install_linux.sh

# exit immediately on any failed step
set -xe

# get cmake from pip so we can version-lock
pip install cmake==3.31.6
# Set CMAKE variable to use the cmake in the same directory as python
export CMAKE="$(dirname $(which python))/cmake"

$CMAKE --version

mkdir -p deps
cd deps

curl -OL https://gitlab.com/libeigen/eigen/-/archive/3.3.9/eigen-3.3.9.tar.gz
tar -zxf eigen-3.3.9.tar.gz

rm -rf libccd
git clone --depth 1 --branch v2.1 https://github.com/danfis/libccd.git

rm -rf octomap
git clone --depth 1 --branch v1.9.8 https://github.com/OctoMap/octomap.git

rm -rf fcl
git clone --depth 1 --branch v0.7.0 https://github.com/ambi-robotics/fcl.git

# Install eigen
$CMAKE -B build -S eigen-3.3.9 
$CMAKE --install build

# Build and install libccd
cd libccd
$CMAKE . -DENABLE_DOUBLE_PRECISION=ON
make -j4
make install
cd ..

# Build and install octomap
cd octomap
$CMAKE .  -DCMAKE_BUILD_TYPE=Release -DBUILD_OCTOVIS_SUBPROJECT=OFF -DBUILD_DYNAMICETD3D_SUBPROJECT=OFF -DCMAKE_CXX_STANDARD=17 -DCMAKE_CXX_STANDARD_REQUIRED=ON -DCMAKE_CXX_FLAGS="-std=c++17 -Wno-error=template-id-cdtor"
make -j4
make install
cd ..

# Build and install fcl
cd fcl
$CMAKE . 
make -j4
make install
cd ..

# Update library cache so the system can find the newly installed libraries
ldconfig