From fcd18961d50075235e9fc3751660068726ee5d82 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@navya.tech>
Date: Fri, 20 Oct 2023 16:23:09 +0200
Subject: [PATCH] [cmake] Don't use GLOB/GLOB_RECURSE to find sources

---
 CMakeLists.txt                 |  68 ++++++
 bindings/python/CMakeLists.txt |  73 +-----
 sources.cmake                  | 395 +++++++++++++++++++++++++++++++++
 src/CMakeLists.txt             |  72 +-----
 4 files changed, 486 insertions(+), 122 deletions(-)
 create mode 100644 sources.cmake

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2a74952f3f..ae4df9d713 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -198,6 +198,74 @@ IF(BUILD_WITH_HPP_FCL_SUPPORT)
   ENDIF(BUILD_PYTHON_INTERFACE)
 ENDIF(BUILD_WITH_HPP_FCL_SUPPORT)
 
+# Sources definition
+INCLUDE(sources.cmake)
+
+IF(BUILD_WITH_URDF_SUPPORT)
+  LIST(APPEND ${PROJECT_NAME}_CORE_SOURCES ${${PROJECT_NAME}_URDF_SOURCES})
+  LIST(APPEND ${PROJECT_NAME}_CORE_PUBLIC_HEADERS ${${PROJECT_NAME}_URDF_PUBLIC_HEADERS})
+ENDIF(BUILD_WITH_URDF_SUPPORT)
+
+IF(BUILD_WITH_LIBPYTHON)
+  LIST(APPEND ${PROJECT_NAME}_CORE_PUBLIC_HEADERS
+    ${${PROJECT_NAME}_LIBPYTHON_PUBLIC_HEADERS})
+  LIST(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES
+    ${${PROJECT_NAME}_BINDINGS_PYTHON_LIBPYTHON_SOURCES})
+  LIST(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS
+    ${${PROJECT_NAME}_BINDINGS_PYTHON_LIBPYTHON_PUBLIC_HEADERS})
+ENDIF(BUILD_WITH_LIBPYTHON)
+
+IF(BUILD_WITH_HPP_FCL_SUPPORT)
+  LIST(APPEND ${PROJECT_NAME}_CORE_PUBLIC_HEADERS
+    ${${PROJECT_NAME}_HPP_FCL_PUBLIC_HEADERS})
+  LIST(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES
+    ${${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_SOURCES})
+  LIST(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS
+    ${${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_PUBLIC_HEADERS})
+ENDIF(BUILD_WITH_HPP_FCL_SUPPORT)
+
+IF(BUILD_WITH_OPENMP_SUPPORT)
+  LIST(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES
+    ${${PROJECT_NAME}_BINDINGS_PYTHON_OPENMP_SOURCES})
+  LIST(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS
+    ${${PROJECT_NAME}_BINDINGS_PYTHON_OPENMP_PUBLIC_HEADERS})
+  IF(BUILD_WITH_HPP_FCL_SUPPORT)
+  LIST(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES
+    ${${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_OPENMP_SOURCES})
+  LIST(APPEND ${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS
+    ${${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_OPENMP_PUBLIC_HEADERS})
+  ENDIF(BUILD_WITH_HPP_FCL_SUPPORT)
+ENDIF()
+
+# List headers to install
+LIST(APPEND ${PROJECT_NAME}_HEADERS
+  ${${PROJECT_NAME}_CORE_PUBLIC_HEADERS}
+  )
+IF(BUILD_PYTHON_INTERFACE)
+  LIST(APPEND ${PROJECT_NAME}_HEADERS
+    ${${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS}
+    )
+ENDIF(BUILD_PYTHON_INTERFACE)
+
+# Macros to update souces path in subdirs
+FUNCTION(REMOVE_PATH_FROM_LIST list_name path_name dest_list)
+  SET(list_name_)
+  FOREACH(header ${${list_name}})
+    STRING(REGEX REPLACE "^${path_name}" "" header ${header})
+    LIST(APPEND list_name_ ${header})
+  ENDFOREACH(header ${list_name_})
+  SET(${dest_list} ${list_name_} PARENT_SCOPE)
+ENDFUNCTION(REMOVE_PATH_FROM_LIST)
+
+FUNCTION(PREPEND_PATH_FROM_LIST list_name path_name dest_list)
+  SET(list_name_)
+  FOREACH(header ${${list_name}})
+    SET(header "${path_name}/${header}")
+    LIST(APPEND list_name_ ${header})
+  ENDFOREACH(header ${list_name_})
+  SET(${dest_list} ${list_name_} PARENT_SCOPE)
+ENDFUNCTION(PREPEND_PATH_FROM_LIST)
