Enable binary relocatability

Signed-off-by: Silvio Traversaro <silvio.traversaro@iit.it>
gazebosim · Jan 16, 2023 · 2d00d80 · 2d00d80
1 parent 41be240
commit 2d00d80
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Showing 17 changed files with 131 additions and 17 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -117,8 +117,11 @@ if (OGRE2_FOUND)
 endif()
 
 # Plugin install dirs
+set(IGNITION_RENDERING_ENGINE_RELATIVE_INSTALL_DIR
+  ${IGN_LIB_INSTALL_DIR}/ign-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/engine-plugins
+)
 set(IGNITION_RENDERING_ENGINE_INSTALL_DIR
-  ${CMAKE_INSTALL_PREFIX}/${IGN_LIB_INSTALL_DIR}/ign-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/engine-plugins
+  ${CMAKE_INSTALL_PREFIX}/${IGNITION_RENDERING_ENGINE_RELATIVE_INSTALL_DIR}
 )
 
 #--------------------------------------
@@ -147,7 +150,8 @@ else()
   set(IGN_RENDERING_PLUGIN_PATH ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR})
 endif()
 
-set(IGN_RENDERING_RESOURCE_PATH ${CMAKE_INSTALL_PREFIX}/${IGN_DATA_INSTALL_DIR})
+set(IGN_RENDERING_RELATIVE_RESOURCE_PATH ${IGN_DATA_INSTALL_DIR})
+set(IGN_RENDERING_RESOURCE_PATH ${CMAKE_INSTALL_PREFIX}/${IGN_RENDERING_RELATIVE_RESOURCE_PATH})
 
 #============================================================================
 # Configure the build

diff --git a/include/ignition/rendering/InstallationDirectories.hh b/include/ignition/rendering/InstallationDirectories.hh
@@ -0,0 +1,46 @@
+/*
+ * Copyright (C) 2023 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#ifndef IGNITION_RENDERING_INSTALLATION_DIRECTORIES_HH_
+#define IGNITION_RENDERING_INSTALLATION_DIRECTORIES_HH_
+
+#include <string>
+
+#include <ignition/rendering/config.hh>
+#include <ignition/rendering/Export.hh>
+
+namespace ignition
+{
+  namespace rendering
+  {
+    inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
+
+    /// \brief getInstallPrefix return the install prefix of the library
+    /// i.e. CMAKE_INSTALL_PREFIX unless the library has been moved
+    IGNITION_RENDERING_VISIBLE std::string getInstallPrefix();
+
+    /// \brief getResourcePath return the resource path
+    IGNITION_RENDERING_VISIBLE std::string getResourcePath();
+
+    /// \brief getEngineInstallDir return the install directory of the engines
+    IGNITION_RENDERING_VISIBLE std::string getEngineInstallDir();
+
+    }
+  }
+}
+
+#endif
diff --git a/include/ignition/rendering/config.hh.in b/include/ignition/rendering/config.hh.in
@@ -1,5 +1,8 @@
 /* Config.hh. Generated by CMake for @PROJECT_NAME@. */
 
+#ifndef IGNITION_${GZ_DESIGNATION_UPPER}_CONFIG_HH_
+#define IGNITION_${GZ_DESIGNATION_UPPER}_CONFIG_HH_
+
 /* Version number */
 #define IGNITION_RENDERING_MAJOR_VERSION ${PROJECT_VERSION_MAJOR}
 #define IGNITION_RENDERING_MINOR_VERSION ${PROJECT_VERSION_MINOR}
@@ -12,10 +15,16 @@
 
 #define IGNITION_RENDERING_VERSION_HEADER "Ignition ${IGN_PROJECT_NAME}, version ${PROJECT_VERSION_FULL}\nCopyright (C) 2014 Open Source Robotics Foundation.\nReleased under the Apache 2.0 License.\n\n"
 
+// Deprecated: use ignition::rendering::getResourcePath() instead
 #define IGN_RENDERING_RESOURCE_PATH "${IGN_RENDERING_RESOURCE_PATH}"
 
+#define IGN_RENDERING_RELATIVE_RESOURCE_PATH "${IGN_RENDERING_RELATIVE_RESOURCE_PATH}"
+
+// Deprecated: use ignition::rendering::getEngineInstallDir() instead
 #define IGNITION_RENDERING_ENGINE_INSTALL_DIR "${IGNITION_RENDERING_ENGINE_INSTALL_DIR}"
 
