cmake_minimum_required(VERSION 3.10)
project(_raisim_gym_torch)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/raisimGymTorch/env/bin)
SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/raisimGymTorch/env/bin)
SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/raisimGymTorch/env/bin)

set(BUILD_UR5_REAL          OFF)
set(BUILD_ALLEGRO_REAL      OFF)
set(BUILD_LEAP_REAL         OFF)
set(BUILD_PINOCCHIO         OFF)
set(BUILD_IKFAST            OFF)

######################
### help functions ###
######################
MACRO(SUBDIRLIST result curdir)
    FILE(GLOB children RELATIVE ${curdir} ${curdir}/*)
    SET(dirlist "")
    FOREACH(child ${children})
        IF(IS_DIRECTORY ${curdir}/${child})
            LIST(APPEND dirlist ${child})
        ENDIF()
    ENDFOREACH()
    SET(${result} ${dirlist})
ENDMACRO()

add_subdirectory(thirdParty/pybind11 pybind11)
list(APPEND CMAKE_PREFIX_PATH ${CMAKE_CURRENT_SOURCE_DIR}/../thirdParty/Eigen3)
find_package(Eigen3 CONFIG REQUIRED)

####################
### dependencies ###
####################
set(Dependencies)
set(Includes)
set(InstanceFile
raisimGymTorch/env/hardware/arm/FlyingSim.cpp
raisimGymTorch/env/hardware/arm/UR5Sim.cpp
raisimGymTorch/env/hardware/hand/AllegroSim.cpp
raisimGymTorch/env/hardware/hand/LeapSim.cpp
raisimGymTorch/env/hardware/kinematic/SimFK.cpp
)

# kinematic: IKFast
if(${BUILD_IKFAST} STREQUAL "ON")
find_package(LAPACK REQUIRED)
find_package(BLAS REQUIRED)
set(Dependencies ${Dependencies} -llapack -lblas)
add_definitions(-DBUILD_IKFAST)
endif()

# kinematic: pinocchio
if(${BUILD_PINOCCHIO} STREQUAL "ON")
set(pinocchio_DIR /opt/openrobots/lib/cmake/pinocchio)
find_package(pinocchio REQUIRED)
set(Dependencies ${Dependencies} pinocchio::pinocchio)
set(InstanceFile ${InstanceFile} raisimGymTorch/env/hardware/kinematic/Pinocchio.cpp)
add_definitions(-DBUILD_PINOCCHIO)
endif()

# arm: UR5 Real
if(${BUILD_UR5_REAL} STREQUAL "ON")
find_package(ur_rtde REQUIRED)
set(Dependencies ${Dependencies} ur_rtde::rtde)
set(InstanceFile ${InstanceFile} raisimGymTorch/env/hardware/arm/UR5Real.cpp)
add_definitions(-DBUILD_UR5_REAL)
endif()

# hand: Allegro Real !!!  catkin_LIBRARIES and catkin_INCLUDE_DIRS  will be conflict with pinocchio
if(${BUILD_ALLEGRO_REAL} STREQUAL "ON")
list(APPEND CMAKE_PREFIX_PATH "/opt/ros/noetic")
find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
  sensor_msgs
)
set(InstanceFile ${InstanceFile} raisimGymTorch/env/hardware/hand/AllegroReal.cpp)
add_definitions(-DBUILD_ALLEGRO_REAL)
endif()

# hand: Leap Real
if(${BUILD_LEAP_REAL} STREQUAL "ON")
set (Dependencies ${Dependencies} ${catkin_LIBRARIES})
set(InstanceFile ${InstanceFile} raisimGymTorch/env/hardware/hand/LeapReal.cpp)
add_definitions(-DBUILD_LEAP_REAL)
endif()

if (APPLE)
    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
    set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
else ()
    find_package(OpenMP REQUIRED)
    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fopenmp")
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp")
endif()

