include (${gazebo_cmake_dir}/GazeboUtils.cmake)

#message("includes: ${Simbody_INCLUDE_DIR}\n\n")
#message("library dirs: ${Simbody_LIB_DIR}\n\n")
#message("libraries: ${Simbody_LIBRARIES}\n\n")
#message("cflags: ${Simbody_CFLAGS}\n\n")

include_directories(SYSTEM ${Simbody_INCLUDE_DIR})

link_directories(${Simbody_LIB_DIR})

add_definitions(${Simbody_CFLAGS})

set (sources
SimbodyBallJoint.cc
SimbodyCollision.cc
SimbodyHeightmapShape.cc
SimbodyHinge2Joint.cc
SimbodyHingeJoint.cc
SimbodyJoint.cc
SimbodyLink.cc
SimbodyMeshShape.cc
SimbodyModel.cc
SimbodyMultiRayShape.cc
SimbodyPhysics.cc
SimbodyPlaneShape.cc
SimbodyRayShape.cc
SimbodyScrewJoint.cc
SimbodySliderJoint.cc
SimbodyUniversalJoint.cc
)

gz_add_library(gazebo_physics_simbody ${sources})
target_link_libraries(gazebo_physics_simbody ${Simbody_LIBRARIES})

gz_install_library(gazebo_physics_simbody)

