compiling in 20 minutes instead of 4 hours, making webots more packageable and easy to compile

.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 +1,89 @@
+cmake_minimum_required(VERSION 3.10)
+project(webots)
+
+# Handle dynamic loading library
+if(WIN32)
+    find_package(dlfcn-win32 REQUIRED)
+    set(CMAKE_DL_LIBS dlfcn-win32::dl)
+else()
+    set(CMAKE_DL_LIBS ${CMAKE_DL_LIBS})
+endif()
+
+# Installation configuration
+if(NOT CMAKE_INSTALL_PREFIX)
+  # Check if we can write to /usr/local
+  execute_process(COMMAND test -w /usr/local RESULT_VARIABLE can_write_usr_local)
+  if(can_write_usr_local EQUAL 0)
+    set(CMAKE_INSTALL_PREFIX "/usr/local" CACHE PATH "Installation prefix" FORCE)
+  else()
+    # Fallback to ~/.local
+    set(CMAKE_INSTALL_PREFIX "$ENV{HOME}/.local" CACHE PATH "Installation prefix" FORCE)
+  endif()
+endif()
+
+message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}")
+
+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)  # Path is correct - ${CMAKE_SOURCE_DIR} handles OS-specific path separators
+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
+# Installation rules
+install(DIRECTORY resources/
+  DESTINATION ${CMAKE_INSTALL_PREFIX}/share/webots/resources
+  PATTERN ".gitkeep" EXCLUDE
+  PATTERN "*.user" EXCLUDE
+  PATTERN "*.lock" EXCLUDE
+)
+
+install(DIRECTORY projects/
+  DESTINATION ${CMAKE_INSTALL_PREFIX}/share/webots/projects
+  PATTERN ".gitkeep" EXCLUDE
+  PATTERN "*.user" EXCLUDE
+  PATTERN "*.lock" EXCLUDE
+)
+
+# Add subdirectories
+add_subdirectory(src)
+
+# Install main executable
+install(TARGETS webots
+  RUNTIME DESTINATION bin
+  BUNDLE DESTINATION .
+)
+
+# Install libraries
+install(TARGETS Controller CppController
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+)

projects/CMakeLists.txt

@@ -0,0 +1,28 @@
+# CMakeLists.txt for the 'projects' directory
+# This file is part of the effort to port the Webots build system from Make to CMake.
+
+cmake_minimum_required(VERSION 3.10)
+
+# Assuming CMAKE_SOURCE_DIR points to the root of the Webots project.
+# This variable can be used by sub-projects if they need to reference the Webots root.
+set(WEBOTS_HOME ${CMAKE_SOURCE_DIR} CACHE INTERNAL "Path to Webots root directory")
+
+message(STATUS "Configuring Webots Projects from: ${CMAKE_CURRENT_SOURCE_DIR}")
+message(STATUS "WEBOTS_HOME for projects set to: ${WEBOTS_HOME}")
+
+# Add subdirectories. Each of these will require its own CMakeLists.txt
+# to define how its contents are built and installed.
+add_subdirectory(languages)
+add_subdirectory(default)
+add_subdirectory(objects)
+add_subdirectory(robots)
+add_subdirectory(samples)
+add_subdirectory(vehicles)
+add_subdirectory(humans)
+
+# Install guided_tour.txt to the correct projects directory in the install location
+install(FILES guided_tour.txt DESTINATION share/webots/projects)
+
+# The Makefile targets (release, profile, debug, clean, cleanse)
+# are generally handled by CMake's built-in build type configurations (CMAKE_BUILD_TYPE)
+# and the standard 'clean' target generated by CMake.

projects/default/CMakeLists.txt

@@ -0,0 +1,9 @@
+# Placeholder CMakeLists.txt for projects/default
+# TODO: Convert the logic from projects/default/Makefile to CMake.
+
+cmake_minimum_required(VERSION 3.10)
+project(webots_project_default)
+
+message(STATUS "Configuring projects/default")
+
+# Add build targets, sources, and installation rules here.

projects/humans/CMakeLists.txt

@@ -0,0 +1,9 @@
+# Placeholder CMakeLists.txt for projects/humans
+# TODO: Convert the logic from projects/humans/Makefile to CMake.
+
+cmake_minimum_required(VERSION 3.10)
+project(webots_project_humans)
+
+message(STATUS "Configuring projects/humans")
+
+# Add build targets, sources, and installation rules here.

