if(ENABLE_INSTALL_RPATH)
  set(CMAKE_INSTALL_RPATH "$ORIGIN/..")
endif()

set(GRASP_PLUGINS "Grasp" CACHE STRING
  "Sub-directories containing plugins to compile in the each directory")

if(CNOID_VERSION EQUAL 1.0 OR CNOID_VERSION EQUAL 1.1)
  add_definitions(-DCNOID_10_11)
endif()

if(CNOID_VERSION EQUAL 1.0 OR CNOID_VERSION EQUAL 1.1 OR CNOID_VERSION EQUAL 1.2  OR CNOID_VERSION EQUAL 1.3 )
  add_definitions(-DCNOID_10_11_12_13)
endif()


if(MSVC)
  set(QHULL_DIR ${QHULL_DIR} CACHE PATH "set the direcotry of qhull")
  if(NOT QHULL_DIR)
    message(FATAL_ERROR "Please specify the Qhull top directory to QHULL_DIR.")
  else()
    set(QHULL_INCLUDE_DIRS ${QHULL_DIR}/include)
    set(QHULL_LIB_DIRS ${QHULL_DIR}/lib)
    set(QHULL_BIN_DIRS ${QHULL_DIR}/bin)
	if(EXISTS "${QHULL_LIB_DIRS}/qhull6.lib")
	 set(QHULL_NAME "qhull6")
	else()
	 set(QHULL_NAME "qhull_p")
	endif()
  endif()

  include_directories(${QHULL_INCLUDE_DIRS})
  link_directories(${QHULL_LIB_DIRS})
  link_directories(${PYTHON_LIBRARY})

  set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} /fp:precise")
endif()

foreach(subdirectory ${GRASP_PLUGINS})
  add_subdirectory(${subdirectory})
endforeach()

#add_subdirectory(RobotModels)


