flexible-collision-library · jslee02 · Nov 17, 2017 · Oct 4, 2017 · Oct 4, 2017 · Oct 11, 2017
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -24,6 +24,9 @@ project(fcl CXX C)
 
 option(FCL_ENABLE_PROFILING "Enable profiling" OFF)
 option(FCL_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" OFF)
+# Option for some bundle-like build system in order not to expose
+# any FCL binary symbols in their public ABI
+option(FCL_HIDE_ALL_SYMBOLS "Hide all binary symbols" OFF)
 
 # set the default build type
 if (NOT MSVC AND NOT CMAKE_BUILD_TYPE)
@@ -42,6 +45,7 @@ include(FCLMacros)
 include(CompilerSettings)
 include(FCLVersion)
 include(GNUInstallDirs)
+include(GenerateExportHeader) 
 
 if(MSVC OR IS_ICPC)
   option(FCL_STATIC_LIBRARY "Whether the FCL library should be static rather than shared" ON)
@@ -229,13 +233,12 @@ else()
   message(STATUS "FCL does not use OctoMap (as requested)")
 endif()
 
-
 # FCL's own include dir should be at the front of the include path
 include_directories(BEFORE "include")
 include_directories(BEFORE "${CMAKE_CURRENT_BINARY_DIR}/include")
 
-add_subdirectory(include/fcl)
 add_subdirectory(src)
+add_subdirectory(include/fcl)
 
 set(pkg_conf_file_in "${CMAKE_CURRENT_SOURCE_DIR}/fcl.pc.in")
 set(pkg_conf_file_out "${CMAKE_CURRENT_BINARY_DIR}/fcl.pc")
@@ -261,7 +264,7 @@ add_custom_target(uninstall
   "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/CMakeModules/cmake_uninstall.cmake")
 
 option(FCL_BUILD_TESTS "Build FCL tests" ON)
-if(FCL_BUILD_TESTS)
+if(FCL_BUILD_TESTS AND NOT FCL_HIDE_ALL_SYMBOLS)
     enable_testing()
     add_subdirectory(test)
 endif()

diff --git a/include/fcl/CMakeLists.txt b/include/fcl/CMakeLists.txt
@@ -2,6 +2,16 @@ file(GLOB_RECURSE HEADERS            ${CMAKE_CURRENT_SOURCE_DIR}/*.h)
 file(GLOB_RECURSE CONFIGURED_HEADERS ${CMAKE_CURRENT_BINARY_DIR}/*.h)
 set(FCL_HEADERS ${HEADERS} ${CONFIGURED_HEADERS} PARENT_SCOPE)
 
+# Generate export header. There is no way of generating a file name
+# called just export.h. Workaround using configure and remove
+generate_export_header(${PROJECT_NAME})
+configure_file(${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}_export.h
+  ${CMAKE_CURRENT_BINARY_DIR}/export.h
+  COPYONLY)
+file(REMOVE ${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}_export.h)
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/export.h
+  DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/fcl)
+
 configure_file(${CMAKE_CURRENT_SOURCE_DIR}/config.h.in ${CMAKE_CURRENT_BINARY_DIR}/config.h)
 install(FILES ${CMAKE_CURRENT_BINARY_DIR}/config.h DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/fcl)
 

diff --git a/include/fcl/broadphase/broadphase_SSaP-inl.h b/include/fcl/broadphase/broadphase_SSaP-inl.h
@@ -45,7 +45,7 @@ namespace fcl
 
 //==============================================================================
 extern template
-class SSaPCollisionManager<double>;
+class FCL_EXPORT SSaPCollisionManager<double>;
 
 /** @brief Functor sorting objects according to the AABB<S> lower x bound */
 template <typename S>
@@ -85,7 +85,7 @@ struct SortByZLow
 
 /** @brief Dummy collision object with a point AABB<S> */
 template <typename S>
-class DummyCollisionObject : public CollisionObject<S>
+class FCL_EXPORT DummyCollisionObject : public CollisionObject<S>
 {
 public:
   DummyCollisionObject(const AABB<S>& aabb_) : CollisionObject<S>(std::shared_ptr<CollisionGeometry<S>>())

diff --git a/include/fcl/broadphase/broadphase_SSaP.h b/include/fcl/broadphase/broadphase_SSaP.h
@@ -46,7 +46,7 @@ namespace fcl
 
 /// @brief Simple SAP collision manager 
 template <typename S>
-class SSaPCollisionManager : public BroadPhaseCollisionManager<S>
+class FCL_EXPORT SSaPCollisionManager : public BroadPhaseCollisionManager<S>
 {
 public:
   SSaPCollisionManager();

diff --git a/include/fcl/broadphase/broadphase_SaP-inl.h b/include/fcl/broadphase/broadphase_SaP-inl.h
@@ -45,7 +45,7 @@ namespace fcl
 
