Svs cmake build

CMakeLists.txt

@@ -1,7 +1,9 @@
 cmake_minimum_required(VERSION 3.23)
 project(soar
   VERSION 9.6.3
-  LANGUAGES CXX)
+  LANGUAGES CXX C)
+
+set(SOAR_LIB "${PROJECT_NAME}_lib")
 
 find_package(SQLite3 REQUIRED)
 
@@ -61,14 +63,35 @@ file(GLOB_RECURSE HEADERS
   "Core/shared/portability_posix.h"
 )
 
-if(NOT SVS)
+# Add additional files/dependencies if SVS is enabled
+if(SVS)
+  message(STATUS "Soar: Enabling SVS")
+  find_package(asio REQUIRED)
+  find_package(Eigen3 REQUIRED)
+
+  # Build ccd as a static library (conan's libccd does not work for our needs)
+  add_subdirectory(Core/SVS/ccd)
+
+  list(APPEND SOURCES
+    Core/SVS/SVS_cmake.cxx
+  )
+
+  file(GLOB_RECURSE SVS_HEADERS
+    "Core/SVS/src/*.h"
+    "Core/SVS/src/commands/*.h"
+    "Core/SVS/src/filters/*.h"
+  )
+  list(APPEND HEADERS ${SVS_HEADERS})
+else()
   message(STATUS "Soar: Disabling SVS")
   add_compile_definitions(NO_SVS)
 endif()
 
+
+
 # Add executable/library target
-add_library(${PROJECT_NAME}_lib ${SOURCES})
-target_include_directories(${PROJECT_NAME}_lib PUBLIC
+add_library(${SOAR_LIB} ${SOURCES})
+target_include_directories(${SOAR_LIB} PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/Core/CLI/src>
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/Core/ClientSML/src>
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/Core/ConnectionSML/src>
@@ -90,23 +113,37 @@ target_include_directories(${PROJECT_NAME}_lib PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/Core/shared>
   $<INSTALL_INTERFACE:include/soar>
 )
-target_link_libraries(${PROJECT_NAME}_lib PUBLIC SQLite::SQLite3)
+target_link_libraries(${SOAR_LIB} PUBLIC SQLite::SQLite3)
+
+if(SVS)
+  target_include_directories(${SOAR_LIB} PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/Core/SVS/ccd>
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/Core/SVS/src>
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/Core/SVS/src/filters>
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/Core/SVS/src/commands>
+  )
+
+  target_link_libraries(${SOAR_LIB} PUBLIC asio::asio)
+  target_link_libraries(${SOAR_LIB} PUBLIC Eigen3::Eigen)
+  target_link_libraries(${SOAR_LIB} PUBLIC ccd)
+endif()
+
 
-set_target_properties(${PROJECT_NAME}_lib
+set_target_properties(${SOAR_LIB}
   PROPERTIES
   PUBLIC_HEADER "${HEADERS}")
 
 set(CXX_STANDARD_REQUIRED True)
 
 # Set the C++ standard for this and all downstream targets
-target_compile_features(${PROJECT_NAME}_lib PUBLIC
+target_compile_features(${SOAR_LIB} PUBLIC
   cxx_std_17
 )
 
 if($<CONFIG:DEBUG>)
-  target_compile_options(${PROJECT_NAME}_lib PRIVATE $<$<CXX_COMPILER_ID:Clang,AppleClang,GNU>: -Wall -Wpedantic>)
+  target_compile_options(${SOAR_LIB} PRIVATE $<$<CXX_COMPILER_ID:Clang,AppleClang,GNU>: -Wall -Wpedantic>)
 
-  target_compile_options(${PROJECT_NAME}_lib PRIVATE $<$<CXX_COMPILER_ID:MSVC>: /Wall /permissive>)
+  target_compile_options(${SOAR_LIB} PRIVATE $<$<CXX_COMPILER_ID:MSVC>: /Wall /permissive>)
 
   if(NOT ${CMAKE_SYSTEM_NAME} STREQUAL "Windows")
     if(ASAN)
@@ -135,7 +172,7 @@ write_basic_package_version_file(
   COMPATIBILITY SameMajorVersion)
 
