add_subdirectory(external)

# Enable multi-threaded compilation.
# We do this here and not in the root folder since the examples and the
# tutorials do not have enough source files to benefit from this.
if(MSVC)
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /MP")
endif()

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib")
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib")

# ===============================================================================
# Source directories
# ===============================================================================
# common
# math
# lcpsolver
# neural
# trajectory
# dynamics
# collision
# dart
# fcl
# bullet
# constraint
# simulation
# utils
# sdf
# urdf

# ===============================================================================
# Targets - {dependency targets}, source directories, [external dependency libs]
# ===============================================================================
# dart - common, math, integration, lcpsolver, dynamics, collision,
# collision/dart, collision/fcl, constraint, simulation, [eigen3, libccd,
# fcl, assimp, boost]
# dart-collision-bullet - {dart}, collision/bullet, [bullet]
# dart-utils - {dart}, utils, utils/sdf, [tinyxml2]
# dart-utils-urdf - {dart-utils}, utils/urdf, [urdfdom]
# dart-planning - {dart}, planning, [flann]

# ===============================================================================
# Components - (dependency component), {dependency targets}
# ===============================================================================
# dart - {dart}
# collision-bullet - (dart), {dart-collision-bullet}
# utils - (collision-bullet), {dart-utils}
# utils-urdf - (utils), {dart-utils-urdf}
# utils-amc - (utils), {dart-utils-amc}
# planning - (dart), {dart-planning}

# Component. This should be called before adding subdirectories.
add_component(${PROJECT_NAME} dart)

function(dart_add_core_headers)
  dart_property_add(DART_CORE_HEADERS ${ARGN})
endfunction(dart_add_core_headers)

function(dart_add_core_sources)
  dart_property_add(DART_CORE_SOURCES ${ARGN})
endfunction(dart_add_core_sources)

# Add subdirectories
add_subdirectory(common)
add_subdirectory(math)
add_subdirectory(lcpsolver)
add_subdirectory(neural)
add_subdirectory(trajectory)
add_subdirectory(realtime)
add_subdirectory(performance)
add_subdirectory(server)
add_subdirectory(dynamics)
add_subdirectory(collision)
add_subdirectory(constraint)
add_subdirectory(simulation)
add_subdirectory(utils) # tinyxml2, bullet
add_subdirectory(proto)
add_subdirectory(biomechanics)
add_subdirectory(exo)

set(DART_CONFIG_HPP_IN ${CMAKE_SOURCE_DIR}/dart/config.hpp.in)
set(DART_CONFIG_HPP_OUT ${CMAKE_BINARY_DIR}/dart/config.hpp)

if(DART_VERBOSE)
  message(STATUS ${DART_CONFIG_HPP_OUT})
endif()

configure_file(${DART_CONFIG_HPP_IN} ${DART_CONFIG_HPP_OUT} @ONLY)
install(FILES ${DART_CONFIG_HPP_OUT} DESTINATION include/dart)

# Print building component
get_property(components GLOBAL PROPERTY ${PROJECT_NAME}_COMPONENTS)

if(DART_VERBOSE)
  message(STATUS "")
  message(STATUS "[ Components ]")

  foreach(component ${components})
    message(STATUS "Adding component: ${component}")
  endforeach()
else()
  list(LENGTH components components_length)
  message(STATUS "Adding ${components_length} components including "
    "the default component 'dart'")
endif()

# Set header and source files
get_filename_component(dart_hpp "dart.hpp" ABSOLUTE)
dart_add_core_headers(${dart_hpp})
get_property(dart_core_headers GLOBAL PROPERTY DART_CORE_HEADERS)
get_property(dart_core_sources GLOBAL PROPERTY DART_CORE_SOURCES)

# Add target
dart_add_library(dart ${dart_core_headers} ${dart_core_sources})
target_include_directories(dart BEFORE
  PUBLIC
  ${Protobuf_INCLUDE_DIRS}
  $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}>
  $<BUILD_INTERFACE:${CMAKE_BINARY_DIR}>
  $<INSTALL_INTERFACE:include>
)
target_link_libraries(dart
  PUBLIC
  ${CMAKE_DL_LIBS}
  ${PROJECT_NAME}-external-odelcpsolver
  Eigen3::Eigen
  ccd
  assimp
  ezc3d
  Boost::boost
  Boost::system
  Boost::filesystem
  IPOPT::ipopt

  protobuf::libprotobuf
  # protobuf::libprotobuf-lite
  # protobuf::libprotoc
  gRPC::grpc++
  absl::log
  absl::strings
  absl::status
  absl::base
  absl::raw_hash_set
  absl::str_format
  absl::synchronization
  absl::time
  absl::statusor
  absl::log_internal_message
  absl::log_internal_check_op

  utf8_range::utf8_range
  utf8_range::utf8_validity
)

if(PerfUtils_FOUND)
  target_link_libraries(dart
    PUBLIC
    PerfUtils
  )
endif()

if(DART_USE_ARBITRARY_PRECISION)
  target_link_libraries(dart
    PUBLIC
    gmp
    mpfr
  )
endif()

if(TARGET octomap)
  target_link_libraries(dart PUBLIC octomap)
endif()

if(NOT MSVC)
  target_link_libraries(dart PUBLIC Boost::regex)
endif()

if(CMAKE_VERSION VERSION_LESS 3.8.2)
  target_compile_options(dart PUBLIC -std=c++17)
else()
  target_compile_features(dart PUBLIC cxx_std_17)
endif()

# Enable pthreads
set(THREADS_PREFER_PTHREAD_FLAG ON)
find_package(Threads REQUIRED)
target_link_libraries(dart PRIVATE Threads::Threads)

# Build DART with all available SIMD instructions
if(DART_ENABLE_SIMD)
  if(MSVC)
    target_compile_options(dart PUBLIC /arch:SSE2 /arch:AVX /arch:AVX2)

  # /arch:SSE2 option is effective only for x86 but not for x64 since it's
  # enabled for x64 by default. The option will be ignored on x64 with a
  # warning message. If anyone knows how to detect the system's architecture
  # in CMake time, then I would gratefully apply these options differently
  # depending on the architectures.
  elseif(CMAKE_COMPILER_IS_GNUCXX)
    target_compile_options(dart PUBLIC -march=native)

    if(GCC_VERSION VERSION_GREATER 7.0)
      target_compile_options(dart PUBLIC -faligned-new)
    endif()
  elseif("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang")
    target_compile_options(dart PUBLIC -march=native -faligned-new)
  endif()
endif()

# TODO(JS): just for debugging
# target_compile_definitions(dart PUBLIC -DDART_DEBUG_ANALYTICAL_DERIV)
target_compile_definitions(dart PUBLIC -DDART_USE_IDENTITY_JACOBIAN)
target_compile_definitions(dart PRIVATE ASIO_STANDALONE)

# Default component
add_component_targets(${PROJECT_NAME} dart dart)
add_component_dependencies(${PROJECT_NAME} dart external-odelcpsolver)
add_component_dependency_packages(${PROJECT_NAME} dart
  Eigen3 ccd assimp Boost
)

if(MSVC)
  set_target_properties(
    ${target} PROPERTIES
    STATIC_LIBRARY_FLAGS_RELEASE "/LTCG"
  )
endif()

install(FILES dart.hpp DESTINATION include/dart/ COMPONENT headers)