cmake: add option to switch between double and float

Author: lmontaut

CMakeLists.txt

@@ -72,6 +72,7 @@ option(
   "Make Coal retro-compatible with HPP-FCL."
   FALSE
 )
+option(COAL_USE_DOUBLE_PRECISION "Use double precision (64-bit) instead of single precision (32-bit)" TRUE)
 
 # Check if the submodule cmake have been initialized
 set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")

cmake

@@ -63,7 +63,11 @@ namespace coal {
 #ifdef COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL
 // We keep the FCL_REAL typedef and the Vec[..]f typedefs for backward
 // compatibility.
+#ifdef COAL_USE_DOUBLE_PRECISION
 typedef double FCL_REAL;
+#else
+typedef float FCL_REAL;
+#endif
 typedef Eigen::Matrix<FCL_REAL, 3, 1> Vec3f;
 typedef Eigen::Matrix<FCL_REAL, 2, 1> Vec2f;
 typedef Eigen::Matrix<FCL_REAL, 6, 1> Vec6f;
@@ -74,8 +78,13 @@ typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, 2, Eigen::RowMajor> Matrixx2f;
 typedef Eigen::Matrix<FCL_REAL, Eigen::Dynamic, Eigen::Dynamic> MatrixXf;
 #endif
 
+#ifdef COAL_USE_DOUBLE_PRECISION
 COAL_DEPRECATED typedef double CoalScalar;
 typedef double Scalar;
+#else
+COAL_DEPRECATED typedef float CoalScalar;
+typedef float Scalar;
+#endif
 typedef Eigen::Matrix<Scalar, 3, 1> Vec3s;
 typedef Eigen::Matrix<Scalar, 2, 1> Vec2s;
 typedef Eigen::Matrix<Scalar, 6, 1> Vec6s;

include/coal/data_types.h

@@ -250,6 +250,10 @@ if(COAL_ENABLE_LOGGING)
   )
 endif()
 
+if (COAL_USE_DOUBLE_PRECISION)
+  target_compile_definitions(${LIBRARY_NAME} PUBLIC COAL_USE_DOUBLE_PRECISION)
+endif()
+
 if(WIN32)
   target_link_libraries(
     ${LIBRARY_NAME}