+
 # Enforce the preprocessed version of boost::list and boost::vector
 # This information is redundant with the content of include/pinocchio/container/boost-container-limits.hpp
 # but it avoids any compilation issue.
diff --git a/bindings/python/CMakeLists.txt b/bindings/python/CMakeLists.txt
index e2705a3866..05dd837537 100644
--- a/bindings/python/CMakeLists.txt
+++ b/bindings/python/CMakeLists.txt
@@ -9,59 +9,16 @@ include(${JRL_CMAKE_MODULES}/python-helpers.cmake)
 SET(PYWRAP ${PROJECT_NAME}_pywrap)
 SET(PYWRAP ${PYWRAP} PARENT_SCOPE)
 
-FILE(GLOB_RECURSE ${PROJECT_NAME}_PYTHON_HEADERS
-  RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}
-  ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/bindings/*.hpp
-  ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/bindings/*.hxx
-  )
-
-FILE(GLOB_RECURSE ${PROJECT_NAME}_PYTHON_SOURCES
-  RELATIVE ${CMAKE_CURRENT_SOURCE_DIR}
-  ${CMAKE_CURRENT_SOURCE_DIR}/*.cpp
-  )
-
-SET(SOURCE_HEADERS_ROOT "../../include/${PROJECT_NAME}/bindings/python")
-
-# Parser for Python model
-IF(NOT BUILD_WITH_LIBPYTHON)
-  LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_HEADERS
-    ${SOURCE_HEADERS_ROOT}/parsers/python.hpp
-    )
-  LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_SOURCES
-    parsers/python/model.cpp
-    )
-ENDIF(NOT BUILD_WITH_LIBPYTHON)
-
-# Python exposition of FCL
-IF(NOT BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
-  LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_HEADERS
-    ${SOURCE_HEADERS_ROOT}/multibody/fcl/transform.hpp
-    )
-  LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_SOURCES
-    multibody/fcl/expose-fcl.cpp
-    )
-ENDIF(NOT BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
-
-IF(NOT BUILD_WITH_OPENMP_SUPPORT)
-  LIST(FILTER ${PROJECT_NAME}_PYTHON_HEADERS EXCLUDE REGEX "^${SOURCE_HEADERS_ROOT}/multibody/pool")
-  LIST(FILTER ${PROJECT_NAME}_PYTHON_SOURCES EXCLUDE REGEX "^multibody/pool")
-  LIST(FILTER ${PROJECT_NAME}_PYTHON_HEADERS EXCLUDE REGEX "^${SOURCE_HEADERS_ROOT}/algorithm/parallel")
-  LIST(FILTER ${PROJECT_NAME}_PYTHON_SOURCES EXCLUDE REGEX "^algorithm/parallel")
-ELSE(NOT BUILD_WITH_OPENMP_SUPPORT)
-  IF(NOT BUILD_WITH_HPP_FCL_SUPPORT)
-  LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_HEADERS
-    ${SOURCE_HEADERS_ROOT}/multibody/pool/geometry.hpp
-    )
-  LIST(REMOVE_ITEM ${PROJECT_NAME}_PYTHON_SOURCES
-    algorithm/parallel/geometry.cpp
-    )
-  ENDIF(NOT BUILD_WITH_HPP_FCL_SUPPORT)
-ENDIF(NOT BUILD_WITH_OPENMP_SUPPORT)
-
 # --- COMPILE WRAPPER
+REMOVE_PATH_FROM_LIST(${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES
+  "bindings/python/"
+  ${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES)
+PREPEND_PATH_FROM_LIST(${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS
+  "../../"
+  ${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS)
 MAKE_DIRECTORY("${${PROJECT_NAME}_BINARY_DIR}/bindings/python/${PROJECT_NAME}")
-SET(${PYWRAP}_SOURCES ${${PROJECT_NAME}_PYTHON_SOURCES})
-SET(${PYWRAP}_HEADERS ${${PROJECT_NAME}_PYTHON_HEADERS})
+SET(${PYWRAP}_SOURCES ${${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES})
+SET(${PYWRAP}_HEADERS ${${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS})
 
 IF(BUILD_PYTHON_INTERFACE)
   ADD_CUSTOM_TARGET(python)
@@ -140,15 +97,6 @@ IF(BUILD_PYTHON_INTERFACE)
     DESTINATION ${${PYWRAP}_INSTALL_DIR}
     )
 
-  FOREACH(header ${${PYWRAP}_HEADERS})
-    GET_FILENAME_COMPONENT(header_path ${header} PATH)
-    STRING(REPLACE "../../" "" non_relative_header_path ${header_path})
-    INSTALL(FILES ${header}
-            DESTINATION ${CMAKE_INSTALL_PREFIX}/${non_relative_header_path}
-            PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
-  ENDFOREACH(header)
-
-
   # --- INSTALL SCRIPTS
   SET(PYTHON_FILES
     __init__.py
@@ -222,9 +170,10 @@ IF(BUILD_PYTHON_INTERFACE)
     SET(DOXYGEN_GENERATE_HTML YES)
     SET(DOXYGEN_GENERATE_LATEX NO)
     SET(DOXYGEN_PROJECT_NAME "Pinocchio PyBind11 helpers.")
