# SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
# SPDX-License-Identifier: BSD-3-Clause


set(iDynTree_visualization_source src/Visualizer.cpp)
set(iDynTree_visualization_header include/iDynTree/Visualizer.h)
set(iDynTree_visualization_private_headers)
set(iDynTree_visualization_private_source)


if(IDYNTREE_USES_IRRLICHT)
    # Some files are compiled only when irrlicht is available
    set(iDynTree_visualization_private_headers src/IrrlichtUtils.h
                                               src/Camera.h
                                               src/CameraAnimator.h
                                               src/Environment.h
                                               src/ModelVisualization.h
                                               src/JetsVisualization.h
                                               src/VectorsVisualization.h
                                               src/FrameVisualization.h
                                               src/ShapesVisualization.h
                                               src/Texture.h
                                               src/TexturesHandler.h
                                               src/Light.h
                                               src/Label.h
                                               src/FloorGridSceneNode.h)
    set(iDynTree_visualization_private_source  src/Camera.cpp
                                               src/CameraAnimator.cpp
                                               src/Environment.cpp
                                               src/ModelVisualization.cpp
                                               src/JetsVisualization.cpp
                                               src/VectorsVisualization.cpp
                                               src/FrameVisualization.cpp
                                               src/ShapesVisualization.cpp
                                               src/Texture.cpp
                                               src/TexturesHandler.cpp
                                               src/Light.cpp
                                               src/Label.cpp
                                               src/FloorGridSceneNode.cpp)
endif()

if(IDYNTREE_USES_MESHCATCPP)
    set(iDynTree_visualization_header ${iDynTree_visualization_header} include/iDynTree/MeshcatVisualizer.h)
    set(iDynTree_visualization_source  ${iDynTree_visualization_source} src/MeshcatVisualizer.cpp)
endif()

source_group("Source Files" FILES ${iDynTree_visualization_source})
source_group("Header Files" FILES ${iDynTree_visualization_header})
source_group("Private Source Files" FILES ${iDynTree_visualization_source})
source_group("Private Header Files" FILES ${iDynTree_visualization_header})

include(AddInstallRPATHSupport)
add_install_rpath_support(BIN_DIRS "${CMAKE_INSTALL_PREFIX}/bin"
                          LIB_DIRS "${CMAKE_INSTALL_PREFIX}/lib"
                          DEPENDS IDYNTREE_ENABLE_RPATH
                          USE_LINK_PATH)


set(libraryname idyntree-visualization)
add_library(${libraryname} ${iDynTree_visualization_source} ${iDynTree_visualization_header}
                           ${iDynTree_visualization_private_source} ${iDynTree_visualization_private_headers})
add_library(iDynTree::${libraryname} ALIAS ${libraryname})

set_target_properties(${libraryname} PROPERTIES PUBLIC_HEADER "${iDynTree_visualization_header}")

target_include_directories(${libraryname} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
                                                 "$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>")

target_link_libraries(${libraryname} PUBLIC idyntree-core
                                            idyntree-model
                                     PRIVATE Eigen3::Eigen)

# enable warnings on this part of the add_library
target_compile_options(${libraryname} PRIVATE ${IDYNTREE_WARNING_FLAGS})

# To avoid having to regenerate the SWIG bindings code, we compile the visualization library
# even if irrlicht is not used, this can be removed when we stop to commit swig generated code
# to the repo
if(IDYNTREE_USES_IRRLICHT)
    find_package(OpenGL)
    find_package(Irrlicht REQUIRED)
    find_package(glfw3 REQUIRED)

    target_link_libraries(${libraryname} PRIVATE Irrlicht::Irrlicht glfw)
    if(TARGET OpenGL::GL)
      target_link_libraries(${libraryname} PRIVATE OpenGL::GL)
    endif()
    if(MSVC)
       add_definitions(-D_USE_MATH_DEFINES)
    endif()
    add_definitions(-DIDYNTREE_USES_IRRLICHT)

    # On Apple system, irrlicht uses some system libraries
    if (APPLE)
        find_library(CARBON_LIBRARY Carbon)
        find_library(COCOA_LIBRARY Cocoa)
        find_library(IOKIT_LIBRARY IOKit)
        target_link_libraries(${libraryname} LINK_PRIVATE ${CARBON_LIBRARY} ${COCOA_LIBRARY} ${IOKIT_LIBRARY})
    endif ()

    # On Linux, in some system for some reason creating a windows with X does not work, but creating it with Wayland
    # yes. For this reason, we expose an option to permit to try to create a glfw window via wayland. This is an
    # option and is not enabled by default as the glfw version shipped via apt with Ubuntu version before 24.10, so
    # we expose this as an option and we enable it by default only if we are configuring inside a conda environment
    # Once we drop support for apt dependencies on Ubuntu 24.04, we will be able to remove this code and always
    # try wayland first
    if(NOT WIN32 AND NOT APPLE)
        if(DEFINED ENV{CONDA_PREFIX})
            set(IDYNTREE_GLFW_TRY_WAYLAND_FIRST_DEFAULT_VALUE ON)
        else()
            set(IDYNTREE_GLFW_TRY_WAYLAND_FIRST_DEFAULT_VALUE OFF)
        endif()
        option(IDYNTREE_GLFW_TRY_WAYLAND_FIRST "If enabled, when creating a window iDynTree will try first to use wayland and only on failure X11" ${IDYNTREE_GLFW_TRY_WAYLAND_FIRST_DEFAULT_VALUE})
        mark_as_advanced(IDYNTREE_GLFW_TRY_WAYLAND_FIRST)
        if(IDYNTREE_GLFW_TRY_WAYLAND_FIRST)
            add_definitions(-DIDYNTREE_GLFW_TRY_WAYLAND_FIRST)
        endif()
    endif()
endif()

if(IDYNTREE_USES_MESHCATCPP)
    find_package(MeshcatCpp REQUIRED)
    target_link_libraries(${libraryname} PRIVATE MeshcatCpp::MeshcatCpp)
endif()

if (IDYNTREE_USES_ASSIMP)
  target_compile_definitions(${libraryname} PRIVATE IDYNTREE_USES_ASSIMP)
  # See similar code in solid-shapes CMakeLists.txt
  if((assimp_VERSION AND assimp_VERSION VERSION_GREATER_EQUAL 5.0) OR WIN32)
    target_link_libraries(${libraryname} PRIVATE assimp::assimp)
  else()
    target_include_directories(${libraryname} PRIVATE "${ASSIMP_INCLUDE_DIRS}")
    link_directories("${ASSIMP_LIBRARY_DIRS}")
    target_link_libraries(${libraryname} PRIVATE "${ASSIMP_LIBRARIES}")
  endif()
endif()


install(TARGETS ${libraryname}
        EXPORT iDynTree
        RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT bin
        LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT shlib
        ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT lib
        PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/iDynTree" COMPONENT dev)

set_property(GLOBAL APPEND PROPERTY ${VARS_PREFIX}_TARGETS ${libraryname})

if(BUILD_TESTING AND IDYNTREE_USES_IRRLICHT)
    add_subdirectory(tests)
endif()