+#define IGNITION_RENDERING_ENGINE_RELATIVE_INSTALL_DIR "${IGNITION_RENDERING_ENGINE_RELATIVE_INSTALL_DIR}"
+
 #cmakedefine BUILD_TYPE_PROFILE 1
 #cmakedefine BUILD_TYPE_DEBUG 1
 #cmakedefine BUILD_TYPE_RELEASE 1
@@ -24,3 +33,5 @@
 #cmakedefine HAVE_OPTIX 1
 #cmakedefine HAVE_GAZEBO 1
 #cmakedefine INCLUDE_RTSHADER 1
+
+#endif
diff --git a/ogre/src/CMakeLists.txt b/ogre/src/CMakeLists.txt
@@ -27,7 +27,6 @@ find_package(OpenGL)
 set_property(
   SOURCE OgreRenderEngine.cc OgreRTShaderSystem.cc OgreGpuRays.cc OgreMaterial.cc OgreDepthCamera.cc OgreThermalCamera.cc
   PROPERTY COMPILE_DEFINITIONS
-  IGN_RENDERING_RESOURCE_PATH="${IGN_RENDERING_RESOURCE_PATH}"
   OGRE_RESOURCE_PATH="${OGRE_RESOURCE_PATH}"
 )
 

diff --git a/ogre/src/OgreCamera.cc b/ogre/src/OgreCamera.cc
@@ -15,6 +15,7 @@
  *
  */
 
+#include "ignition/rendering/InstallationDirectories.hh"
 #include "ignition/rendering/ogre/OgreCamera.hh"
 #include "ignition/rendering/ogre/OgreConversions.hh"
 #include "ignition/rendering/ogre/OgreIncludes.hh"

diff --git a/ogre/src/OgreDepthCamera.cc b/ogre/src/OgreDepthCamera.cc
@@ -23,6 +23,7 @@
   #include <windows.h>
 #endif
 #include <ignition/math/Helpers.hh>
+#include "ignition/rendering/InstallationDirectories.hh"
 #include "ignition/rendering/ogre/OgreDepthCamera.hh"
 #include "ignition/rendering/ogre/OgreMaterial.hh"
 
@@ -210,7 +211,7 @@ void OgreDepthCamera::CreatePointCloudTexture()
 
   const char *env = std::getenv("IGN_RENDERING_RESOURCE_PATH");
   std::string resourcePath = (env) ? std::string(env) :
-      IGN_RENDERING_RESOURCE_PATH;
+      ignition::rendering::getResourcePath();
 
   // path to look for vertex and fragment shader parameters
   std::string pcdVSPath = common::joinPaths(

diff --git a/ogre/src/OgreMaterial.cc b/ogre/src/OgreMaterial.cc
@@ -18,6 +18,7 @@
 #include <ignition/common/Console.hh>
 #include <ignition/common/Filesystem.hh>
 
+#include "ignition/rendering/InstallationDirectories.hh"
 #include "ignition/rendering/ShaderParams.hh"
 #include "ignition/rendering/ogre/OgreMaterial.hh"
 #include "ignition/rendering/ogre/OgreConversions.hh"
@@ -662,7 +663,7 @@ void OgreMaterial::SetDepthMaterial(const double _far,
   // Get shader parameters path
   const char *env = std::getenv("IGN_RENDERING_RESOURCE_PATH");
   std::string resourcePath = (env) ? std::string(env) :
-      IGN_RENDERING_RESOURCE_PATH;
+      ignition::rendering::getResourcePath();
 
   // path to look for vertex and fragment shader parameters
   std::string depth_vertex_shader_path = common::joinPaths(

diff --git a/ogre/src/OgreRTShaderSystem.cc b/ogre/src/OgreRTShaderSystem.cc
@@ -28,7 +28,7 @@
 #include <ignition/common/Filesystem.hh>
 #include <ignition/common/Util.hh>
 
-#include "ignition/rendering/config.hh"
+#include "ignition/rendering/InstallationDirectories.hh"
 #include "ignition/rendering/ogre/OgreRenderEngine.hh"
 #include "ignition/rendering/ogre/OgreScene.hh"
 #include "ignition/rendering/ogre/OgreMaterial.hh"
@@ -487,7 +487,7 @@ bool OgreRTShaderSystem::Paths(std::string &coreLibsPath,
 {
   const char *env = std::getenv("IGN_RENDERING_RESOURCE_PATH");
   std::string resourcePath = (env) ? std::string(env) :
-      IGN_RENDERING_RESOURCE_PATH;
+      ignition::rendering::getResourcePath();
 