projects/languages/CMakeLists.txt

@@ -0,0 +1,13 @@
+# Placeholder CMakeLists.txt for projects/languages
+# TODO: Convert the logic from projects/languages/Makefile to CMake.
+
+cmake_minimum_required(VERSION 3.10)
+project(webots_project_languages)
+
+message(STATUS "Configuring projects/languages")
+
+# Add build targets, sources, and installation rules here.
+# For example:
+# add_library(my_language_library my_source.c)
+# target_link_libraries(my_language_library PRIVATE ${WEBOTS_HOME}/lib/Controller.so) # Example dependency
+# install(TARGETS my_language_library DESTINATION lib)

projects/objects/CMakeLists.txt

@@ -0,0 +1,9 @@
+# Placeholder CMakeLists.txt for projects/objects
+# TODO: Convert the logic from projects/objects/Makefile to CMake.
+
+cmake_minimum_required(VERSION 3.10)
+project(webots_project_objects)
+
+message(STATUS "Configuring projects/objects")
+
+# Add build targets, sources, and installation rules here.

projects/robots/CMakeLists.txt

@@ -0,0 +1,9 @@
+# Placeholder CMakeLists.txt for projects/robots
+# TODO: Convert the logic from projects/robots/Makefile to CMake.
+
+cmake_minimum_required(VERSION 3.10)
+project(webots_project_robots)
+
+message(STATUS "Configuring projects/robots")
+
+# Add build targets, sources, and installation rules here.

projects/samples/CMakeLists.txt

@@ -0,0 +1,9 @@
+# Placeholder CMakeLists.txt for projects/samples
+# TODO: Convert the logic from projects/samples/Makefile to CMake.
+
+cmake_minimum_required(VERSION 3.10)
+project(webots_project_samples)
+
+message(STATUS "Configuring projects/samples")
+
+# Add build targets, sources, and installation rules here.

projects/vehicles/CMakeLists.txt

@@ -0,0 +1,9 @@
+# Placeholder CMakeLists.txt for projects/vehicles
+# TODO: Convert the logic from projects/vehicles/Makefile to CMake.
+
+cmake_minimum_required(VERSION 3.10)
+project(webots_project_vehicles)
+
+message(STATUS "Configuring projects/vehicles")
+
+# Add build targets, sources, and installation rules here.

resources/CMakeLists.txt

@@ -0,0 +1,25 @@
+# CMakeLists.txt for the 'resources' directory
+# This file is part of the effort to port the Webots build system from Make to CMake.
+
+cmake_minimum_required(VERSION 3.10)
+
+message(STATUS "Configuring Webots Resources from: ${CMAKE_CURRENT_SOURCE_DIR}")
+
+# Add subdirectories. Each of these will require its own CMakeLists.txt
+# to define how its contents are built/processed and installed.
+add_subdirectory(translations)
+add_subdirectory(projects) # This is resources/projects
+
+# Other files and directories in 'resources' (like fonts, icons, images, templates, etc.)
+# are typically handled by 'install(DIRECTORY ...)' commands in the root CMakeLists.txt
+# or directly here if specific processing is needed before installation.
+# The existing root CMakeLists.txt already has:
+# install(DIRECTORY resources/ DESTINATION ${CMAKE_INSTALL_PREFIX}/share/webots/resources ...)
+# This will cover most static assets. If specific files from 'resources' need to be
+# generated or processed by CMake, that logic would go here or in specific subdirectory CMakeLists.txt files.
+
+# The Makefile targets (release, debug, profile, clean, cleanse)
+# are generally handled by CMake's built-in build type configurations (CMAKE_BUILD_TYPE)
+# and the standard 'clean' target generated by CMake.
+# Specific cleaning tasks like 'rm -rf sumo_exporter/*.pyc' would need
+# to be translated into custom clean commands or handled by the build process of 'sumo_exporter' if it gets its own CMakeLists.txt.

resources/projects/CMakeLists.txt

@@ -0,0 +1,17 @@
+# Placeholder CMakeLists.txt for resources/projects
+# TODO: Convert the logic from resources/projects/Makefile to CMake.
+# This will involve adding subdirectories for controllers, libraries, plugins, worlds.
+
+cmake_minimum_required(VERSION 3.10)
+project(webots_resources_projects)
+
+message(STATUS "Configuring resources/projects")
+
+# Add subdirectories. Each of these will require its own CMakeLists.txt.
+add_subdirectory(controllers)
+add_subdirectory(libraries)
+add_subdirectory(plugins)
+add_subdirectory(worlds)
+
+# Add build targets, sources, and installation rules here as needed
+# for any direct content of resources/projects, if any.