Support building as sub-project (#1553)

dartsim · Apr 10, 2021 · bff098b · bff098b
1 parent 82028e3
commit bff098b
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Showing 8 changed files with 33 additions and 28 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -25,6 +25,11 @@ if(POLICY CMP0053)
   cmake_policy(SET CMP0053 NEW)
 endif()
 
+# Use DART_SOURCE/BINARY_DIR instead of CMAKE_SOURCE/BINARY_DIR to support the
+# case that DART is built as a sub-project in another project.
+set(DART_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR})
+set(DART_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR})
+
 include(GNUInstallDirs)
 
 # Variables used in Components.cmake
@@ -39,7 +44,7 @@ set(DART_ADDITIONAL_DOCUMENTATION_INSTALL_PATH
 )
 
 set(CMAKE_DEBUG_POSTFIX "d")
-set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
+set(CMAKE_MODULE_PATH "${DART_SOURCE_DIR}/cmake")
 
 include(DARTMacros)
 
@@ -281,8 +286,8 @@ if(DART_VERBOSE)
   elseif(${CMAKE_BUILD_TYPE_UPPERCASE} STREQUAL "PROFILE")
     message(STATUS "CXX_FLAGS_PROFILE: ${CMAKE_CXX_FLAGS_PROFILE}")
   endif()
-  message(STATUS "CMAKE_SOURCE_DIR : ${CMAKE_SOURCE_DIR}")
-  message(STATUS "CMAKE_BINARY_DIR : ${CMAKE_BINARY_DIR}")
+  message(STATUS "DART_SOURCE_DIR : ${DART_SOURCE_DIR}")
+  message(STATUS "DART_BINARY_DIR : ${DART_BINARY_DIR}")
 endif(DART_VERBOSE)
 
 #===============================================================================
@@ -382,9 +387,9 @@ get_property(PACKAGE_INCLUDE_DIRS GLOBAL
 
 # Generate the DART CMake Config and version files
 include(CMakePackageConfigHelpers)
-set(DART_CONFIG_IN ${CMAKE_SOURCE_DIR}/cmake/${PROJECT_NAME_UPPERCASE}Config.cmake.in)
-set(DART_CONFIG_OUT ${CMAKE_BINARY_DIR}/${PROJECT_NAME_UPPERCASE}Config.cmake)
-set(DART_VERSION_OUT ${CMAKE_BINARY_DIR}/cmake/${PROJECT_NAME_UPPERCASE}ConfigVersion.cmake)
+set(DART_CONFIG_IN ${DART_SOURCE_DIR}/cmake/${PROJECT_NAME_UPPERCASE}Config.cmake.in)
+set(DART_CONFIG_OUT ${DART_BINARY_DIR}/${PROJECT_NAME_UPPERCASE}Config.cmake)
+set(DART_VERSION_OUT ${DART_BINARY_DIR}/cmake/${PROJECT_NAME_UPPERCASE}ConfigVersion.cmake)
 if(DART_VERBOSE)
   message(STATUS ${DART_CONFIG_OUT})
   message(STATUS ${DART_VERSION_OUT})
@@ -406,8 +411,8 @@ install(
 )
 
 # Generate the DART pkg-config
-set(PC_CONFIG_IN ${CMAKE_SOURCE_DIR}/cmake/dart.pc.in)
-set(PC_CONFIG_OUT ${CMAKE_BINARY_DIR}/cmake/dart.pc)
+set(PC_CONFIG_IN ${DART_SOURCE_DIR}/cmake/dart.pc.in)
+set(PC_CONFIG_OUT ${DART_BINARY_DIR}/cmake/dart.pc)
 set(PC_CONFIG_INSTALL_DIR ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}/pkgconfig)
 file(RELATIVE_PATH
   RELATIVE_PATH_TO_INSTALL_PREFIX
@@ -483,14 +488,14 @@ if(CLANG_FORMAT_EXECUTABLE)
                       COMMAND ${CLANG_FORMAT_EXECUTABLE} -style=file -i ${formatting_files}
                       COMMAND ${CMAKE_COMMAND} -E echo "Done."
                       DEPENDS ${CLANG_FORMAT_EXECUTABLE}
-                      WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}/dart)
+                      WORKING_DIRECTORY ${DART_SOURCE_DIR}/dart)
 
     add_custom_target(check-format
                       COMMAND ${CMAKE_COMMAND} -E echo "Checking ${formatting_files_length} files... "
-                      COMMAND ${CMAKE_SOURCE_DIR}/tools/check_format.sh ${CLANG_FORMAT_EXECUTABLE} ${formatting_files}
+                      COMMAND ${DART_SOURCE_DIR}/tools/check_format.sh ${CLANG_FORMAT_EXECUTABLE} ${formatting_files}
                       COMMAND ${CMAKE_COMMAND} -E echo "Done."
                       DEPENDS ${CLANG_FORMAT_EXECUTABLE}
-                      WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}/dart)
+                      WORKING_DIRECTORY ${DART_SOURCE_DIR}/dart)
   else()
     add_custom_target(format
                       COMMAND ${CMAKE_COMMAND} -E echo "Warning: Not found any source files to format.")

