# Copyright (c) 2011-2025, The DART development contributors
# All rights reserved.
#
# The list of contributors can be found at:
#   https://github.com/dartsim/dart/blob/main/LICENSE
#
# This file is provided under the "BSD-style" License

# Find FCL
#
# This sets the following variables:
#   FCL_FOUND
#   FCL_INCLUDE_DIRS
#   FCL_LIBRARIES
#   FCL_VERSION

find_package(PkgConfig QUIET)

# Check to see if pkgconfig is installed.
pkg_check_modules(PC_FCL fcl QUIET)

# Include directories
find_path(
  FCL_INCLUDE_DIRS
  NAMES fcl/collision.h  # for FCL < 0.6
  NAMES fcl/narrowphase/collision.h
  HINTS ${PC_FCL_INCLUDEDIR}
  PATHS "${CMAKE_INSTALL_PREFIX}/include"
)

# Libraries
if(MSVC)
  find_package(fcl QUIET CONFIG)
  if(TARGET fcl)
    set(FCL_LIBRARIES fcl)
  endif()
else()
  # Give explicit precedence to ${PC_FCL_LIBDIR}
  find_library(
    FCL_LIBRARIES
    NAMES fcl
    HINTS ${PC_FCL_LIBDIR}
    NO_DEFAULT_PATH
    NO_CMAKE_PATH
    NO_CMAKE_ENVIRONMENT_PATH
    NO_SYSTEM_ENVIRONMENT_PATH
  )
  find_library(
    FCL_LIBRARIES
    NAMES fcl
    HINTS ${PC_FCL_LIBDIR}
  )
endif()

# Version
if(PC_FCL_VERSION)
  set(FCL_VERSION ${PC_FCL_VERSION})
endif()

# Set (NAME)_FOUND if all the variables and the version are satisfied.
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(
  fcl
  FAIL_MESSAGE DEFAULT_MSG
  REQUIRED_VARS FCL_INCLUDE_DIRS FCL_LIBRARIES
  VERSION_VAR FCL_VERSION
)