check_cxx_source_compiles(
  "
  #include <dart/dart.hpp>
  int main()
  {
    auto voxel = new dart::dynamics::VoxelGridShape();
    delete voxel;
    return 0;
  }
  "
  DART_HAS_VOXELGRIDSHAPE
  )

target_compile_definitions("${PROJECT_NAME}_perception"
    PUBLIC DART_HAS_VOXELGRIDSHAPE
  )