diff --git a/cmake/Components.cmake b/cmake/Components.cmake
@@ -225,7 +225,7 @@ function(install_component_exports package_name)
     endforeach()
 
     configure_file(
-      "${CMAKE_SOURCE_DIR}/cmake/dart_Component.cmake.in"
+      "${DART_SOURCE_DIR}/cmake/dart_Component.cmake.in"
       "${output_path}"
       @ONLY)
 

diff --git a/cmake/DARTMacros.cmake b/cmake/DARTMacros.cmake
@@ -261,7 +261,7 @@ function(dart_build_target_in_source target)
 
   set_target_properties(${target}
     PROPERTIES
-      RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin"
+      RUNTIME_OUTPUT_DIRECTORY "${DART_BINARY_DIR}/bin"
   )
 
   dart_format_add(${srcs})

diff --git a/dart/CMakeLists.txt b/dart/CMakeLists.txt
@@ -7,8 +7,8 @@ if(MSVC AND ${CMAKE_CXX_COMPILER_ID} STREQUAL "MSVC")
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /MP")
 endif()
 
-set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib")
-set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib")
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${DART_BINARY_DIR}/lib")
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${DART_BINARY_DIR}/lib")
 
 #===============================================================================
 # Source directories
@@ -88,8 +88,8 @@ add_subdirectory(planning) # flann
 add_subdirectory(utils) # tinyxml2, bullet
 add_subdirectory(gui) # opengl, glut, bullet
 
-set(DART_CONFIG_HPP_IN ${CMAKE_SOURCE_DIR}/dart/config.hpp.in)
-set(DART_CONFIG_HPP_OUT ${CMAKE_BINARY_DIR}/dart/config.hpp)
+set(DART_CONFIG_HPP_IN ${DART_SOURCE_DIR}/dart/config.hpp.in)
+set(DART_CONFIG_HPP_OUT ${DART_BINARY_DIR}/dart/config.hpp)
 if(DART_VERBOSE)
   message(STATUS ${DART_CONFIG_HPP_OUT})
 endif()
@@ -120,8 +120,8 @@ get_property(dart_core_sources GLOBAL PROPERTY DART_CORE_SOURCES)
 dart_add_library(dart ${dart_core_headers} ${dart_core_sources})
 target_include_directories(dart BEFORE
   PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}>
-    $<BUILD_INTERFACE:${CMAKE_BINARY_DIR}>
+    $<BUILD_INTERFACE:${DART_SOURCE_DIR}>
+    $<BUILD_INTERFACE:${DART_BINARY_DIR}>
     $<INSTALL_INTERFACE:include>
 )
 target_link_libraries(dart

diff --git a/dart/external/odelcpsolver/CMakeLists.txt b/dart/external/odelcpsolver/CMakeLists.txt
@@ -9,8 +9,8 @@ set(component_name external-odelcpsolver)
 dart_add_library(${target_name} ${hdrs} ${srcs})
 target_include_directories(${target_name}
   PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}>
-    $<BUILD_INTERFACE:${CMAKE_BINARY_DIR}>
+    $<BUILD_INTERFACE:${DART_SOURCE_DIR}>
+    $<BUILD_INTERFACE:${DART_BINARY_DIR}>
 )
 if(CMAKE_VERSION VERSION_LESS 3.8.2)
   target_compile_options(${target_name} PUBLIC -std=c++14)

diff --git a/examples/wam_ikfast/ikfast/CMakeLists.txt b/examples/wam_ikfast/ikfast/CMakeLists.txt
@@ -6,6 +6,6 @@ target_compile_definitions(wamIk PUBLIC IKFAST_NO_MAIN IKFAST_CLIBRARY)
 target_compile_options(wamIk PRIVATE -w)
 set_target_properties(wamIk
   PROPERTIES
-   LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}"
-   ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}"
+   LIBRARY_OUTPUT_DIRECTORY "${DART_BINARY_DIR}"
+   ARCHIVE_OUTPUT_DIRECTORY "${DART_BINARY_DIR}"
 )
diff --git a/extras/dartc/tests/CMakeLists.txt b/extras/dartc/tests/CMakeLists.txt
@@ -1,5 +1,5 @@
-include_directories(BEFORE SYSTEM ${CMAKE_SOURCE_DIR}/unittests/gtest/include)
-include_directories(BEFORE SYSTEM ${CMAKE_SOURCE_DIR}/unittests/gtest)
+include_directories(BEFORE SYSTEM ${DART_SOURCE_DIR}/unittests/gtest/include)
+include_directories(BEFORE SYSTEM ${DART_SOURCE_DIR}/unittests/gtest)
 
 function(dartc_add_test test_type target_name) # ARGN for source files
 

diff --git a/unittests/CMakeLists.txt b/unittests/CMakeLists.txt
@@ -31,8 +31,8 @@
 #
 
 # GoogleTest setup
-include_directories(BEFORE SYSTEM ${CMAKE_SOURCE_DIR}/unittests/gtest/include)
-include_directories(BEFORE SYSTEM ${CMAKE_SOURCE_DIR}/unittests/gtest)
+include_directories(BEFORE SYSTEM ${DART_SOURCE_DIR}/unittests/gtest/include)
+include_directories(BEFORE SYSTEM ${DART_SOURCE_DIR}/unittests/gtest)
 add_library(gtest STATIC gtest/src/gtest-all.cc)
 add_library(gtest_main STATIC gtest/src/gtest_main.cc)
 target_link_libraries(gtest_main gtest)
@@ -41,7 +41,7 @@ if(NOT WIN32)
 endif()
 set_target_properties(
   gtest PROPERTIES
-  ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib
+  ARCHIVE_OUTPUT_DIRECTORY ${DART_BINARY_DIR}/lib
 )
 
 #===============================================================================