Merge pull request #630 from jorisv/topic/cmake_improve

Improve CMake

.github/workflows/conda/environment_macos_linux.yml

@@ -7,7 +7,8 @@ dependencies:
   - octomap
   - assimp
   - numpy
-  - boost
+  - libboost-devel
+  - libboost-python-devel
   - eigenpy
   - python
   - doxygen<1.9.8|>=1.11

.github/workflows/conda/environment_windows.yml

@@ -7,7 +7,8 @@ dependencies:
   - octomap
   - assimp
   - numpy
-  - boost
+  - libboost-devel
+  - libboost-python-devel
   - eigenpy
   - python
   - doxygen<1.9.8|>=1.11

.github/workflows/windows-conda-clang.yml

@@ -65,16 +65,15 @@ jobs:
         if errorlevel 1 exit 1
 
         :: Build and Install
-        cmake --build . --config Release --target install
+        cmake --build . --config Release --target all
         if errorlevel 1 exit 1
 
         :: Testing
         ctest --output-on-failure -C Release
         if errorlevel 1 exit 1
 
         :: Test Python import
-        cd ..
-        python -c "import coal"
+        cmake -E env PYTHONPATH=%cd%\python python -c "import coal"
         if errorlevel 1 exit 1
 
   check:

.github/workflows/windows-conda-v142.yml

@@ -62,16 +62,15 @@ jobs:
         if errorlevel 1 exit 1
 
         :: Build and Install
-        cmake --build . --config Release --target install
+        cmake --build . --config Release --target all
         if errorlevel 1 exit 1
 
         :: Testing
         ctest --output-on-failure -C Release
         if errorlevel 1 exit 1
 
         :: Test Python import
-        cd ..
-        python -c "import coal"
+        cmake -E env PYTHONPATH=%cd%\python python -c "import coal"
         if errorlevel 1 exit 1
 
   check:

CHANGELOG.md

@@ -6,6 +6,10 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+### Fixed
+- Remove CMake CMP0167 warnings ([#630](https://github.com/coal-library/coal/pull/630))
+- Allow to run test in the build directory on Windows ([#630](https://github.com/coal-library/coal/pull/630))
+
 ## [3.0.0] - 2024-11-20
 
 ### Added

CMakeLists.txt

@@ -90,6 +90,18 @@ else()
   endif()
 endif()
 
+# Use BoostConfig module distributed by boost library instead of using FindBoost module distributed
+# by CMake.
+# There is one unresolved issue with FindBoost and clang-cl so we deactivate it in this case.
+IF(NOT WIN32 OR NOT ${CMAKE_CXX_COMPILER_ID} MATCHES "Clang")
+  IF(POLICY CMP0167)
+    CMAKE_POLICY(SET CMP0167 NEW)
+    # Set a default value to this policy to avoid issue with find_dependency
+    # macro redefinition with different policy in some modules.
+    SET(CMAKE_POLICY_DEFAULT_CMP0167 NEW)
+  ENDIF()
+ENDIF()
+
 include("${JRL_CMAKE_MODULES}/boost.cmake")
 include("${JRL_CMAKE_MODULES}/python.cmake")
 include("${JRL_CMAKE_MODULES}/hpp.cmake")
@@ -101,6 +113,16 @@ SET(CMAKE_MODULE_PATH
   ${JRL_CMAKE_MODULES}/find-external/assimp/
   ${CMAKE_MODULE_PATH})
 
+FUNCTION(set_standard_output_directory target)
+  SET_TARGET_PROPERTIES(
+    ${target}
+    PROPERTIES
+      RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/bin
+      LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib
+      ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/lib
+  )
+ENDFUNCTION()
+
 set_default_cmake_build_type("RelWithDebInfo")
 
 # If needed, fix CMake policy for APPLE systems
@@ -112,19 +134,6 @@ PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
 OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
 CMAKE_DEPENDENT_OPTION(GENERATE_PYTHON_STUBS "Generate the Python stubs associated to the Python library" OFF BUILD_PYTHON_INTERFACE OFF)
 
-#IF(WIN32)
-#  # Set default Windows build paths
-#  SET(CMAKE_LIBRARY_OUTPUT_DIRECTORY
-#    ${PROJECT_BINARY_DIR}/Bin
-#    CACHE PATH "Single directory for all libraries")
-#  SET(CMAKE_RUNTIME_OUTPUT_DIRECTORY
-#    ${PROJECT_BINARY_DIR}/Bin
-#    CACHE PATH "Single directory for all executables")
-#  SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY
-#    ${PROJECT_BINARY_DIR}/Bin
-#    CACHE PATH "Sing$le directory for all archives")
-#ENDIF(WIN32)
-
 ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED PKG_CONFIG_REQUIRES "eigen3 >= 3.0.0")
 
 if(BUILD_PYTHON_INTERFACE)

src/CMakeLists.txt

@@ -188,6 +188,7 @@ add_library(${LIBRARY_NAME}
   ${${LIBRARY_NAME}_SOURCES}
   )
 add_library(${LIBRARY_NAME}::${LIBRARY_NAME} ALIAS ${LIBRARY_NAME})
+SET_STANDARD_OUTPUT_DIRECTORY(${LIBRARY_NAME})
 
 if(COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL)
   add_library(hpp-fcl ALIAS ${LIBRARY_NAME})

test/CMakeLists.txt

@@ -6,6 +6,7 @@ config_files(fcl_resources/config.h)
 function(add_coal_test test_name source)
   set(target_name ${PROJECT_NAME}-${test_name})
   ADD_UNIT_TEST(${target_name} ${source})
+  SET_STANDARD_OUTPUT_DIRECTORY(${target_name})
   target_link_libraries(${target_name}
     PUBLIC
     ${LIBRARY_NAME}
@@ -24,6 +25,7 @@ include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
 set(utility_target ${PROJECT_NAME}-utility)
 add_library(${utility_target} STATIC utility.cpp)
+SET_STANDARD_OUTPUT_DIRECTORY(${utility_target})
 target_link_libraries(${utility_target} PUBLIC ${PROJECT_NAME})
 
 add_coal_test(math math.cpp)
@@ -77,6 +79,7 @@ add_coal_test(broadphase_collision_2 broadphase_collision_2.cpp)
 ## Benchmark
 set(test_benchmark_target ${PROJECT_NAME}-test-benchmark)
 add_executable(${test_benchmark_target} benchmark.cpp)
+SET_STANDARD_OUTPUT_DIRECTORY(${test_benchmark_target})
 target_link_libraries(${test_benchmark_target}
   PUBLIC
   ${utility_target}