C++ visibility support (take II)

CMakeLists.txt

@@ -24,6 +24,9 @@ project(fcl CXX C)
 
 option(FCL_ENABLE_PROFILING "Enable profiling" OFF)
 option(FCL_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" OFF)
+# Option for some bundle-like build system in order not to expose
+# any FCL binary symbols in their public ABI
+option(FCL_HIDE_ALL_SYMBOLS "Hide all binary symbols" OFF)
 
 # set the default build type
 if (NOT MSVC AND NOT CMAKE_BUILD_TYPE)
@@ -42,6 +45,7 @@ include(FCLMacros)
 include(CompilerSettings)
 include(FCLVersion)
 include(GNUInstallDirs)
+include(GenerateExportHeader) 
 
 if(MSVC OR IS_ICPC)
   option(FCL_STATIC_LIBRARY "Whether the FCL library should be static rather than shared" ON)
@@ -229,6 +233,11 @@ else()
   message(STATUS "FCL does not use OctoMap (as requested)")
 endif()
 
+# Need to include directory to find export file
+include_directories(${PROJECT_BINARY_DIR}) 
+
+install(FILES ${PROJECT_BINARY_DIR}/${PROJECT_NAME}_export.h
+  DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
 
 # FCL's own include dir should be at the front of the include path
 include_directories(BEFORE "include")
@@ -261,11 +270,13 @@ add_custom_target(uninstall
   "${CMAKE_COMMAND}" -P "${CMAKE_CURRENT_BINARY_DIR}/CMakeModules/cmake_uninstall.cmake")
 
 option(FCL_BUILD_TESTS "Build FCL tests" ON)
-if(FCL_BUILD_TESTS)
+if(FCL_BUILD_TESTS AND NOT FCL_HIDE_ALL_SYMBOLS)
     enable_testing()
     add_subdirectory(test)
 endif()
 
+generate_export_header(${PROJECT_NAME})
+
 #===============================================================================
 # API documentation using Doxygen
 # References:

include/fcl/broadphase/broadphase_SSaP-inl.h

@@ -45,7 +45,7 @@ namespace fcl
 
 //==============================================================================
 extern template
-class SSaPCollisionManager<double>;
+class FCL_EXPORT SSaPCollisionManager<double>;
 
 /** @brief Functor sorting objects according to the AABB<S> lower x bound */
 template <typename S>
@@ -85,7 +85,7 @@ struct SortByZLow
 
 /** @brief Dummy collision object with a point AABB<S> */
 template <typename S>
-class DummyCollisionObject : public CollisionObject<S>
+class FCL_EXPORT DummyCollisionObject : public CollisionObject<S>
 {
 public:
   DummyCollisionObject(const AABB<S>& aabb_) : CollisionObject<S>(std::shared_ptr<CollisionGeometry<S>>())

include/fcl/broadphase/broadphase_SSaP.h

@@ -46,7 +46,7 @@ namespace fcl
 
 /// @brief Simple SAP collision manager 
 template <typename S>
-class SSaPCollisionManager : public BroadPhaseCollisionManager<S>
+class FCL_EXPORT SSaPCollisionManager : public BroadPhaseCollisionManager<S>
 {
 public:
   SSaPCollisionManager();

include/fcl/broadphase/broadphase_SaP-inl.h

@@ -45,7 +45,7 @@ namespace fcl
 
 //==============================================================================
 extern template
-class SaPCollisionManager<double>;
+class FCL_EXPORT SaPCollisionManager<double>;
 
 //==============================================================================
 template <typename S>

include/fcl/broadphase/broadphase_SaP.h

@@ -48,7 +48,7 @@ namespace fcl
 
 /// @brief Rigorous SAP collision manager
 template <typename S>
-class SaPCollisionManager : public BroadPhaseCollisionManager<S>
+class FCL_EXPORT SaPCollisionManager : public BroadPhaseCollisionManager<S>
 {
 public:
 
@@ -119,10 +119,10 @@ class SaPCollisionManager : public BroadPhaseCollisionManager<S>
   struct SaPPair;
 
   /// @brief Functor to help unregister one object
-  class isUnregistered;
+  class FCL_EXPORT isUnregistered;
 
   /// @brief Functor to help remove collision pairs no longer valid (i.e., should be culled away)
-  class isNotValidPair;
+  class FCL_EXPORT isNotValidPair;
 
   void update_(SaPAABB* updated_aabb);
 
@@ -215,7 +215,7 @@ struct SaPCollisionManager<S>::SaPPair
 
 /// @brief Functor to help unregister one object
 template <typename S>
-class SaPCollisionManager<S>::isUnregistered
+class FCL_EXPORT SaPCollisionManager<S>::isUnregistered
 {
   CollisionObject<S>* obj;
 
@@ -227,7 +227,7 @@ class SaPCollisionManager<S>::isUnregistered
 
 /// @brief Functor to help remove collision pairs no longer valid (i.e., should be culled away)
 template <typename S>
-class SaPCollisionManager<S>::isNotValidPair
+class FCL_EXPORT SaPCollisionManager<S>::isNotValidPair
 {
   CollisionObject<S>* obj1;
   CollisionObject<S>* obj2;

include/fcl/broadphase/broadphase_bruteforce-inl.h

@@ -46,7 +46,7 @@ namespace fcl {
 
 //==============================================================================
 extern template
-class NaiveCollisionManager<double>;
+class FCL_EXPORT NaiveCollisionManager<double>;
 
 //==============================================================================
 template <typename S>

include/fcl/broadphase/broadphase_bruteforce.h

@@ -46,7 +46,7 @@ namespace fcl
 
 /// @brief Brute force N-body collision manager
 template <typename S>
-class NaiveCollisionManager : public BroadPhaseCollisionManager<S>
+class FCL_EXPORT NaiveCollisionManager : public BroadPhaseCollisionManager<S>
 {
 public:
   NaiveCollisionManager();

include/fcl/broadphase/broadphase_collision_manager-inl.h

@@ -46,7 +46,7 @@ namespace fcl {
 
 //==============================================================================
 extern template
-class BroadPhaseCollisionManager<double>;
+class FCL_EXPORT BroadPhaseCollisionManager<double>;
 
 //==============================================================================
 template <typename S>

include/fcl/broadphase/broadphase_collision_manager.h

@@ -63,7 +63,7 @@ using DistanceCallBack = bool (*)(
 /// collision/distance between N objects. Also support self collision, self
 /// distance and collision/distance with another M objects.
 template <typename S>
-class BroadPhaseCollisionManager
+class FCL_EXPORT BroadPhaseCollisionManager
 {
 public:
   BroadPhaseCollisionManager();

include/fcl/broadphase/broadphase_continuous_collision_manager-inl.h

@@ -46,7 +46,7 @@ namespace fcl {
 
 //==============================================================================
 extern template
-class BroadPhaseContinuousCollisionManager<double>;
+class FCL_EXPORT BroadPhaseContinuousCollisionManager<double>;
 
 //==============================================================================
 template <typename S>

include/fcl/broadphase/broadphase_continuous_collision_manager.h

@@ -63,7 +63,7 @@ using ContinuousDistanceCallBack = bool (*)(
 /// accelerate the continuous collision/distance between N objects. Also support
 /// self collision, self distance and collision/distance with another M objects.
 template <typename S>
-class BroadPhaseContinuousCollisionManager
+class FCL_EXPORT BroadPhaseContinuousCollisionManager
 {
 public:
   BroadPhaseContinuousCollisionManager();