   // path to look for ogre media files
   std::vector<std::string> paths;

diff --git a/ogre/src/OgreRenderEngine.cc b/ogre/src/OgreRenderEngine.cc
@@ -36,6 +36,7 @@
 #include <ignition/common/Filesystem.hh>
 #include <ignition/common/Util.hh>
 
+#include "ignition/rendering/InstallationDirectories.hh"
 #include "ignition/rendering/RenderEngineManager.hh"
 #include "ignition/rendering/ogre/OgreIncludes.hh"
 #include "ignition/rendering/ogre/OgreRenderEngine.hh"
@@ -562,7 +563,7 @@ void OgreRenderEngine::CreateResources()
   std::list<std::string> paths;
   const char *env = std::getenv("IGN_RENDERING_RESOURCE_PATH");
   std::string resourcePath = (env) ? std::string(env) :
-      IGN_RENDERING_RESOURCE_PATH;
+      ignition::rendering::getResourcePath();
   // install path
   std::string mediaPath = common::joinPaths(resourcePath, "ogre", "media");
   paths.push_back(mediaPath);

diff --git a/ogre2/src/CMakeLists.txt b/ogre2/src/CMakeLists.txt
@@ -22,7 +22,6 @@ add_definitions(-DOGRE_IGNORE_UNKNOWN_DEBUG)
 set_property(
   SOURCE Ogre2RenderEngine.cc
   PROPERTY COMPILE_DEFINITIONS
-  IGN_RENDERING_RESOURCE_PATH="${IGN_RENDERING_RESOURCE_PATH}"
   OGRE2_RESOURCE_PATH="${OGRE2_RESOURCE_PATH}"
   OGRE2_VERSION="${OGRE2_VERSION}"
 )

diff --git a/ogre2/src/Ogre2RenderEngine.cc b/ogre2/src/Ogre2RenderEngine.cc
@@ -34,6 +34,7 @@
 #include <ignition/plugin/Register.hh>
 
 #include "ignition/rendering/GraphicsAPI.hh"
+#include "ignition/rendering/InstallationDirectories.hh"
 #include "ignition/rendering/RenderEngineManager.hh"
 #include "ignition/rendering/ogre2/Ogre2Includes.hh"
 #include "ignition/rendering/ogre2/Ogre2RenderEngine.hh"
@@ -672,7 +673,7 @@ void Ogre2RenderEngine::RegisterHlms()
 {
   const char *env = std::getenv("IGN_RENDERING_RESOURCE_PATH");
   std::string resourcePath = (env) ? std::string(env) :
-      IGN_RENDERING_RESOURCE_PATH;
+      ignition::rendering::getResourcePath();
   // install path
   std::string mediaPath = common::joinPaths(resourcePath, "ogre2", "media");
   if (!common::exists(mediaPath))
@@ -861,7 +862,7 @@ void Ogre2RenderEngine::CreateResources()
 {
   const char *env = std::getenv("IGN_RENDERING_RESOURCE_PATH");
   std::string resourcePath = (env) ? std::string(env) :
-      IGN_RENDERING_RESOURCE_PATH;
+      ignition::rendering::getResourcePath();
   // install path
   std::string mediaPath = common::joinPaths(resourcePath, "ogre2", "media");
   if (!common::exists(mediaPath))

diff --git a/optix/src/CMakeLists.txt b/optix/src/CMakeLists.txt
@@ -29,8 +29,6 @@ set(cuda_sources
 
 set_property(
   SOURCE OptixRenderEngine.cc
-  PROPERTY COMPILE_DEFINITIONS
-  IGN_RENDERING_RESOURCE_PATH="${IGN_RENDERING_RESOURCE_PATH}"
 )
 
 target_link_libraries(${optix_target}

diff --git a/optix/src/OptixRenderEngine.cc b/optix/src/OptixRenderEngine.cc
@@ -82,7 +82,7 @@ std::string OptixRenderEngine::PtxFile(const std::string& _fileBase) const
 
   const char *env= std::getenv("IGN_RENDERING_RESOURCE_PATH");
   std::string resourcePath = (env) ? std::string(env) :
-      IGN_RENDERING_RESOURCE_PATH;
+      ignition::rendering::getResourcePath();
   resourcePath = common::joinPaths(resourcePath, "optix");
   folders.push_back(resourcePath);
 