+    SET(_source_headers_root "../../include/${PROJECT_NAME}/bindings/python")
     DOXYGEN_ADD_DOCS(doc_pybind11
-      ${SOURCE_HEADERS_ROOT}/pybind11.hpp
-      ${SOURCE_HEADERS_ROOT}/pybind11-all.hpp
+      ${_source_headers_root}/pybind11.hpp
+      ${_source_headers_root}/pybind11-all.hpp
       USE_STAMP_FILE
       COMMENT "Generating documentation of the PyBind11 helpers.")
   ENDIF()
diff --git a/sources.cmake b/sources.cmake
new file mode 100644
index 0000000000..a0e9aca375
--- /dev/null
+++ b/sources.cmake
@@ -0,0 +1,395 @@
+# Define Pinocchio sources and headers
+
+SET(${PROJECT_NAME}_CORE_SOURCES
+  src/utils/file-explorer.cpp
+  )
+
+SET(${PROJECT_NAME}_CORE_PUBLIC_HEADERS
+  include/pinocchio/deprecated-macros.hpp
+  include/pinocchio/spatial/motion-dense.hpp
+  include/pinocchio/spatial/explog.hpp
+  include/pinocchio/spatial/explog-quaternion.hpp
+  include/pinocchio/spatial/log.hxx
+  include/pinocchio/spatial/spatial-axis.hpp
+  include/pinocchio/spatial/fcl-pinocchio-conversions.hpp
+  include/pinocchio/spatial/symmetric3.hpp
+  include/pinocchio/spatial/act-on-set.hpp
+  include/pinocchio/spatial/fwd.hpp
+  include/pinocchio/spatial/se3-base.hpp
+  include/pinocchio/spatial/cartesian-axis.hpp
+  include/pinocchio/spatial/motion.hpp
+  include/pinocchio/spatial/motion-ref.hpp
+  include/pinocchio/spatial/force-ref.hpp
+  include/pinocchio/spatial/skew.hpp
+  include/pinocchio/spatial/force-base.hpp
+  include/pinocchio/spatial/motion-zero.hpp
+  include/pinocchio/spatial/force-tpl.hpp
+  include/pinocchio/spatial/force.hpp
+  include/pinocchio/spatial/force-dense.hpp
+  include/pinocchio/spatial/inertia.hpp
+  include/pinocchio/spatial/log.hpp
+  include/pinocchio/spatial/motion-tpl.hpp
+  include/pinocchio/spatial/se3-tpl.hpp
+  include/pinocchio/spatial/act-on-set.hxx
+  include/pinocchio/spatial/se3.hpp
+  include/pinocchio/spatial/motion-base.hpp
+  include/pinocchio/algorithm/check.hxx
+  include/pinocchio/algorithm/crba.hxx
+  include/pinocchio/algorithm/dynamics.hpp
+  include/pinocchio/algorithm/kinematics.hxx
+  include/pinocchio/algorithm/aba-derivatives.hpp
+  include/pinocchio/algorithm/centroidal-derivatives.hpp
+  include/pinocchio/algorithm/contact-dynamics.hxx
+  include/pinocchio/algorithm/regressor.hxx
+  include/pinocchio/algorithm/frames.hxx
+  include/pinocchio/algorithm/joint-configuration.hxx
+  include/pinocchio/algorithm/energy.hpp
+  include/pinocchio/algorithm/center-of-mass.hxx
+  include/pinocchio/algorithm/geometry.hpp
+  include/pinocchio/algorithm/center-of-mass-derivatives.hpp
+  include/pinocchio/algorithm/aba.hpp
+  include/pinocchio/algorithm/cholesky.hpp
+  include/pinocchio/algorithm/kinematics.hpp
+  include/pinocchio/algorithm/rnea.hxx
+  include/pinocchio/algorithm/regressor.hpp
+  include/pinocchio/algorithm/frames.hpp
+  include/pinocchio/algorithm/kinematics-derivatives.hxx
+  include/pinocchio/algorithm/jacobian.hxx
+  include/pinocchio/algorithm/rnea-derivatives.hpp
+  include/pinocchio/algorithm/rnea-second-order-derivatives.hxx
+  include/pinocchio/algorithm/joint-configuration.hpp
+  include/pinocchio/algorithm/model.hxx
+  include/pinocchio/algorithm/contact-dynamics.hpp
+  include/pinocchio/algorithm/centroidal.hxx
+  include/pinocchio/algorithm/model.hpp
+  include/pinocchio/algorithm/rnea-derivatives.hxx
+  include/pinocchio/algorithm/compute-all-terms.hpp
+  include/pinocchio/algorithm/jacobian.hpp
+  include/pinocchio/algorithm/rnea-second-order-derivatives.hpp
+  include/pinocchio/algorithm/copy.hpp
+  include/pinocchio/algorithm/centroidal.hpp
+  include/pinocchio/algorithm/kinematics-derivatives.hpp
+  include/pinocchio/algorithm/check.hpp
+  include/pinocchio/algorithm/energy.hxx
