CMakeLists.txt

cmake_minimum_required(VERSION 3.0 FATAL_ERROR)

project(BinPickingSimulation)

add_subdirectory(include)

FIND_PACKAGE(PCL REQUIRED)

if (WIN32)
    find_package(Bullet CONFIG REQUIRED HINTS "bullet3\\share\\bullet3")
elseif(UNIX AND NOT APPLE)
    find_package(Bullet CONFIG REQUIRED HINTS "bullet3_linux\\share\\bullet3")
endif ()

FIND_PACKAGE(OpenMP)
FIND_PACKAGE(CUDA)

# For bullet lib. You may need to modify here.
SET(__BULLET_INCLUDE_DIRS "${BULLET_INCLUDE_DIRS}; ${BULLET_INCLUDE_DIRS}/bullet/")
SET(__BULLET_LIBRARY_DIRS "${BULLET_INCLUDE_DIRS}/../lib")
SET(__BULLET_LIBRARIES "${BULLET_LIBRARIES};optimized;LinearMath;optimized;BulletDynamics;optimized;BulletCollision;optimized;BulletInverseDynamics;optimized;HACD")



IF(OPENMP_FOUND) 
    SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
    SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
ENDIF()

IF(CUDA_FOUND) 
	SET(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS}; -Xcompiler \"/wd 4819\" -arch=sm_61")
	OPTION(USE_CUDA "Enable CUDA" TRUE)
ELSE()
	OPTION(USE_CUDA "Enable CUDA" FALSE)
ENDIF()

IF(USE_CUDA)
	ADD_DEFINITIONS(-DUSE_GPU)
	MESSAGE(STATUS "CUDA Enabled.")
ENDIF()

OPTION(USE_SIMD "Enable SIMD" FALSE)

IF(USE_SIMD)
	ADD_DEFINITIONS(-DUSE_SIMD)
	MESSAGE(STATUS "SIMD Enabled.")
ENDIF()

IF(USE_SIMD AND USE_CUDA)
	MESSAGE(FATAL_ERROR "You cannot set USE_GPU and USE_SIMD simultaneously.")
ENDIF()

INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS} ${__BULLET_INCLUDE_DIRS})
LINK_DIRECTORIES(${PCL_LIBRARY_DIRS} ${__BULLET_LIBRARY_DIRS})
ADD_DEFINITIONS(${PCL_DEFINITIONS})

ADD_EXECUTABLE(binSceneMaker binSceneMaker.cpp convexDecomposition.hpp setting.hpp)
TARGET_LINK_LIBRARIES(binSceneMaker ${PCL_LIBRARIES} ${__BULLET_LIBRARIES} HPR meshSampling)
TARGET_INCLUDE_DIRECTORIES(binSceneMaker PUBLIC ${HPR_INCLUDE_DIR} ${MESHSAMPLING_INCLUDE_DIR})

IF(USE_CUDA)
	CUDA_ADD_EXECUTABLE(visibleSceneMaker visibleSceneMaker.cpp setting.hpp visible_check.cu visible_check.cpp visible_check.h visible_check.cuh)
ELSE()
	ADD_EXECUTABLE(visibleSceneMaker visibleSceneMaker.cpp setting.hpp visible_check.cpp visible_check.h)
ENDIF()
TARGET_LINK_LIBRARIES(visibleSceneMaker ${PCL_LIBRARIES} HPR meshSampling)
TARGET_INCLUDE_DIRECTORIES(visibleSceneMaker PUBLIC ${HPR_INCLUDE_DIR} ${MESHSAMPLING_INCLUDE_DIR})