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53 lines
1.7 KiB
53 lines
1.7 KiB
2 years ago
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cmake_minimum_required(VERSION 3.8)
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################################################################################
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option(STIV_WITH_MOSEK "Enable Mosek Library" OFF)
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mark_as_advanced(STIV_WITH_MOSEK)
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################################################################################
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set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
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################################################################################
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add_library(STIV
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src/opt/volume_constraint.cpp
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src/solvers/fischer_newton.cpp
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src/solvers/lcp_solver.cpp
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src/solvers/ncp_solver.cpp
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src/solvers/line_search.cpp
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src/problems/volume_rb_problem.cpp
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)
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target_include_directories(STIV PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src)
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# project_autogen(STIV collision_volume.py collision_volume.tpp auto_collision_volume .ipp)
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# MOSEK QP solver
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if(STIV_WITH_MOSEK)
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if(NOT TARGET mosek)
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find_package(MOSEK QUIET)
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if(MOSEK_FOUND)
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message(STATUS "Including MOSEK")
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# Make sure libigl uses mosek
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set(LIBIGL_WITH_MOSEK ON CACHE BOOL "Use MOSEK" FORCE)
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# Create a library for mosek
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add_library(mosek_mosek INTERFACE)
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target_link_libraries(mosek_mosek INTERFACE ${MOSEK_LIBRARIES})
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target_include_directories(mosek_mosek SYSTEM INTERFACE ${MOSEK_INCLUDE_DIRS})
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target_compile_definitions(mosek_mosek INTERFACE -DHAS_MOSEK)
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add_library(mosek::mosek ALIAS mosek_mosek)
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else()
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message(WARNING "MOSEK not found!")
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add_library(mosek::mosek INTERFACE IMPORTED)
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endif()
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endif()
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target_compile_definitions(${PROJECT_NAME} PUBLIC -DBUILD_WITH_MOSEK)
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target_link_libraries(${PROJECT_NAME} PUBLIC mosek::mosek)
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endif()
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