+  include/pinocchio/algorithm/geometry.hxx
+  include/pinocchio/algorithm/rnea.hpp
+  include/pinocchio/algorithm/parallel/geometry.hpp
+  include/pinocchio/algorithm/parallel/aba.hpp
+  include/pinocchio/algorithm/parallel/rnea.hpp
+  include/pinocchio/algorithm/centroidal-derivatives.hxx
+  include/pinocchio/algorithm/cholesky.hxx
+  include/pinocchio/algorithm/default-check.hpp
+  include/pinocchio/algorithm/center-of-mass.hpp
+  include/pinocchio/algorithm/frames-derivatives.hxx
+  include/pinocchio/algorithm/aba-derivatives.hxx
+  include/pinocchio/algorithm/crba.hpp
+  include/pinocchio/algorithm/compute-all-terms.hxx
+  include/pinocchio/algorithm/aba.hxx
+  include/pinocchio/algorithm/center-of-mass-derivatives.hxx
+  include/pinocchio/algorithm/frames-derivatives.hpp
+  include/pinocchio/codegen/code-generator-algo.hpp
+  include/pinocchio/codegen/cppadcg.hpp
+  include/pinocchio/codegen/code-generator-base.hpp
+  include/pinocchio/macros.hpp
+  include/pinocchio/autodiff/casadi/spatial/se3-tpl.hpp
+  include/pinocchio/autodiff/casadi/utils/static-if.hpp
+  include/pinocchio/autodiff/casadi/math/matrix.hpp
+  include/pinocchio/autodiff/casadi/math/quaternion.hpp
+  include/pinocchio/autodiff/cppad.hpp
+  include/pinocchio/autodiff/cppad/spatial/log.hxx
+  include/pinocchio/autodiff/cppad/spatial/se3-tpl.hpp
+  include/pinocchio/autodiff/cppad/algorithm/aba.hpp
+  include/pinocchio/autodiff/cppad/utils/static-if.hpp
+  include/pinocchio/autodiff/cppad/math/eigen_plugin.hpp
+  include/pinocchio/autodiff/cppad/math/quaternion.hpp
+  include/pinocchio/autodiff/casadi.hpp
+  include/pinocchio/utils/string-generator.hpp
+  include/pinocchio/utils/version.hpp
+  include/pinocchio/utils/openmp.hpp
+  include/pinocchio/utils/helpers.hpp
+  include/pinocchio/utils/axis-label.hpp
+  include/pinocchio/utils/file-explorer.hpp
+  include/pinocchio/utils/cast.hpp
+  include/pinocchio/utils/eigen-fix.hpp
+  include/pinocchio/utils/static-if.hpp
+  include/pinocchio/utils/timer.hpp
+  include/pinocchio/deprecated-namespaces.hpp
+  include/pinocchio/math/comparison-operators.hpp
+  include/pinocchio/math/multiprecision.hpp
+  include/pinocchio/math/tensor.hpp
+  include/pinocchio/math/cppadcg.hpp
+  include/pinocchio/math/rpy.hpp
+  include/pinocchio/math/cppad.hpp
+  include/pinocchio/math/fwd.hpp
+  include/pinocchio/math/taylor-expansion.hpp
+  include/pinocchio/math/matrix-block.hpp
+  include/pinocchio/math/matrix.hpp
+  include/pinocchio/math/multiprecision-mpfr.hpp
+  include/pinocchio/math/casadi.hpp
+  include/pinocchio/math/sign.hpp
+  include/pinocchio/math/sincos.hpp
+  include/pinocchio/math/rotation.hpp
+  include/pinocchio/math/quaternion.hpp
+  include/pinocchio/math/rpy.hxx
+  include/pinocchio/container/boost-container-limits.hpp
+  include/pinocchio/container/aligned-vector.hpp
+  include/pinocchio/fwd.hpp
+  include/pinocchio/serialization/data.hpp
+  include/pinocchio/serialization/vector.hpp
+  include/pinocchio/serialization/static-buffer.hpp
+  include/pinocchio/serialization/frame.hpp
+  include/pinocchio/serialization/geometry.hpp
+  include/pinocchio/serialization/joints-constraint.hpp
+  include/pinocchio/serialization/joints-model.hpp
+  include/pinocchio/serialization/symmetric3.hpp
+  include/pinocchio/serialization/archive.hpp
+  include/pinocchio/serialization/joints-motion.hpp
+  include/pinocchio/serialization/model.hpp
+  include/pinocchio/serialization/fwd.hpp
+  include/pinocchio/serialization/motion.hpp
+  include/pinocchio/serialization/eigen.hpp
+  include/pinocchio/serialization/joints-data.hpp
+  include/pinocchio/serialization/spatial.hpp
+  include/pinocchio/serialization/joints-transform.hpp
+  include/pinocchio/serialization/force.hpp