 # This only sets up the install structure, but no installation happens yet.
-install(TARGETS ${PROJECT_NAME}_lib
+install(TARGETS ${SOAR_LIB}
   EXPORT SoarTargets
   LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
   ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
@@ -170,7 +207,7 @@ export(EXPORT SoarTargets
   FILE "${CMAKE_CURRENT_BINARY_DIR}/SoarTargets.cmake"
 )
 
-add_library(soar::soar_lib ALIAS ${PROJECT_NAME}_lib)
+add_library(soar::soar_lib ALIAS ${SOAR_LIB})
 
 if(CLI)
   message(STATUS "Soar: Building CLI")

CMakePresets.json

@@ -55,6 +55,18 @@
                 "SVS": "OFF",
                 "CLI": "ON"
             }
+        },
+        {
+            "name": "Release-svs-test",
+            "displayName": "Release with SVS Test Configuration",
+            "inherits": "conan-release",
+            "cacheVariables": {
+                "CMAKE_BUILD_TYPE": "Release",
+                "BUILD_TESTS": "ON",
+                "ASAN": "OFF",
+                "SVS": "ON",
+                "CLI": "ON"
+            }
         }
     ],
     "buildPresets": [
@@ -85,6 +97,13 @@
             "configurePreset": "Release-test",
             "configuration": "release",
             "inherits": "conan-release"
+        },
+        {
+            "name": "Release-svs-test",
+            "displayName": "Build Release with SVS Test",
+            "configurePreset": "Release-svs-test",
+            "configuration": "release",
+            "inherits": "conan-release"
         }
     ],
     "testPresets": [
@@ -113,6 +132,14 @@
             "output": {
                 "outputOnFailure": true
             }
+        },
+        {
+            "name": "Release-svs-test",
+            "displayName": "Test Release with SVS",
+            "configurePreset": "Release-svs-test",
+            "output": {
+                "outputOnFailure": true
+            }
         }
     ],
     "packagePresets": [
@@ -122,6 +149,13 @@
             "configurePreset": "Release-test",
             "generators": ["TGZ"],
             "packageDirectory": "${sourceDir}/"
+        },
+        {
+            "name": "Release-svs-test",
+            "displayName": "Package Release with SVS Test",
+            "configurePreset": "Release-svs-test",
+            "generators": ["TGZ"],
+            "packageDirectory": "${sourceDir}/"
         }
     ],
     "workflowPresets": [

Core/SVS/SConscript

@@ -2,75 +2,6 @@ import sys, platform
 
 Import('env', 'compiler', 'lsb_build')
 
-# svs viewer
-viewer_env = env.Clone()
-viewer_env['LIBS'] = []
-viewer_env['CPPPATH'] = [ 'viewer', 'glfw/lib' ]
-viewer_env.Append(CPPPATH = 'glfw/include')
-viewer_src = Glob('viewer/*.c') + Glob('glfw/lib/*.c')
-
-if compiler == 'msvc':
-	opengl_libs = [ 'opengl32', 'glu32' ]
-	viewer_env.Append(
-		CPPPATH   = [ 'glfw/lib/win32' ],
-		LIBS      = [ 'Ws2_32', 'Mswsock', 'AdvApi32', 'user32' ] + opengl_libs,
-		LINKFLAGS = [ '/SUBSYSTEM:CONSOLE' ]
-	)
-	viewer_src.append('viewer/platform_specific/windows.c')
-	viewer_src.extend(Glob('glfw/lib/win32/*.c'))
-else:
-	viewer_src.append('viewer/platform_specific/posix.c')
-	if sys.platform == 'darwin':
-		viewer_src.extend(Glob('glfw/lib/cocoa/*.c') + Glob('glfw/lib/cocoa/*.m'))
-		opengl_libs = []  # osx uses opengl as a framework instead of libraries
-		viewer_env.Append(
-			CPPFLAGS  = [ '-fno-common' ],
-			CPPPATH   = [ 'glfw/lib/cocoa/' ],
-		)
-		for f in [ 'Cocoa', 'OpenGL', 'IOKit' ]:
-			viewer_env.Append(LINKFLAGS = [ '-framework', f ])
-	else:
-		viewer_src.extend(Glob('glfw/lib/x11/*.c'))
-		opengl_libs = [ 'GL', 'GLU' ]
-		viewer_env.Append(
-			CPPFLAGS = [
-				'-pthread',
-				'-D_GLFW_HAS_PTHREAD',
-				'-D_GLFW_HAS_SYSCONF',
-				'-D_GLFW_HAS_SCHED_YIELD',
-			],
-			CPPPATH = [ 'glfw/lib/x11' ],
-			LIBS    = [ 'm', 'pthread', 'X11', 'rt' ] + opengl_libs,
-		)
-
-conf = Configure(viewer_env)
-missing_libs = [ l for l in opengl_libs if not conf.CheckLib(l) ]
-
-if platform.system().startswith('Linux'):
-	PROCADDRESS_FUNCS = [
-		('glXGetProcAddressARB', 'GLXGETPROCADDRESSARB'),
-		('glXGetProcAddress',    'GLXGETPROCADDRESS'),
-		('glXGetProcAddressEXT', 'GLXGETPROCADDRESSEXT'),
-	]
-	macro = '_GLFW_HAS_DLOPEN'  # fallback
-	for f, m in PROCADDRESS_FUNCS:
-		if conf.CheckLibWithHeader('GL', 'GL/gl.h', 'C', '%s("");' % f):
-			macro = m
-			break;
-	viewer_env.Append(CPPFLAGS='-D_GLFW_HAS_' + macro)
-elif platform.system() == 'Darwin':
-	viewer_env.Append(CPPFLAGS='-D_GLFW_HAS_GLXGETPROCADDRESS')
-
-conf.Finish()
-
-if not platform.system() == 'Darwin':
-	if not missing_libs:
-		viewer_prog = viewer_env.Program('svs_viewer', viewer_src)
-		viewer_install = viewer_env.Alias('svs_viewer', viewer_env.Install('$OUT_DIR', viewer_prog))
-	else:
-		print('Cannot find %s, not building svs_viewer' % ', '.join(missing_libs))
-else:
-	print('Not building svs_viewer for OSX')
 
