Merge pull request graspit-simulator#8 from jvarley/cmake_plugins

Cmake plugins
roamlab · May 9, 2016 · 7f6c4e8 · 7f6c4e8
2 parents d74cca2 + 46c198d
commit 7f6c4e8
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Showing 10 changed files with 24 additions and 22 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -17,7 +17,7 @@ endif(NOT CMAKE_BUILD_TYPE)
 # main source directory
 set (GSRC ${PROJECT_SOURCE_DIR})
 
-set(PQP_COLLISION false CACHE PATH "if false, the in-build collision in graspit is used instead.")
+set(COLLISION_ENGINE GRASPIT_COLLISION CACHE PATH "back end for GraspIt! Collision detection, current options are GRASPIT_COLLISION, PQP_COLLISION.")
 set(CGDB true CACHE PATH "compile CGDB sources as well")
 set(PLY true CACHE PATH "compile PLY sources as well")
 set(DYNAMICS_ENGINE GRASPIT_DYNAMICS CACHE PATH "back end for GraspIt! Dynamics, current options are GRASPIT_DYNAMICS, BULLET_DYNAMICS")
@@ -407,7 +407,7 @@ set (GRASPIT_CORE_SOURCES
 #--------------------------------------- Collision library ---------------------------------
 
 
-if (PQP_COLLISION) 
+if (COLLISION_ENGINE STREQUAL PQP_COLLISION)
     set (GRASPIT_DEFINES
         ${GRASPIT_DEFINES}
          -DPQP_COLLISION)
@@ -430,7 +430,7 @@ if (PQP_COLLISION)
         ${GSRC}/PQP-VCOLLIDE/PQP_v1.1/src/TriDist.cpp
         ${GSRC}/PQP-VCOLLIDE/PQP_v1.1/src/Tri.cpp)
 
-else (PQP_COLLISION)
+else (COLLISION_ENGINE STREQUAL PQP_COLLISION)
 
     set (GRASPIT_DEFINES
         ${GRASPIT_DEFINES}
@@ -448,7 +448,7 @@ else (PQP_COLLISION)
         ${GSRC}/src/Collision/Graspit/collisionAlgorithms.cpp 
         ${GSRC}/src/Collision/Graspit/graspitCollision.cpp)
 
-endif (PQP_COLLISION)
+endif (COLLISION_ENGINE STREQUAL PQP_COLLISION)
 
 
 #--------------------------------------- Dynamics Engine ---------------------------------

diff --git a/include/body.h b/include/body.h
@@ -33,8 +33,8 @@
 #include <list>
 #include <vector>
 
-#include "include/worldElement.h"
-#include "include/contact.h"
+#include "worldElement.h"
+#include "contact.h"
 
 #ifdef CGDB_ENABLED
 #include "DBase/graspit_db_model.h"

diff --git a/include/contact.h b/include/contact.h
@@ -32,7 +32,7 @@
 #include <list>
 #include <vector>
 
-#include "src/Collision/collisionStructures.h"
+#include "Collision/collisionStructures.h"
 
 class transf;
 class Body;

diff --git a/include/dof.h b/include/dof.h
@@ -30,7 +30,7 @@
 #include <list>
 #include <map>
 
-#include "include/mytools.h"
+#include "mytools.h"
 
 class Robot;
 class Joint;

diff --git a/include/joint.h b/include/joint.h
@@ -31,8 +31,8 @@
 #include <list>
 #include <vector>
 
-#include "include/mytools.h"
-#include "include/matvec3D.h"
+#include "mytools.h"
+#include "matvec3D.h"
 
 class KinematicChain;
 class DynJoint;

diff --git a/include/kinematicChain.h b/include/kinematicChain.h
@@ -29,8 +29,8 @@
 #include <QTextStream>
 #include <vector>
 
-#include "src/Collision/collisionStructures.h"
-#include "include/matvec3D.h"
+#include "Collision/collisionStructures.h"
+#include "matvec3D.h"
 
 class SoSeparator;
 class SoTransform;

diff --git a/include/robot.h b/include/robot.h
@@ -34,13 +34,14 @@
 #include <QTextStream>
 #include <QString>
 
-#include "src/Collision/collisionStructures.h"
-#include "include/mytools.h"
-#include "include/kinematicChain.h"
-#include "include/dof.h"
-#include "include/worldElement.h"
-#include "include/body.h"
-#include "include/joint.h"
+#include "Collision/collisionStructures.h"
+#include "mytools.h"
+#include "kinematicChain.h"
+#include "dof.h"
+#include "worldElement.h"
+#include "body.h"
+#include "joint.h"
+
 
 class Grasp;
 class GloveInterface;

diff --git a/include/worldElement.h b/include/worldElement.h
@@ -35,7 +35,7 @@
 #include <QObject>
 #include <QTextStream>
 
-#include "src/Collision/collisionStructures.h"
+#include "Collision/collisionStructures.h"
 
 class transf;
 class World;

diff --git a/plugins/openclose/openClosePlugin.pro b/plugins/openclose/openClosePlugin.pro
@@ -21,7 +21,8 @@ DEFINES += COIN_DLL
 
 INCLUDEPATH += $(QTDIR)/include $(COINDIR)/include qhull $$ADDITIONAL_INCLUDE_DIR
 
-INCLUDEPATH += $(GRASPIT)/src $(GRASPIT)/src/Collision $(GRASPIT)/include $(GRASPIT)/include/math $(GRASPIT)/include/Planner $(GRASPIT)/include/EGPlanner $(GRASPIT)/ui $(GRASPIT)/ui/Planner $(GRASPIT)/ui/EGPlanner
+INCLUDEPATH += $(GRASPIT)/src $(GRASPIT)/src/Collision $(GRASPIT)/include $(GRASPIT)/include/math $(GRASPIT)/include/Planner $(GRASPIT)/include/EGPlanner $(GRASPIT)/ui $(GRASPIT)/ui/Planner $(GRASPIT)/ui/EGPlanner $(GRASPIT)/build/include/graspit/ui $(GRASPIT)/build/include/graspit/ui/Planner $(GRASPIT)/build/include/graspit/ui/EGPlanner
+
 
 
 DEPENDPATH += $(GRASPIT)/src $(GRASPIT)/src/Collision include $(GRASPIT)/include/math $(GRASPIT)/include/Planner $(GRASPIT)/include/EGPlanner $(GRASPIT)/ui $(GRASPIT)/ui/Planner $(GRASPIT)/ui/EGPlanner

diff --git a/src/Collision/collisionStructures.h b/src/Collision/collisionStructures.h
@@ -32,7 +32,7 @@
 #define _collisionstructures_h_
 
 #include <vector>
-#include "include/matvec3D.h"
+#include "matvec3D.h"
 
 class Body;
 class transf;