if (UNIX AND NOT APPLE AND NOT ANDROID AND NOT WEBGL AND NOT WIN32)
    set(RAISIM_OS linux)
    list(APPEND CMAKE_PREFIX_PATH ../raisim/${RAISIM_OS})
elseif(APPLE)
    # on macOS "uname -m" returns the architecture (x86_64 or arm64)
    execute_process(
            COMMAND uname -m
            RESULT_VARIABLE result
            OUTPUT_VARIABLE OSX_NATIVE_ARCHITECTURE
            OUTPUT_STRIP_TRAILING_WHITESPACE
    )
    set(RAISIM_ARCH ${OSX_NATIVE_ARCHITECTURE} CACHE STRING "ARCH")

    if(${RAISIM_ARCH} STREQUAL "arm64")
        set(RAISIM_OS m1)
    else()
        set(RAISIM_OS mac)
    endif()

    list(APPEND CMAKE_PREFIX_PATH ../raisim/${RAISIM_OS})
elseif(WIN32)
    set(RAISIM_OS win32)
    list(APPEND CMAKE_PREFIX_PATH ../raisim/${RAISIM_OS})
    list(APPEND CMAKE_PREFIX_PATH ../thirdParty)
    list(APPEND Dependencies Ws2_32)
    set(CMAKE_LIBRARY_OUTPUT_DIRECTORY_RELEASE ${CMAKE_CURRENT_SOURCE_DIR}/raisimGymTorch/env/bin)
    set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELEASE ${CMAKE_CURRENT_SOURCE_DIR}/raisimGymTorch/env/bin)
    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${CMAKE_CURRENT_SOURCE_DIR}/raisimGymTorch/env/bin)
endif()

find_package(raisim CONFIG REQUIRED)

#######################
### src and linking ###
#######################
SUBDIRLIST(SUBDIRS ${CMAKE_CURRENT_SOURCE_DIR}/raisimGymTorch/env/envs)
set(RAISIMGYM_ENV_DIR ${CMAKE_CURRENT_SOURCE_DIR}/raisimGymTorch/env/envs)

######## Env ##########
FOREACH(subdir ${SUBDIRS})
    pybind11_add_module(${subdir} raisimGymTorch/env/raisim_gym.cpp raisimGymTorch/env/Yaml.cpp ${InstanceFile})

    target_link_libraries(${subdir} PRIVATE raisim::raisim ${Dependencies})
    target_include_directories(${subdir} PUBLIC ${EIGEN3_INCLUDE_DIRS} ${RAISIMGYM_ENV_DIR}/${subdir} ${CMAKE_CURRENT_SOURCE_DIR}/raisimGymTorch/env ${Includes})
    target_compile_options(${subdir} PRIVATE -fPIC -O3 -flto -mno-avx2)
    target_compile_definitions(${subdir} PRIVATE "-DRAISIMGYM_TORCH_ENV_NAME=${subdir}")
    target_compile_definitions(${subdir} PRIVATE "$<$<CONFIG:Release>:EIGEN_NO_DEBUG>")
    target_compile_definitions(${subdir} PRIVATE EIGEN_DONT_PARALLELIZE)

    message("raisim os ${RAISIM_OS}")
    message("raisim arch ${RAISIM_ARCH}")

    if(${RAISIM_OS} STREQUAL "m1")
        if(${RAISIM_ARCH} STREQUAL "arm64")
            message("building with correct lib")
            target_compile_options(${subdir} PRIVATE -mcpu=apple-m1)
        endif()
    endif()

    if (CMAKE_BUILD_TYPE STREQUAL "DEBUG" OR CMAKE_BUILD_TYPE STREQUAL "Debug")
        message("[RAISIM_GYM] BUILDING THE DEBUG APP for ${subdir}")
        add_executable(${subdir}_debug_app raisimGymTorch/env/debug_app.cpp raisimGymTorch/env/Yaml.cpp ${InstanceFile})
        target_link_libraries(${subdir}_debug_app PRIVATE raisim::raisim ${Dependencies})
        target_include_directories(${subdir}_debug_app PUBLIC raisimGymTorch/env/envs/${subdir} ${EIGEN3_INCLUDE_DIRS} ${CMAKE_CURRENT_SOURCE_DIR}/raisimGymTorch/env ${Includes})
        if(WIN32)
            target_link_libraries(${subdir}_debug_app PRIVATE Ws2_32)
        else()
            target_compile_options(${subdir}_debug_app PRIVATE -fPIC -g -O0 -mno-avx2)
        endif()
    endif()
ENDFOREACH()