# If you add a dependency, please add the corresponding rosdep key as a
# dependency in package.xml.

#======================================
# Mandatory dependencies for DART core
#======================================
if(DART_VERBOSE)
  message(STATUS "")
  message(STATUS "[ Mandatory dependencies for DART core ]")
endif()

# Threads on Mac OS X
if(APPLE)
  find_package(Threads)
endif()

# Eigen
dart_find_package(Eigen3)
dart_check_required_package(EIGEN3 "eigen3")

# CCD
dart_find_package(ccd)
dart_check_required_package(ccd "libccd")

# EZC3D
dart_find_package(ezc3d)
dart_check_required_package(ezc3d "ezc3d")

# ASSIMP
dart_find_package(assimp)
dart_check_required_package(assimp "assimp")
if(ASSIMP_FOUND)
  # Check for missing symbols in ASSIMP (see #451)
  include(CheckCXXSourceCompiles)
  set(CMAKE_REQUIRED_DEFINITIONS "")
  if (NOT ASSIMP_VERSION VERSION_LESS 3.3.0 AND NOT MSVC)
    set(CMAKE_REQUIRED_FLAGS "-std=c++11 -w")
  else()
    set(CMAKE_REQUIRED_FLAGS "-w")
  endif()
  set(CMAKE_REQUIRED_INCLUDES ${ASSIMP_INCLUDE_DIRS})
  set(CMAKE_REQUIRED_LIBRARIES ${ASSIMP_LIBRARIES})

  check_cxx_source_compiles(
  "
  #include <assimp/scene.h>
  int main()
  {
    aiScene* scene = new aiScene;
    delete scene;
    return 1;
  }
  "
  ASSIMP_AISCENE_CTOR_DTOR_DEFINED)

  if(NOT ASSIMP_AISCENE_CTOR_DTOR_DEFINED)
    if(DART_VERBOSE)
      message(WARNING "The installed version of ASSIMP (${ASSIMP_VERSION}) is "
                      "missing symbols for the constructor and/or destructor of "
                      "aiScene. DART will use its own implementations of these "
                      "functions. We recommend using a version of ASSIMP that "
                      "does not have this issue, once one becomes available.")
    endif()
  endif(NOT ASSIMP_AISCENE_CTOR_DTOR_DEFINED)

  check_cxx_source_compiles(
  "
  #include <assimp/material.h>
  int main()
  {
    aiMaterial* material = new aiMaterial;
    delete material;
    return 1;
  }
  "
  ASSIMP_AIMATERIAL_CTOR_DTOR_DEFINED)

  if(NOT ASSIMP_AIMATERIAL_CTOR_DTOR_DEFINED)
    if(DART_VERBOSE)
      message(WARNING "The installed version of ASSIMP (${ASSIMP_VERSION}) is "
                      "missing symbols for the constructor and/or destructor of "
                      "aiMaterial. DART will use its own implementations of "
                      "these functions. We recommend using a version of ASSIMP "
                      "that does not have this issue, once one becomes available.")
    endif()
  endif(NOT ASSIMP_AIMATERIAL_CTOR_DTOR_DEFINED)

  unset(CMAKE_REQUIRED_FLAGS)
  unset(CMAKE_REQUIRED_INCLUDES)
  unset(CMAKE_REQUIRED_LIBRARIES)
endif()

# Boost
dart_find_package(Boost)

# IPOPT
dart_find_package(IPOPT)
dart_check_required_package(IPOPT "ipopt")

# PerfUtils
dart_find_package(PerfUtils)

# Protobuf + gRPC
dart_find_package(Protobuf)
dart_find_package(gRPC)

# MPFR + GMP -- Arbitrary precision floating point math
dart_find_package(MPFR)
dart_find_package(GMP)

# octomap
# dart_find_package(octomap)
# if(MSVC)
#   # Supporting Octomap on Windows is disabled for the following issue:
#   # https://github.com/OctoMap/octomap/pull/213
#   message(WARNING "Octomap ${octomap_VERSION} is found, but Octomap "
#       "is not supported on Windows until "
#       "'https://github.com/OctoMap/octomap/pull/213' "
#       "is resolved.")
#   set(HAVE_OCTOMAP FALSE CACHE BOOL "Check if octomap found." FORCE)
# elseif(APPLE)
#   # Supporting Octomap on Windows is disabled for the following issue:
#   # https://github.com/OctoMap/octomap/pull/213
#   message(WARNING "Octomap ${octomap_VERSION} is found, but Octomap "
#       "is not supported on macOS until "
#       "'https://github.com/dartsim/dart/issues/1078' is resolved.")
#   set(HAVE_OCTOMAP FALSE CACHE BOOL "Check if octomap found." FORCE)
# else()
#   if(OCTOMAP_FOUND OR octomap_FOUND)
#     if(NOT DEFINED octomap_VERSION)
#       set(HAVE_OCTOMAP FALSE CACHE BOOL "Check if octomap found." FORCE)
#       message(STATUS "Looking for octomap - octomap_VERSION is not defined, "
#           "please install octomap with version information"
#       )
#     else()
#       set(HAVE_OCTOMAP TRUE CACHE BOOL "Check if octomap found." FORCE)
#       if(DART_VERBOSE)
#         message(STATUS "Looking for octomap - version ${octomap_VERSION} found")
#       endif()
#     endif()
#   else()
#     set(HAVE_OCTOMAP FALSE CACHE BOOL "Check if octomap found." FORCE)
#     message(STATUS "Looking for octomap - NOT found, to use VoxelGridShape, "
#         "please install octomap"
#     )
#   endif()
# endif()

#--------------------
# Misc. dependencies
#--------------------

# Perl modules
find_package(PerlModules COMPONENTS Regexp::Common Getopt::ArgvFile Getopt::Long Term::ANSIColor QUIET)
if(DART_VERBOSE)
  if("${PERLMODULES_FOUND}" STREQUAL "TRUE")
    message(STATUS "Looking for PerlModules - found")
  else()
    message(STATUS "Looking for PerlModules - NOT found, to colorize gcc messages, please install Regexp::Common Getopt::ArgvFile Getopt::Long Term::ANSIColor (http://www.cpan.org/modules/INSTALL.html)")
  endif()
endif()

# Doxygen
find_package(Doxygen QUIET)
dart_check_optional_package(DOXYGEN "generating API documentation" "doxygen")