 # svs library objects
 svs_env = env.Clone()

Core/SVS/SVS_cmake.cxx

@@ -0,0 +1,38 @@
+#include "src/commands/add_node.cpp"
+#include "src/commands/extract.cpp"
+#include "src/commands/set_transform.cpp"
+#include "src/commands/set_tag.cpp"
+#include "src/commands/delete_tag.cpp"
+#include "src/commands/copy_node.cpp"
+#include "src/commands/copy_transform.cpp"
+#include "src/commands/delete_node.cpp"
+
+#include "src/filters/axis_distance.cpp"
+#include "src/filters/axis_relation.cpp"
+#include "src/filters/base_node_filters.cpp"
+#include "src/filters/calculate_placement.cpp"
+#include "src/filters/contain.cpp"
+#include "src/filters/distance.cpp"
+#include "src/filters/intersect.cpp"
+#include "src/filters/monitor_object.cpp"
+#include "src/filters/node.cpp"
+#include "src/filters/occlusion.cpp"
+#include "src/filters/overlap.cpp"
+#include "src/filters/tag_select.cpp"
+#include "src/filters/volume.cpp"
+
+#include "src/cliproxy.cpp"
+#include "src/command.cpp"
+#include "src/command_table.cpp"
+#include "src/common.cpp"
+#include "src/drawer_asio.cpp"
+#include "src/filter.cpp"
+#include "src/filter_input.cpp"
+#include "src/filter_table.cpp"
+#include "src/mat.cpp"
+#include "src/scene.cpp"
+#include "src/serialize.cpp"
+#include "src/sgnode.cpp"
+#include "src/sgnode_algs.cpp"
+#include "src/soar_interface.cpp"
+#include "src/svs.cpp"

Core/SVS/ccd/CMakeLists.txt

@@ -0,0 +1,33 @@
+# ccd/CMakeLists.txt
+
+set(CCD_SRC
+  ccd.c
+  mpr.c
+  polytope.c
+  support.c
+  vec3.c
+)
+
+# Create a static library named ccd
+add_library(ccd STATIC ${CCD_SRC})
+
+# Include the current directory as a public include path
+target_include_directories(ccd PUBLIC 
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
+  $<INSTALL_INTERFACE:include>)
+
+# Set C standard explicitly
+target_compile_features(ccd PUBLIC c_std_99)
+
+set_target_properties(ccd PROPERTIES LINKER_LANGUAGE C)
+
+# Installation Structure
+install(TARGETS ccd
+  EXPORT SoarTargets
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+