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Update VHACD to latest (v4.1, tag 454913f) #896

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merged 7 commits into from
Jun 8, 2023
Merged

Update VHACD to latest (v4.1, tag 454913f) #896

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1f6fe83
Update VHACD to latest (v4.1, tag 454913f)
rjoomen Mar 21, 2023
128af77
clang-tidy fix
rjoomen May 30, 2023
8151acc
clang-tidy fix 2 and clang-format
rjoomen May 31, 2023
d808041
Remove invalid assert from FCL collision and distance callback functions
Levi-Armstrong May 30, 2023
0505b97
clang-tidy line filter for VHACD.h
rjoomen Jun 1, 2023
90ee709
Disable clang-tidy for utility library
rjoomen Jun 7, 2023
1bfe5a5
Merge branch 'master' into master
Levi-Armstrong Jun 7, 2023
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10 changes: 0 additions & 10 deletions tesseract_collision/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -144,16 +144,6 @@ if(TESSERACT_PACKAGE)
list(APPEND LINUX_DEPENDS "fcl (>= 0.6.0) | ${TESSERACT_PACKAGE_PREFIX}fcl")
endif()

if(TESSERACT_BUILD_VHACD)
list(APPEND LINUX_DEPENDS "libomp-dev")
list(APPEND WINDOWS_DEPENDS "omp")

if(OpenCL_FOUND)
list(APPEND LINUX_DEPENDS "ocl-icd-opencl-dev")
list(APPEND WINDOWS_DEPENDS "ocl-icd-opencl")
endif()
endif()

tesseract_cpack(
VERSION ${pkg_extracted_version}
MAINTAINER <https://github.com/ros-industrial-consortium/tesseract>
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22 changes: 0 additions & 22 deletions tesseract_collision/cmake/vhacd_common.cmake
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1 change: 0 additions & 1 deletion tesseract_collision/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,6 @@
<depend>fcl</depend>
<depend>libconsole-bridge-dev</depend>
<depend>tesseract_support</depend>
<depend>libomp-dev</depend>

<build_depend>libboost-system-dev</build_depend>
<build_export_depend>libboost-system-dev</build_export_depend>
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58 changes: 4 additions & 54 deletions tesseract_collision/vhacd/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,68 +1,18 @@
find_bullet()

# Third party vhacd
include("${CMAKE_CURRENT_SOURCE_DIR}/../cmake/vhacd_common.cmake")

find_package(OpenMP REQUIRED)

option(NO_OPENCL "NO_OPENCL" OFF)
message("NO_OPENCL " ${NO_OPENCL})

if(NOT NO_OPENCL)
find_package(OpenCL)
endif()

if(NOT TARGET OpenMP::OpenMP_CXX)
find_package(Threads REQUIRED)
add_library(OpenMP::OpenMP_CXX IMPORTED INTERFACE)
set_property(TARGET OpenMP::OpenMP_CXX PROPERTY INTERFACE_COMPILE_OPTIONS ${OpenMP_CXX_FLAGS})
# Only works if the same flag is passed to the linker; use CMake 3.9+ otherwise (Intel, AppleClang)
set_property(TARGET OpenMP::OpenMP_CXX PROPERTY INTERFACE_LINK_LIBRARIES ${OpenMP_CXX_FLAGS} Threads::Threads)
endif()

add_library(
${PROJECT_NAME}_vhacd
${VHACD_CPP_FILES}
${VHACD_C_FILES}
${VHACD_INC_FILES}
${VHACD_INL_FILES}
${VHACD_CL_FILES})
target_cxx_version(${PROJECT_NAME}_vhacd PUBLIC VERSION ${TESSERACT_CXX_VERSION})
target_compile_options(${PROJECT_NAME}_vhacd PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE})
target_compile_options(${PROJECT_NAME}_vhacd PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
target_compile_definitions(${PROJECT_NAME}_vhacd PUBLIC ${TESSERACT_COMPILE_DEFINITIONS})

if(OpenCL_FOUND)
target_include_directories(${PROJECT_NAME}_vhacd PRIVATE "${OpenCL_INCLUDE_DIR}")
target_link_libraries(${PROJECT_NAME}_vhacd PRIVATE "${OpenCL_LIBRARY}")
target_compile_definitions(${PROJECT_NAME}_vhacd PRIVATE -DOPENCL_FOUND=1)
target_compile_definitions(${PROJECT_NAME}_vhacd PRIVATE -DOPENCL_CL_FILES="${PROJECT_CL_FILES}")
endif()

target_link_libraries(
${PROJECT_NAME}_vhacd
PUBLIC OpenMP::OpenMP_CXX
tesseract::tesseract_common
Eigen3::Eigen
Bullet3::Bullet)
target_include_directories(${PROJECT_NAME}_vhacd PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include>")

# Convex decomposition libraries
# Convex decomposition library
add_library(${PROJECT_NAME}_vhacd_convex_decomposition src/convex_decomposition_vhacd.cpp)
target_link_libraries(
${PROJECT_NAME}_vhacd_convex_decomposition
PUBLIC ${PROJECT_NAME}_core
${PROJECT_NAME}_bullet
${PROJECT_NAME}_vhacd
Eigen3::Eigen
tesseract::tesseract_geometry
console_bridge::console_bridge)
target_compile_options(${PROJECT_NAME}_vhacd_convex_decomposition PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE})
target_compile_options(${PROJECT_NAME}_vhacd_convex_decomposition PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
target_compile_definitions(${PROJECT_NAME}_vhacd_convex_decomposition PUBLIC ${TESSERACT_COMPILE_DEFINITIONS})
target_cxx_version(${PROJECT_NAME}_vhacd_convex_decomposition PUBLIC VERSION ${TESSERACT_CXX_VERSION})
target_clang_tidy(${PROJECT_NAME}_vhacd_convex_decomposition ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
# target_clang_tidy(${PROJECT_NAME}_vhacd_convex_decomposition ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})

target_code_coverage(
${PROJECT_NAME}_vhacd_convex_decomposition
PRIVATE
Expand All @@ -83,4 +33,4 @@ install(
PATTERN "*.inl"
PATTERN ".svn" EXCLUDE)

install_targets(TARGETS ${PROJECT_NAME}_vhacd ${PROJECT_NAME}_vhacd_convex_decomposition)
install_targets(TARGETS ${PROJECT_NAME}_vhacd_convex_decomposition)
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