Attempting to use cmake instead of make (example)

.gitignore

@@ -1,74 +1,76 @@
-# Global rules #
-################
-
-# Build directories
-build
-com
-webots_catkin_ws
-
-# Compiled source
-*.exe
-*.o
-*.d
-*.class
-*.so
-*.dylib
-*.dll
-*.lib
-*.a
-*.cof
-*.hex
-*.pyc
-*.gch
-
-# Packages
-*.7z
-*.bz2
-*.dmg
-*.gz
-*.iso
-*.jar
-*.rar
-*.tar
-*.xz
-*.zip
-
-# OS generated files
-.DS_Store
-.DS_Store?
-._*
-.Spotlight-V100
-.Trashes
-.directory
-ehthumbs.db
-Thumbs.db
-*.swp
-
-# Text editor backup files
-*~
-
-# Log files
-*.log
-
-# Blender cache
-*.blend1
-
-# Webots generated files
-*.cache
-
-# IDE files
-.vscode
-
-# Local rules #
-###############
-
-/.clang-format
-/msys64
-/webots
-/webots-controller
-/webots.lnk
-/webots_debug_output.txt
-/util
-
-# world thumbnail files
-.*.jpg
+# Global rules #
+################
+
+# Build directories
+build
+com
+webots_catkin_ws
+
+# Compiled source
+*.exe
+*.o
+*.d
+*.class
+*.so
+*.dylib
+*.dll
+*.lib
+*.a
+*.cof
+*.hex
+*.pyc
+*.gch
+
+# Packages
+*.7z
+*.bz2
+*.dmg
+*.gz
+*.iso
+*.jar
+*.rar
+*.tar
+*.xz
+*.zip
+
+# OS generated files
+.DS_Store
+.DS_Store?
+._*
+.Spotlight-V100
+.Trashes
+.directory
+ehthumbs.db
+Thumbs.db
+*.swp
+
+# Text editor backup files
+*~
+
+# Log files
+*.log
+
+# Blender cache
+*.blend1
+
+# Webots generated files
+*.cache
+
+# IDE files
+.vscode
+
+# Local rules #
+###############
+
+/.clang-format
+/msys64
+/webots
+/webots-controller
+/webots.lnk
+/webots_debug_output.txt
+/util
+
+# world thumbnail files
+.*.jpg
+.aider*
+.env

CMakeLists.txt

@@ -0,0 +1,38 @@
+cmake_minimum_required(VERSION 3.10)
+project(webots)
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_AUTOUIC ON)
+set(CMAKE_AUTORCC ON)
+# Set C++ standard
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# Find Qt6 components
+find_package(Qt6 REQUIRED COMPONENTS
+    Core
+    Gui
+    OpenGL
+    Qml
+    QmlIntegration
+    PrintSupport
+    Widgets
+    Xml
+    OpenGLWidgets
+    WebSockets
+    Test
+    Network
+)
+file(READ ${CMAKE_SOURCE_DIR}/resources/version.txt WEBOTS_VERSION)
+string(STRIP ${WEBOTS_VERSION} WEBOTS_VERSION) 
+# Find other required packages
+find_package(OpenAL REQUIRED)
+find_package(OpenGL REQUIRED)
+find_package(PkgConfig REQUIRED)
+find_package(Freetype REQUIRED)
+find_package(assimp REQUIRED)
+pkg_check_modules(OPENVR REQUIRED IMPORTED_TARGET openvr)
+# Include external dependencies
+include(src/webots/cmake/ExternalDependencies.cmake)
+
+# Add subdirectories
+add_subdirectory(src)

src/CMakeLists.txt

@@ -0,0 +1,51 @@
+# Find required packages
+
+# Add glad library
+add_library(glad glad/glad.c)
+target_include_directories(glad PUBLIC ${CMAKE_SOURCE_DIR}/include)
+target_compile_options(glad PUBLIC -fPIC)
+
+add_custom_target(stb
+  COMMAND git submodule update --init --recursive src/stb
+  WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+  COMMENT "Initializing stb submodule"
+)
+
+# --- Handle stb_image.h ---
+
+# Check for system installation of stb
+find_path(STB_INCLUDE_DIR
+  NAMES stb_image.h
+  PATHS
+    /usr/include/stb
+    /usr/local/include/stb
+    $ENV{MSYSTEM_PREFIX}/include/stb
+    $ENV{MSYSTEM_PREFIX}/local/include/stb
+)
+
+# If not found, use the stb submodule
+if(NOT STB_INCLUDE_DIR)
+  message(STATUS "System installation of stb not found. Using stb submodule.")
+
+  # Initialize and update the stb submodule
+  execute_process(
+    COMMAND ${CMAKE_COMMAND} --build . --target stb
+    WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+  )
+
+  # Set STB_INCLUDE_DIR to the submodule's include path
+  set(STB_INCLUDE_DIR ${CMAKE_SOURCE_DIR}/stb)
+
+  # Cache the variable so it persists across CMake runs
+  set(STB_INCLUDE_DIR ${STB_INCLUDE_DIR} CACHE PATH "Path to stb include directory")
+endif()
+
+message(STATUS "STB_INCLUDE_DIR: ${STB_INCLUDE_DIR}")
+
+# Make STB_INCLUDE_DIR available to other CMake files (e.g., in src/controller/c)
+set(STB_INCLUDE_DIR ${STB_INCLUDE_DIR} CACHE PATH "Path to stb include directory" FORCE)
+
+add_subdirectory(ode)
+add_subdirectory(wren)
+add_subdirectory(webots)
+add_subdirectory(controller)