+  include/pinocchio/serialization/joints.hpp
+  include/pinocchio/serialization/serializable.hpp
+  include/pinocchio/serialization/inertia.hpp
+  include/pinocchio/serialization/aligned-vector.hpp
+  include/pinocchio/serialization/se3.hpp
+  include/pinocchio/multibody/constraint-generic.hpp
+  include/pinocchio/multibody/data.hpp
+  include/pinocchio/multibody/frame.hpp
+  include/pinocchio/multibody/geometry.hpp
+  include/pinocchio/multibody/pool/geometry.hpp
+  include/pinocchio/multibody/pool/model.hpp
+  include/pinocchio/multibody/visitor.hpp
+  include/pinocchio/multibody/constraint-base.hpp
+  include/pinocchio/multibody/fcl.hpp
+  include/pinocchio/multibody/model.hxx
+  include/pinocchio/multibody/liegroup/liegroup-base.hpp
+  include/pinocchio/multibody/liegroup/liegroup-algo.hpp
+  include/pinocchio/multibody/liegroup/special-euclidean.hpp
+  include/pinocchio/multibody/liegroup/liegroup-base.hxx
+  include/pinocchio/multibody/liegroup/liegroup.hpp
+  include/pinocchio/multibody/liegroup/cartesian-product-variant.hpp
+  include/pinocchio/multibody/liegroup/liegroup-algo.hxx
+  include/pinocchio/multibody/liegroup/fwd.hpp
+  include/pinocchio/multibody/liegroup/liegroup-variant-visitors.hxx
+  include/pinocchio/multibody/liegroup/special-orthogonal.hpp
+  include/pinocchio/multibody/liegroup/cartesian-product-variant.hxx
+  include/pinocchio/multibody/liegroup/liegroup-generic.hpp
+  include/pinocchio/multibody/liegroup/cartesian-product.hpp
+  include/pinocchio/multibody/liegroup/liegroup-collection.hpp
+  include/pinocchio/multibody/liegroup/vector-space.hpp
+  include/pinocchio/multibody/liegroup/liegroup-variant-visitors.hpp
+  include/pinocchio/multibody/model.hpp
+  include/pinocchio/multibody/fwd.hpp
+  include/pinocchio/multibody/force-set.hpp
+  include/pinocchio/multibody/joint/joint-spherical.hpp
+  include/pinocchio/multibody/joint/joint-data-base.hpp
+  include/pinocchio/multibody/joint/joint-revolute-unaligned.hpp
+  include/pinocchio/multibody/joint/joint-planar.hpp
+  include/pinocchio/multibody/joint/joint-composite.hxx
+  include/pinocchio/multibody/joint/joint-basic-visitors.hpp
+  include/pinocchio/multibody/joint/joint-free-flyer.hpp
+  include/pinocchio/multibody/joint/joint-common-operations.hpp
+  include/pinocchio/multibody/joint/joint-model-base.hpp
+  include/pinocchio/multibody/joint/joint-prismatic.hpp
+  include/pinocchio/multibody/joint/joint-spherical-ZYX.hpp
+  include/pinocchio/multibody/joint/joint-composite.hpp
+  include/pinocchio/multibody/joint/joint-translation.hpp
+  include/pinocchio/multibody/joint/fwd.hpp
+  include/pinocchio/multibody/joint/joint-mimic.hpp
+  include/pinocchio/multibody/joint/joint-base.hpp
+  include/pinocchio/multibody/joint/joint-prismatic-unaligned.hpp
+  include/pinocchio/multibody/joint/joint-revolute.hpp
+  include/pinocchio/multibody/joint/joint-revolute-unbounded.hpp
+  include/pinocchio/multibody/joint/joint-generic.hpp
+  include/pinocchio/multibody/joint/joints.hpp
+  include/pinocchio/multibody/joint/joint-basic-visitors.hxx
+  include/pinocchio/multibody/joint/joint-revolute-unbounded-unaligned.hpp
+  include/pinocchio/multibody/joint/joint-collection.hpp
+  include/pinocchio/multibody/geometry.hxx
+  include/pinocchio/multibody/fcl.hxx
+  include/pinocchio/multibody/constraint.hpp
+  include/pinocchio/multibody/visitor/joint-unary-visitor.hpp
+  include/pinocchio/multibody/visitor/fusion.hpp
+  include/pinocchio/multibody/visitor/joint-binary-visitor.hpp
+  include/pinocchio/multibody/data.hxx
+  include/pinocchio/eigen-macros.hpp
+  include/pinocchio/deprecation.hpp
+  include/pinocchio/core/unary-op.hpp
+  include/pinocchio/core/binary-op.hpp
+  include/pinocchio/parsers/python.hpp
+  include/pinocchio/parsers/urdf.hpp
