fix Makefile when PQP is not found

euslisp · Jun 8, 2020 · 0ec948f · 0ec948f
1 parent f8cccd0
commit 0ec948f
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Showing 2 changed files with 56 additions and 3 deletions.
diff --git a/irteus/CPQP.C b/irteus/CPQP.C
@@ -22,51 +22,93 @@
 /// above copyright notice remains intact.  
 ///
 
+#if HAVE_PQP
+#define CALL_WITH_PQP_CHECK(X) {/* X */}
+#else
+#define CALL_WITH_PQP_CHECK(X) fprintf(stderr, "jskeus is compiled without PQP because of non-free license, so you can not use function %s.\n", __PRETTY_FUNCTION__); X;
+#endif
+
+#if HAVE_PQP
+
 #include "PQP/src/PQP.h"
 #include "PQP/src/MatVec.h"
 
+#else  // HAVE_PQP
+
+#define PQP_Model void
+#define PQP_REAL double
+
+#endif // HAVE_PQP
+
 #include <stdio.h>
 extern "C"{
 
 PQP_Model *PQP_MakeModel()
 {
+#if ! HAVE_PQP
+    CALL_WITH_PQP_CHECK(return (void *)NULL);
+#else
     return new PQP_Model();
+#endif // HAVE_PQP
 }
 
 void PQP_DeleteModel(PQP_Model *m)
 {
+#if ! HAVE_PQP
+    CALL_WITH_PQP_CHECK(return;);
+#else
     delete(m);
+#endif // HAVE_PQP
 }
 
 int PQP_BeginModel(PQP_Model* m)
 {
+#if ! HAVE_PQP
+    CALL_WITH_PQP_CHECK(return 0;);
+#else
     return m->BeginModel();
+#endif // HAVE_PQP
 }
 
 int PQP_EndModel(PQP_Model* m)
 {
+#if ! HAVE_PQP
+    CALL_WITH_PQP_CHECK(return 0;);
+#else
     return m->EndModel();
+#endif // HAVE_PQP
 }
 
 int PQP_AddTri(PQP_Model *m, double p1[], double p2[], double p3[],
 		   int flag)
 {
+#if ! HAVE_PQP
+    CALL_WITH_PQP_CHECK(return 0;);
+#else
     return m->AddTri(p1, p2, p3, flag);
+#endif // HAVE_PQP
 }
 
 int PQP_Collide(double R1[3][3], double T1[3], PQP_Model *PQP_Model1,
 		double R2[3][3], double T2[3], PQP_Model *PQP_Model2,
 		int flag)
 {
+#if ! HAVE_PQP
+    CALL_WITH_PQP_CHECK(return 0;);
+#else
     PQP_CollideResult cres;
     PQP_Collide(&cres, R1, T1, PQP_Model1, R2, T2, PQP_Model2, flag);
     return cres.NumPairs();
+#endif // HAVE_PQP
 }
 
 double PQP_Distance(double R1[3][3], double T1[3], PQP_Model *PQP_Model1,
 		    double R2[3][3], double T2[3], PQP_Model *PQP_Model2,
 		    PQP_REAL *P1, PQP_REAL *P2, int qsize)
 {
+#if ! HAVE_PQP
+    CALL_WITH_PQP_CHECK(return 0.0;)
+#else
     PQP_REAL V1[3], V2[3];
     PQP_DistanceResult dres;
     PQP_Distance(&dres, R1, T1, PQP_Model1, R2, T2, PQP_Model2, 0.0, 0.0, qsize);
@@ -75,6 +117,7 @@ double PQP_Distance(double R1[3][3], double T1[3], PQP_Model *PQP_Model1,
     MxVpV(P1, R1, V1, T1);
     MxVpV(P2, R2, V2, T2);
     return (double)(dres.Distance());
+#endif // HAVE_PQP
 }
 }
 

diff --git a/irteus/Makefile b/irteus/Makefile
@@ -43,15 +43,25 @@ else
 endif
 $(info "--      HAVE_BULLET = ${HAVE_BULLET}")
 
+ifneq ($(wildcard PQP/*),)
+    HAVE_PQP=1
+else
+    HAVE_PQP=0
+endif
+$(info "--      HAVE_PQP = ${HAVE_PQP}")
+
 # common
 WFLAGS= #-Wall
 
 BINDIR=$(EUSDIR)/$(ARCHDIR)/bin
 OBJDIR=$(EUSDIR)/$(ARCHDIR)/obj
 LIBDIR=$(EUSDIR)/$(ARCHDIR)/lib
 
-PQPLIBDIR=PQP/$(ARCHDIR)
-PQPLIB=-L$(PQPLIBDIR) -lPQP-static
+ifeq ($(HAVE_PQP), 1)
+  PQPCFLAGS=-DHAVE_PQP=$(HAVE_PQP)
+  PQPLIBDIR=PQP/$(ARCHDIR)
+  PQPLIB=-L$(PQPLIBDIR) -lPQP-static
+endif
 
 ifeq ($(HAVE_BULLET), 1)
   BULLETCFLAGS=`pkg-config bullet --cflags` -DHAVE_BULLET=$(HAVE_BULLET)
@@ -243,7 +253,7 @@ $(INSTALLOBJDIR)/irtglc.$(OSFX): irtglc.c $(filter-out $(INSTALLOBJDIR)/irtglc.$
 $(INSTALLOBJDIR)/irtgeoc.$(OSFX): irtgeoc.c $(filter-out $(INSTALLOBJDIR)/irtgeoc.$(OSFX), $(IRTEUSOBJS) $(IRTEUSGOBJS) $(IRTGCOBJECTS) PQP/$(ARCHDIR)/libPQP-static.a $(IRTEUSXOBJS) $(INSTALLLIBDIR)/jpegmemcd.$(LSFX) $(IRTEUSIMGOBJS) $(IRTIMGCOBJECTS) $(IRTEUSGLOBJS) $(IRTGLCOBJECTS)) defun.h
 	$(CC) $(CFLAGS) $(WFLAGS) -c irtgeoc.c $(OBJOPT)$(INSTALLOBJDIR)/irtgeoc.$(OSFX)
 $(INSTALLOBJDIR)/CPQP.$(OSFX): CPQP.C defun.h
-	$(CXX) $(CXXFLAGS) -c CPQP.C $(OBJOPT)$(INSTALLOBJDIR)/CPQP.$(OSFX)
+	$(CXX) $(CXXFLAGS) $(PQPCFLAGS) -c CPQP.C $(OBJOPT)$(INSTALLOBJDIR)/CPQP.$(OSFX)
 $(INSTALLOBJDIR)/euspqp.$(OSFX): euspqp.c defun.h
 	$(CC) $(CFLAGS) $(WFLAGS) -c euspqp.c $(OBJOPT)$(INSTALLOBJDIR)/euspqp.$(OSFX)
 $(INSTALLOBJDIR)/CBULLET.$(OSFX): CBULLET.cpp defun.h