 //==============================================================================
 extern template
-class SaPCollisionManager<double>;
+class FCL_EXPORT SaPCollisionManager<double>;
 
 //==============================================================================
 template <typename S>

diff --git a/include/fcl/broadphase/broadphase_SaP.h b/include/fcl/broadphase/broadphase_SaP.h
@@ -48,7 +48,7 @@ namespace fcl
 
 /// @brief Rigorous SAP collision manager
 template <typename S>
-class SaPCollisionManager : public BroadPhaseCollisionManager<S>
+class FCL_EXPORT SaPCollisionManager : public BroadPhaseCollisionManager<S>
 {
 public:
 
@@ -119,10 +119,10 @@ class SaPCollisionManager : public BroadPhaseCollisionManager<S>
   struct SaPPair;
 
   /// @brief Functor to help unregister one object
-  class isUnregistered;
+  class FCL_EXPORT isUnregistered;
 
   /// @brief Functor to help remove collision pairs no longer valid (i.e., should be culled away)
-  class isNotValidPair;
+  class FCL_EXPORT isNotValidPair;
 
   void update_(SaPAABB* updated_aabb);
 
@@ -215,7 +215,7 @@ struct SaPCollisionManager<S>::SaPPair
 
 /// @brief Functor to help unregister one object
 template <typename S>
-class SaPCollisionManager<S>::isUnregistered
+class FCL_EXPORT SaPCollisionManager<S>::isUnregistered
 {
   CollisionObject<S>* obj;
 
@@ -227,7 +227,7 @@ class SaPCollisionManager<S>::isUnregistered
 
 /// @brief Functor to help remove collision pairs no longer valid (i.e., should be culled away)
 template <typename S>
-class SaPCollisionManager<S>::isNotValidPair
+class FCL_EXPORT SaPCollisionManager<S>::isNotValidPair
 {
   CollisionObject<S>* obj1;
   CollisionObject<S>* obj2;

diff --git a/include/fcl/broadphase/broadphase_bruteforce-inl.h b/include/fcl/broadphase/broadphase_bruteforce-inl.h
@@ -46,7 +46,7 @@ namespace fcl {
 
 //==============================================================================
 extern template
-class NaiveCollisionManager<double>;
+class FCL_EXPORT NaiveCollisionManager<double>;
 
 //==============================================================================
 template <typename S>

diff --git a/include/fcl/broadphase/broadphase_bruteforce.h b/include/fcl/broadphase/broadphase_bruteforce.h
@@ -46,7 +46,7 @@ namespace fcl
 
 /// @brief Brute force N-body collision manager
 template <typename S>
-class NaiveCollisionManager : public BroadPhaseCollisionManager<S>
+class FCL_EXPORT NaiveCollisionManager : public BroadPhaseCollisionManager<S>
 {
 public:
   NaiveCollisionManager();

diff --git a/include/fcl/broadphase/broadphase_collision_manager-inl.h b/include/fcl/broadphase/broadphase_collision_manager-inl.h
@@ -46,7 +46,7 @@ namespace fcl {
 
 //==============================================================================
 extern template
-class BroadPhaseCollisionManager<double>;
+class FCL_EXPORT BroadPhaseCollisionManager<double>;
 
 //==============================================================================
 template <typename S>

diff --git a/include/fcl/broadphase/broadphase_collision_manager.h b/include/fcl/broadphase/broadphase_collision_manager.h
@@ -63,7 +63,7 @@ using DistanceCallBack = bool (*)(
 /// collision/distance between N objects. Also support self collision, self
 /// distance and collision/distance with another M objects.
 template <typename S>
-class BroadPhaseCollisionManager
+class FCL_EXPORT BroadPhaseCollisionManager
 {
 public:
   BroadPhaseCollisionManager();

diff --git a/include/fcl/broadphase/broadphase_continuous_collision_manager-inl.h b/include/fcl/broadphase/broadphase_continuous_collision_manager-inl.h
@@ -46,7 +46,7 @@ namespace fcl {
 
 //==============================================================================
 extern template
-class BroadPhaseContinuousCollisionManager<double>;
+class FCL_EXPORT BroadPhaseContinuousCollisionManager<double>;
 
 //==============================================================================
 template <typename S>

diff --git a/include/fcl/broadphase/broadphase_continuous_collision_manager.h b/include/fcl/broadphase/broadphase_continuous_collision_manager.h
@@ -63,7 +63,7 @@ using ContinuousDistanceCallBack = bool (*)(
 /// accelerate the continuous collision/distance between N objects. Also support
 /// self collision, self distance and collision/distance with another M objects.
 template <typename S>
-class BroadPhaseContinuousCollisionManager
+class FCL_EXPORT BroadPhaseContinuousCollisionManager
 {
 public:
   BroadPhaseContinuousCollisionManager();