+  include/pinocchio/parsers/sample-models.hpp
+  include/pinocchio/parsers/utils.hpp
+  include/pinocchio/parsers/urdf/types.hpp
+  include/pinocchio/parsers/urdf/utils.hpp
+  include/pinocchio/parsers/urdf/model.hxx
+  include/pinocchio/parsers/urdf/geometry.hxx
+  include/pinocchio/parsers/srdf.hpp
+  include/pinocchio/parsers/sample-models.hxx
+  include/pinocchio/parsers/srdf.hxx
+  )
+
+SET(${PROJECT_NAME}_URDF_SOURCES
+  src/parsers/urdf/model.cpp
+  src/parsers/urdf/geometry.cpp
+  src/parsers/urdf/utils.cpp
+  )
+
+SET(${PROJECT_NAME}_URDF_PUBLIC_HEADERS
+  include/pinocchio/parsers/urdf.hpp
+  include/pinocchio/parsers/urdf/model.hxx
+  include/pinocchio/parsers/urdf/geometry.hxx
+  include/pinocchio/parsers/urdf/utils.hpp
+  include/pinocchio/parsers/urdf/types.hpp
+  )
+
+SET(${PROJECT_NAME}_LIBPYTHON_PUBLIC_HEADERS
+  include/pinocchio/parsers/python.hpp
+  )
+
+SET(${PROJECT_NAME}_HPP_FCL_PUBLIC_HEADERS
+  include/pinocchio/spatial/fcl-pinocchio-conversions.hpp
+  )
+
+SET(_binary_headers_root ${${PROJECT_NAME}_BINARY_DIR}/include/pinocchio)
+SET(${PROJECT_NAME}_CORE_PRIVATE_HEADERS
+  ${_binary_headers_root}/config.hpp
+  ${_binary_headers_root}/deprecated.hpp
+  ${_binary_headers_root}/warning.hpp
+  )
+
+# Define Pinocchio Python binding sources and headers
+
+SET(${PROJECT_NAME}_BINDINGS_PYTHON_PUBLIC_HEADERS
+  include/pinocchio/bindings/python/spatial/explog.hpp
+  include/pinocchio/bindings/python/spatial/motion.hpp
+  include/pinocchio/bindings/python/spatial/force.hpp
+  include/pinocchio/bindings/python/spatial/inertia.hpp
+  include/pinocchio/bindings/python/spatial/se3.hpp
+  include/pinocchio/bindings/python/algorithm/algorithms.hpp
+  include/pinocchio/bindings/python/pybind11-all.hpp
+  include/pinocchio/bindings/python/pybind11.hpp
+  include/pinocchio/bindings/python/utils/constant.hpp
+  include/pinocchio/bindings/python/utils/version.hpp
+  include/pinocchio/bindings/python/utils/pickle-vector.hpp
+  include/pinocchio/bindings/python/utils/std-vector.hpp
+  include/pinocchio/bindings/python/utils/printable.hpp
+  include/pinocchio/bindings/python/utils/dependencies.hpp
+  include/pinocchio/bindings/python/utils/conversions.hpp
+  include/pinocchio/bindings/python/utils/copyable.hpp
+  include/pinocchio/bindings/python/utils/registration.hpp
+  include/pinocchio/bindings/python/utils/pickle-map.hpp
+  include/pinocchio/bindings/python/utils/list.hpp
+  include/pinocchio/bindings/python/utils/std-aligned-vector.hpp
+  include/pinocchio/bindings/python/utils/eigen.hpp
+  include/pinocchio/bindings/python/utils/std-map.hpp
+  include/pinocchio/bindings/python/utils/deprecation.hpp
+  include/pinocchio/bindings/python/utils/namespace.hpp
+  include/pinocchio/bindings/python/fwd.hpp
+  include/pinocchio/bindings/python/serialization/serialization.hpp
+  include/pinocchio/bindings/python/serialization/serializable.hpp
+  include/pinocchio/bindings/python/multibody/data.hpp
+  include/pinocchio/bindings/python/multibody/frame.hpp
+  include/pinocchio/bindings/python/multibody/geometry-model.hpp
+  include/pinocchio/bindings/python/multibody/model.hpp
+  include/pinocchio/bindings/python/multibody/joint/joint-derived.hpp
+  include/pinocchio/bindings/python/multibody/joint/joints-models.hpp
+  include/pinocchio/bindings/python/multibody/joint/joints-variant.hpp
+  include/pinocchio/bindings/python/multibody/joint/joints-datas.hpp
+  include/pinocchio/bindings/python/multibody/joint/joint.hpp
+  include/pinocchio/bindings/python/multibody/liegroups.hpp
+  include/pinocchio/bindings/python/multibody/geometry-data.hpp
+  include/pinocchio/bindings/python/multibody/geometry-object.hpp
+  include/pinocchio/bindings/python/parsers/urdf.hpp