src/controller/CMakeLists.txt

@@ -0,0 +1,4 @@
+# Add subdirectories for C and C++ controllers
+add_subdirectory(c)
+add_subdirectory(cpp)
+add_subdirectory(java)

src/controller/c/CMakeLists.txt

@@ -0,0 +1,150 @@
+# Name of the library to be created
+set(CONTROLLER_LIBRARY_NAME Controller)
+
+# Source files for the controller library
+set(CONTROLLER_SOURCES
+  abstract_camera.c
+  accelerometer.c
+  altimeter.c
+  ansi_codes.c
+  base64.c
+  brake.c
+  camera.c
+  compass.c
+  connector.c
+  console.c
+  default_robot_window.c
+  device.c
+  display.c
+  distance_sensor.c
+  dynamic_library.c
+  emitter.c
+  file.c
+  g_image.c
+  g_pipe.c
+  gps.c
+  gyro.c
+  html_robot_window.c
+  image.c
+  inertial_unit.c
+  joystick.c
+  keyboard.c
+  led.c
+  lidar.c
+  light_sensor.c
+  microphone.c
+  motion.c
+  motor.c
+  mouse.c
+  node.c
+  pen.c
+  percent.c
+  position_sensor.c
+  radar.c
+  radio.c
+  range_finder.c
+  receiver.c
+  remote_control.c
+  request.c
+  robot.c
+  robot_window.c
+  scheduler.c
+  sha1.c
+  skin.c
+  speaker.c
+  string.c
+  supervisor.c
+  system.c
+  tcp_client.c
+  touch_sensor.c
+  vacuum_gripper.c
+)
+
+# Header files for internal use within the library
+set(CONTROLLER_HEADERS
+  abstract_camera.h
+  base64.h
+  camera_private.h
+  default_robot_window_private.h
+  device_private.h
+  display_private.h
+  dynamic_library.h
+  file.h
+  g_image.h
+  g_pipe.h
+  html_robot_window_private.h
+  image_private.h
+  joystick_private.h
+  keyboard_private.h
+  messages.h
+  motion_private.h
+  mouse_private.h
+  percent.h
+  remote_control_private.h
+  request.h
+  robot_private.h
+  robot_window_private.h
+  scheduler.h
+  sha1.h
+  supervisor_private.h
+  tcp_client.h
+)
+
+# Create the shared library
+add_library(${CONTROLLER_LIBRARY_NAME} SHARED ${CONTROLLER_SOURCES} ${CONTROLLER_HEADERS})
+
+# Include directories for the controller library
+ target_include_directories(${CONTROLLER_LIBRARY_NAME}
+  PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
+    $<INSTALL_INTERFACE:include>
+    $<BUILD_INTERFACE:${STB_INCLUDE_DIR}>
+    $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/include/controller/c>
+    $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include/controller/c>
+)
+# Find libraries on Windows (using MSYS2)
+if (WIN32)
+    # Directly use MSYSTEM_PREFIX for library paths
+    set(winsock_LIBRARY_PATH "$ENV{MSYSTEM_PREFIX}/lib/libws2_32.a")
+
+    # Check if winsock library exists and link it
+    if (EXISTS ${winsock_LIBRARY_PATH})
+        message(STATUS "winsock library found: ${winsock_LIBRARY_PATH}")
+    else()
+        message(FATAL_ERROR "winsock library not found at ${winsock_LIBRARY_PATH}. Please ensure it is installed in your MSYS2 environment.")
+    endif()
+
+    # Link libraries if found
+    target_link_libraries(Controller
+        PRIVATE
+        ${winsock_LIBRARY_PATH}
+    )
+endif()
+
+target_compile_definitions(${CONTROLLER_LIBRARY_NAME}
+  PUBLIC
+    "LIBCONTROLLER_VERSION=\"${WEBOTS_VERSION}\""
+)
+# Link necessary libraries to the controller
+target_link_libraries(${CONTROLLER_LIBRARY_NAME}
+  PUBLIC
+  #    glad
+  #   ${Freetype_LIBRARIES}
+)
+
+# Set properties for the library (adjust as needed)
+#set_target_properties(${CONTROLLER_LIBRARY_NAME} PROPERTIES
+#  VERSION 0.1
+#  SOVERSION 0
+#  PUBLIC_HEADER "${CONTROLLER_HEADERS}"
+#)
+
+# Install rules
+install(TARGETS ${CONTROLLER_LIBRARY_NAME}
+  DESTINATION lib
+)
+
+install(FILES ${CONTROLLER_HEADERS}
+  DESTINATION include
+)