find_package(Eigen3 REQUIRED)

set(PY_PKG_DIR_INCLUDE ${CMAKE_CURRENT_LIST_DIR}/include)

if(NOT TARGET robot_dynamics_core)
    add_library(robot_dynamics_core STATIC
        ${PY_PKG_DIR_INCLUDE}/robot_dynamics.cpp
    )
    set_target_properties(robot_dynamics_core PROPERTIES POSITION_INDEPENDENT_CODE ON)
    target_include_directories(robot_dynamics_core
        PUBLIC
            ${CMAKE_CURRENT_SOURCE_DIR}
            ${CMAKE_CURRENT_LIST_DIR}
    )
    target_link_libraries(robot_dynamics_core
        PUBLIC
            Eigen3::Eigen
    )
    target_compile_features(robot_dynamics_core PUBLIC cxx_std_17)
endif()