+  include/pinocchio/bindings/python/parsers/sample-models.hpp
+  include/pinocchio/bindings/python/parsers/srdf.hpp
+  )
+
+SET(${PROJECT_NAME}_BINDINGS_PYTHON_SOURCES
+  bindings/python/spatial/expose-force.cpp
+  bindings/python/spatial/expose-inertia.cpp
+  bindings/python/spatial/expose-SE3.cpp
+  bindings/python/spatial/expose-motion.cpp
+  bindings/python/spatial/expose-explog.cpp
+  bindings/python/spatial/expose-skew.cpp
+  bindings/python/algorithm/expose-model.cpp
+  bindings/python/algorithm/expose-centroidal.cpp
+  bindings/python/algorithm/expose-aba.cpp
+  bindings/python/algorithm/expose-algorithms.cpp
+  bindings/python/algorithm/expose-com.cpp
+  bindings/python/algorithm/expose-frames.cpp
+  bindings/python/algorithm/expose-energy.cpp
+  bindings/python/algorithm/expose-contact-dynamics.cpp
+  bindings/python/algorithm/expose-rnea-derivatives.cpp
+  bindings/python/algorithm/expose-kinematics.cpp
+  bindings/python/algorithm/expose-geometry.cpp
+  bindings/python/algorithm/expose-aba-derivatives.cpp
+  bindings/python/algorithm/expose-joints.cpp
+  bindings/python/algorithm/expose-rnea.cpp
+  bindings/python/algorithm/expose-cholesky.cpp
+  bindings/python/algorithm/expose-regressor.cpp
+  bindings/python/algorithm/expose-kinematics-derivatives.cpp
+  bindings/python/algorithm/expose-cat.cpp
+  bindings/python/algorithm/expose-frames-derivatives.cpp
+  bindings/python/algorithm/expose-centroidal-derivatives.cpp
+  bindings/python/algorithm/expose-jacobian.cpp
+  bindings/python/algorithm/expose-kinematic-regressor.cpp
+  bindings/python/algorithm/expose-crba.cpp
+  bindings/python/module.cpp
+  bindings/python/utils/version.cpp
+  bindings/python/utils/dependencies.cpp
+  bindings/python/utils/conversions.cpp
+  bindings/python/math/expose-rpy.cpp
+  bindings/python/serialization/serialization.cpp
+  bindings/python/multibody/expose-model.cpp
+  bindings/python/multibody/expose-liegroups.cpp
+  bindings/python/multibody/expose-geometry.cpp
+  bindings/python/multibody/expose-frame.cpp
+  bindings/python/multibody/expose-data.cpp
+  bindings/python/multibody/joint/expose-joints.cpp
+  bindings/python/parsers/expose-parsers.cpp
+  bindings/python/parsers/urdf/model.cpp
+  bindings/python/parsers/urdf/geometry.cpp
+  bindings/python/parsers/srdf.cpp
+  bindings/python/parsers/sample-models.cpp
+  )
+
+SET(${PROJECT_NAME}_BINDINGS_PYTHON_LIBPYTHON_SOURCES
+  bindings/python/parsers/python/model.cpp
+  )
+
+SET(${PROJECT_NAME}_BINDINGS_PYTHON_LIBPYTHON_PUBLIC_HEADERS
+  include/pinocchio/bindings/python/parsers/python.hpp
+  )
+
+SET(${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_SOURCES
+  bindings/python/multibody/fcl/expose-fcl.cpp
+  )
+
+SET(${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_PUBLIC_HEADERS
+  include/pinocchio/bindings/python/multibody/fcl/transform.hpp
+  )
+
+SET(${PROJECT_NAME}_BINDINGS_PYTHON_OPENMP_SOURCES
+  bindings/python/multibody/pool/expose-pool.cpp
+  bindings/python/algorithm/parallel/aba.cpp
+  bindings/python/algorithm/parallel/expose-parallel.cpp
+  bindings/python/algorithm/parallel/rnea.cpp
+  )
+
+SET(${PROJECT_NAME}_BINDINGS_PYTHON_OPENMP_PUBLIC_HEADERS
+  include/pinocchio/bindings/python/multibody/pool/model.hpp
+  )
+
+SET(${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_OPENMP_SOURCES
+  bindings/python/algorithm/parallel/geometry.cpp
+  )
+
+SET(${PROJECT_NAME}_BINDINGS_PYTHON_HPP_FCL_OPENMP_PUBLIC_HEADERS
+  include/pinocchio/bindings/python/multibody/pool/geometry.hpp
+  )
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index b730c1150d..e87c3f8c47 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -7,55 +7,19 @@