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -22,6 +22,9 @@ endif()
 
 # Create the library target.
 ign_create_core_library(SOURCES ${sources} CXX_STANDARD 17)
+ign_add_get_install_prefix_impl(GET_INSTALL_PREFIX_FUNCTION ignition::rendering::getInstallPrefix
+                                GET_INSTALL_PREFIX_HEADER ignition/rendering/InstallationDirectories.hh
+                                OVERRIDE_INSTALL_PREFIX_ENV_VARIABLE IGN_RENDERING_INSTALL_PREFIX)
 
 # Include the interface directories that we always need.
 #ign_target_interface_include_directories(${PROJECT_LIBRARY_TARGET_NAME}
@@ -45,4 +48,5 @@ endif()
 
 # Build the unit tests.
 ign_build_tests(TYPE UNIT SOURCES ${gtest_sources})
+                          ENVIRONMENT IGN_RENDERING_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})
 
diff --git a/src/InstallationDirectories.cc b/src/InstallationDirectories.cc
@@ -0,0 +1,47 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#include <ignition/rendering/config.hh>
+#include <ignition/rendering/InstallationDirectories.hh>
+
+#include <filesystem>
+
+namespace ignition
+{
+namespace rendering
+{
+inline namespace IGNITION_RENDERING_VERSION_NAMESPACE {
+
+std::string getResourcePath()
+{
+  std::filesystem::path relative_resource_path(IGN_RENDERING_RELATIVE_RESOURCE_PATH);
+  std::filesystem::path install_prefix(getInstallPrefix());
+  std::filesystem::path resource_path = install_prefix / relative_resource_path;
+  return resource_path.string();
+}
+
+std::string getEngineInstallDir()
+{
+  std::filesystem::path engine_relative_install_dir(IGNITION_RENDERING_ENGINE_RELATIVE_INSTALL_DIR);
+  std::filesystem::path install_prefix(getInstallPrefix());
+  std::filesystem::path engine_install_dir = install_prefix / engine_relative_install_dir;
+  return engine_install_dir.string();
+}
+
+}
+}
+}
diff --git a/src/RenderEngineManager.cc b/src/RenderEngineManager.cc
@@ -23,7 +23,7 @@
 
 #include <ignition/plugin/Loader.hh>
 
-#include "ignition/rendering/config.hh"
+#include "ignition/rendering/InstallationDirectories.hh"
 #include "ignition/rendering/RenderEngine.hh"
 #include "ignition/rendering/RenderEngineManager.hh"
 #include "ignition/rendering/RenderEnginePlugin.hh"
@@ -446,7 +446,7 @@ bool RenderEngineManagerPrivate::LoadEnginePlugin(
 
   // Add default install folder.
   systemPaths.AddPluginPaths(std::string(IGN_RENDERING_PLUGIN_PATH));
-  systemPaths.AddPluginPaths({IGNITION_RENDERING_ENGINE_INSTALL_DIR});
+  systemPaths.AddPluginPaths(ignition::rendering::getEngineInstallDir());
 
   // Add any preset plugin paths.
   for (const auto &path : this->pluginPaths)

diff --git a/src/base/BaseScene.cc b/src/base/BaseScene.cc
@@ -30,6 +30,7 @@
 #include "ignition/rendering/BoundingBoxCamera.hh"
 #include "ignition/rendering/COMVisual.hh"
 #include "ignition/rendering/InertiaVisual.hh"
+#include "ignition/rendering/InstallationDirectories.hh" 
 #include "ignition/rendering/JointVisual.hh"
 #include "ignition/rendering/LidarVisual.hh"
 #include "ignition/rendering/LightVisual.hh"
@@ -1559,7 +1560,7 @@ void BaseScene::CreateMaterials()
 
   const char *env = std::getenv("IGN_RENDERING_RESOURCE_PATH");
   std::string resourcePath = (env) ? std::string(env) :
-      IGN_RENDERING_RESOURCE_PATH;
+      ignition::rendering::getResourcePath();
 
   // path to look for CoM material texture
   std::string com_material_texture_path = common::joinPaths(