gz-cmake
find_package(gz-cmake3 REQUIRED)
set(GZ_CMAKE_VER ${gz-cmake3_VERSION_MAJOR})

#============================================================================
# Set up the project
#============================================================================
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

gz_configure_project(VERSION_SUFFIX)

#============================================================================
# Set project-specific options
#============================================================================
option(USE_UNOFFICIAL_OGRE_VERSIONS "Accept unsupported Ogre versions in the build" OFF)

#============================================================================
# Search for project-specific dependencies
#============================================================================

#--------------------------------------
# Find gz-math
gz_find_package(gz-math7 REQUIRED COMPONENTS eigen3)
set(GZ_MATH_VER ${gz-math7_VERSION_MAJOR})

#--------------------------------------
# Find gz-common
gz_find_package(gz-common5 REQUIRED
  COMPONENTS graphics events geospatial)
set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})

#--------------------------------------
# Find gz-plugin
gz_find_package(gz-plugin2 REQUIRED COMPONENTS all)
set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})

#--------------------------------------
# Find gz-utils
gz_find_package(gz-utils2 REQUIRED)
set(GZ_UTILS_VER ${gz-utils2_VERSION_MAJOR})

#--------------------------------------
# Find FreeImage
gz_find_package(FreeImage VERSION 3.9
  REQUIRED_BY optix
  PRIVATE_FOR optix)

#--------------------------------------
# Find OpenGL
# See CMP0072 for more details (cmake --help-policy CMP0072)
if ((NOT ${CMAKE_VERSION} VERSION_LESS 3.11) AND (NOT OpenGL_GL_PREFERENCE))
  set(OpenGL_GL_PREFERENCE "GLVND")
endif()

gz_find_package(OpenGL
  REQUIRED_BY ogre ogre2
  PKGCONFIG gl)

if (OpenGL_FOUND)
  set(HAVE_OPENGL TRUE)
endif()

#--------------------------------------
# Find OGRE
list(APPEND gz_ogre_components "RTShaderSystem" "Terrain" "Overlay" "Paging")

gz_find_package(GzOGRE VERSION 1.9.0
  COMPONENTS ${gz_ogre_components}
  REQUIRED_BY ogre
  PRIVATE_FOR ogre)

# Ogre versions greater than 1.9.x are not officialy supported.
# Display a warning for the users on this setup unless they provide
# USE_UNOFFICIAL_OGRE_VERSIONS flag
if (NOT USE_UNOFFICIAL_OGRE_VERSIONS)
  if (OGRE_VERSION VERSION_GREATER_EQUAL 1.10.0)
    GZ_BUILD_WARNING("Ogre 1.x versions greater than 1.9 are not officially supported."
                      "The software might compile and even work but support from upstream"
                      "could be reduced to accepting patches for newer versions")
  endif()
endif()

if (OGRE_FOUND)
  # find boost - mainly needed on macOS and also by the terrain component
  find_package(Boost)
  if (Boost_FOUND)
    include_directories(${Boost_INCLUDE_DIRS})
  endif()

  set(HAVE_OGRE TRUE)
endif()

#--------------------------------------
# Find OGRE2: first try to find OGRE2 built with PlanarReflections support and
# fallback to look for OGRE2 without it. Both seems to works for gz-rendering.
# See https://github.com/gazebosim/gz-rendering/issues/597
gz_find_package(GzOGRE2 VERSION 2.3.1
    COMPONENTS HlmsPbs HlmsUnlit Overlay PlanarReflections
    PRIVATE_FOR ogre2
    QUIET)

if ("${OGRE2-PlanarReflections}" STREQUAL "OGRE2-PlanarReflections-NOTFOUND")
  message(STATUS "PlanarReflections component was not found. Try looking without it:")
  gz_find_package(GzOGRE2 VERSION 2.3.1
    COMPONENTS HlmsPbs HlmsUnlit Overlay
    REQUIRED_BY ogre2
    PRIVATE_FOR ogre2)
endif()

if (OGRE2_FOUND)
  set(HAVE_OGRE2 TRUE)
endif()

# Plugin install dirs
set(GZ_RENDERING_ENGINE_INSTALL_DIR
  ${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/engine-plugins
)

#--------------------------------------
# Find dependencies that we ignore for Visual Studio
if(NOT MSVC)
  #--------------------------------------
  # Find CUDA
  find_package(CUDA)

  #--------------------------------------
  # Find OptiX
  gz_find_package(OptiX VERSION 3.8.0
      REQUIRED_BY optix
      PRIVATE_FOR optix)

  if (OptiX_FOUND AND CUDA_FOUND)
    set(HAVE_OPTIX TRUE)
  endif()
endif()

#####################################
# Define compile-time default variables
if(MSVC)
  set(GZ_RENDERING_PLUGIN_PATH ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR})
else()
  set(GZ_RENDERING_PLUGIN_PATH ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR})
endif()

set(GZ_RENDERING_RESOURCE_PATH ${CMAKE_INSTALL_PREFIX}/${GZ_DATA_INSTALL_DIR})

#============================================================================
# Configure the build
#============================================================================
if (HAVE_OGRE)
  list(APPEND RENDERING_COMPONENTS ogre)
endif()

if (HAVE_OPTIX)
  list(APPEND RENDERING_COMPONENTS optix)
endif()

if (HAVE_OGRE2)
  list(APPEND RENDERING_COMPONENTS ogre2)
endif()

configure_file("${PROJECT_SOURCE_DIR}/cppcheck.suppress.in"
               ${PROJECT_BINARY_DIR}/cppcheck.suppress)

gz_configure_build(QUIT_IF_BUILD_ERRORS
    COMPONENTS ${RENDERING_COMPONENTS})

if (HAVE_OGRE2)
  # Must be done after gz_configure_build or else Terra
  # won't see GZ_ADD_fPIC_TO_LIBRARIES
  add_subdirectory(ogre2/src/terrain/Terra)
endif()

#============================================================================
# Create package information
#============================================================================
gz_create_packages()

#============================================================================
# Configure documentation
#============================================================================
configure_file(${CMAKE_SOURCE_DIR}/api.md.in ${CMAKE_BINARY_DIR}/api.md)
configure_file(${CMAKE_SOURCE_DIR}/tutorials.md.in ${CMAKE_BINARY_DIR}/tutorials.md)

gz_create_docs(
  API_MAINPAGE_MD "${CMAKE_BINARY_DIR}/api.md"
  TUTORIALS_MAINPAGE_MD "${CMAKE_BINARY_DIR}/tutorials.md"
  IMAGE_PATH_DIRS "${CMAKE_SOURCE_DIR}/tutorials/img"
  TAGFILES
    "${GZ-COMMON_DOXYGEN_TAGFILE} = ${GZ-COMMON_API_URL}"
    "${GZ-MATH_DOXYGEN_TAGFILE} = ${GZ-MATH_API_URL}"
)

file(COPY ${CMAKE_SOURCE_DIR}/tutorials/img/ DESTINATION ${CMAKE_BINARY_DIR}/doxygen/html/img/)