 # --- INCLUDE ----------------------------------------
 # ----------------------------------------------------
 
-# Find all headers with a relative path to avoid conflict with root path
-# when applying filters
-FILE(GLOB_RECURSE PUBLIC_HEADERS
-  RELATIVE
-  ${CMAKE_CURRENT_SOURCE_DIR}
-  ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/*.hpp
-  ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}/*.hxx
-  )
-
-SET(SOURCE_HEADERS_ROOT "../include/${PROJECT_NAME}")
-SET(BINARY_HEADERS_ROOT "${${PROJECT_NAME}_BINARY_DIR}/include/${PROJECT_NAME}")
-
-# Remove bindings
-LIST(FILTER PUBLIC_HEADERS EXCLUDE REGEX "^${SOURCE_HEADERS_ROOT}/bindings/.*")
-
-# Add generated headers
-LIST(APPEND PRIVATE_HEADERS
-  ${BINARY_HEADERS_ROOT}/config.hpp
-  ${BINARY_HEADERS_ROOT}/deprecated.hpp
-  ${BINARY_HEADERS_ROOT}/warning.hpp)
-
-IF(BUILD_WITH_URDF_SUPPORT)
-  LIST(APPEND ${PROJECT_NAME}_SOURCES
-    parsers/urdf/model.cpp
-    parsers/urdf/geometry.cpp
-    parsers/urdf/utils.cpp
-  )
-ELSE(BUILD_WITH_URDF_SUPPORT)
-  LIST(REMOVE_ITEM PUBLIC_HEADERS
-    ${SOURCE_HEADERS_ROOT}/parsers/urdf.hpp
-    ${SOURCE_HEADERS_ROOT}/parsers/urdf/model.hxx
-    ${SOURCE_HEADERS_ROOT}/parsers/urdf/geometry.hxx
-    ${SOURCE_HEADERS_ROOT}/parsers/urdf/utils.hpp
-    ${SOURCE_HEADERS_ROOT}/parsers/urdf/types.hpp
-    )
-ENDIF()
-
-# Parser for Python model
-IF(NOT BUILD_WITH_LIBPYTHON)
-  LIST(REMOVE_ITEM PUBLIC_HEADERS ${SOURCE_HEADERS_ROOT}/parsers/python.hpp)
-ENDIF(BUILD_WITH_LIBPYTHON)
-
-LIST(APPEND ${PROJECT_NAME}_SOURCES utils/file-explorer.cpp)
-
 # Extract the compile definitions of the project for export
 GET_DIRECTORY_PROPERTY(CURRENT_COMPILE_DEFINITIONS COMPILE_DEFINITIONS)
 
+REMOVE_PATH_FROM_LIST(${PROJECT_NAME}_CORE_SOURCES "src/" ${PROJECT_NAME}_CORE_SOURCES)
+PREPEND_PATH_FROM_LIST(${PROJECT_NAME}_CORE_PUBLIC_HEADERS
+  "../"
+  ${PROJECT_NAME}_CORE_PUBLIC_HEADERS)
+
 # Create target libpinocchio.so
-ADD_LIBRARY(${PROJECT_NAME} SHARED ${PUBLIC_HEADERS} ${PRIVATE_HEADERS} ${${PROJECT_NAME}_SOURCES})
+ADD_LIBRARY(${PROJECT_NAME} SHARED
+  ${${PROJECT_NAME}_CORE_SOURCES}
+  ${${PROJECT_NAME}_CORE_PUBLIC_HEADERS}
+  ${${PROJECT_NAME}_CORE_PRIVATE_HEADERS})
 SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES
   LINKER_LANGUAGE CXX
   INSTALL_RPATH "\$ORIGIN"
@@ -68,10 +32,6 @@ ADD_LIBRARY(${PROJECT_NAME}_headers INTERFACE)
 # Exclude parts from hppfcl which is not header only
 IF(BUILD_WITH_HPP_FCL_SUPPORT)
   LIST(REMOVE_ITEM CURRENT_COMPILE_DEFINITIONS PINOCCHIO_WITH_HPP_FCL)
-ELSE(BUILD_WITH_HPP_FCL_SUPPORT)
-  LIST(REMOVE_ITEM PUBLIC_HEADERS
-    ${SOURCE_HEADERS_ROOT}/spatial/fcl-pinocchio-conversions.hpp
-    )
 ENDIF(BUILD_WITH_HPP_FCL_SUPPORT)
 
 TARGET_COMPILE_DEFINITIONS(${PROJECT_NAME}_headers INTERFACE ${CURRENT_COMPILE_DEFINITIONS})
@@ -131,9 +91,9 @@ IF(hpp-fcl_FOUND)
   TARGET_LINK_LIBRARIES(${PROJECT_NAME} PUBLIC hpp-fcl::hpp-fcl)
 ENDIF(hpp-fcl_FOUND)
 
-ADD_HEADER_GROUP(PUBLIC_HEADERS)
-ADD_HEADER_GROUP(PRIVATE_HEADERS)
-ADD_SOURCE_GROUP(${PROJECT_NAME}_SOURCES)
+ADD_SOURCE_GROUP(${PROJECT_NAME}_CORE_SOURCES)
+ADD_HEADER_GROUP(${PROJECT_NAME}_CORE_PUBLIC_HEADERS)
+ADD_HEADER_GROUP(${PROJECT_NAME}_CORE_PRIVATE_HEADERS)
 
 INSTALL(TARGETS ${PROJECT_NAME}
   EXPORT ${TARGETS_EXPORT_NAME}
@@ -146,11 +106,3 @@ INSTALL(TARGETS ${PROJECT_NAME}_headers
   LIBRARY DESTINATION ${CMAKE_INSTALL_FULL_LIBDIR}
   ARCHIVE DESTINATION ${CMAKE_INSTALL_FULL_LIBDIR}
   RUNTIME DESTINATION ${CMAKE_INSTALL_FULL_BINDIR})
-
-FOREACH(header ${PUBLIC_HEADERS})
-  GET_FILENAME_COMPONENT(header_path ${header} PATH)
-  STRING(REPLACE "../" "" non_relative_header_path ${header_path})
-  INSTALL(FILES ${header}
-          DESTINATION ${CMAKE_INSTALL_PREFIX}/${non_relative_header_path}
-          PERMISSIONS OWNER_READ GROUP_READ WORLD_READ OWNER_WRITE)
-ENDFOREACH(header)