Merge branch 'master' into fds_upstream

dartsim · Oct 17, 2020 · 3e4ee1f · 3e4ee1f
2 parents 5c2e209 + 202bad5
commit 3e4ee1f
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Showing 20 changed files with 315 additions and 187 deletions.
diff --git a/.appveyor.yml b/.appveyor.yml
@@ -10,8 +10,9 @@ platform: x64
 
 # specify custom environment variables
 environment:
+  VCPKG_BUILD_TAG: v0.2.0-70f192e
   MSVC_DEFAULT_OPTIONS: ON
-  CMAKE_TOOLCHAIN_FILE: -DCMAKE_TOOLCHAIN_FILE="C:\tools\vcpkg\scripts\buildsystems\vcpkg.cmake"
+  CMAKE_TOOLCHAIN_FILE: -DCMAKE_TOOLCHAIN_FILE="C:\dartsim\vcpkg\scripts\buildsystems\vcpkg.cmake"
   matrix:
     - CMAKE_GENERATOR: -G"Visual Studio 16 2019"
       CMAKE_TOOLCHAIN: -T"v142"
@@ -37,27 +38,12 @@ install:
   #------------------
   # Windows 10
   #------------------
-  # update vcpkg
-  # - cmd: cd C:\tools\vcpkg
-  # - cmd: git pull
-  # - cmd: .\bootstrap-vcpkg.bat
-
   - cmd: if "%platform%"=="Win32" set VCPKG_ARCH=x86-windows
   - cmd: if "%platform%"=="x64"   set VCPKG_ARCH=x64-windows
-
-  # remove outdated versions
-  # - cmd: vcpkg remove --outdated --recurse
-
-  # install required dependencies
-  - cmd: vcpkg install --recurse --triplet %VCPKG_ARCH% assimp boost-system boost-filesystem ccd eigen3 fcl
-
-  # install optional dependencies
-  # 'dart-utils' needs tinyxml2 and boost algorithm/lexical-cast
-  #   and also boost-math to resolve a circular dependency with lexical-cast
-  - cmd: vcpkg install --recurse --triplet %VCPKG_ARCH% boost-algorithm boost-lexical-cast boost-math bullet3 freeglut ode opengl tinyxml2
-  #- vcpkg install --recurse --triplet %VCPKG_ARCH% flann ipopt nlopt osg urdfdom
-
-  - cmd: vcpkg integrate install
+  - cmd: mkdir -p C:\dartsim
+  - cmd: choco install -y wget
+  - cmd: wget -q https://github.com/dartsim/vcpkg-build/releases/download/%VCPKG_BUILD_TAG%/vcpkg-dartsim-dependencies.zip
+  - cmd: unzip -qq vcpkg-dartsim-dependencies.zip -d C:\dartsim
   - cmd: cd "%APPVEYOR_BUILD_FOLDER%"
 
   #-------------------------------
@@ -69,17 +55,13 @@ install:
   - sh: sudo apt-get --yes install libnlopt-dev coinor-libipopt-dev libbullet-dev libflann-dev libtinyxml2-dev liburdfdom-dev libxi-dev libxmu-dev freeglut3-dev libopenscenegraph-dev
   - sh: sudo apt-get --yes install clang-format-6.0
 
-# preserve contents of selected directories and files across project builds
-cache:
-  - C:\tools\vcpkg\installed -> .appveyor.yml
-
 build_script:
   #------------------
   # Windows 10
   #------------------
   - cmd: mkdir build && cd build
   - cmd: cmake %CMAKE_GENERATOR% -A x64 -DCMAKE_BUILD_TYPE=%configuration% -DDART_VERBOSE=ON -DDART_MSVC_DEFAULT_OPTIONS="%MSVC_DEFAULT_OPTIONS%" %CMAKE_TOOLCHAIN_FILE% %CMAKE_TOOLCHAIN% ..
-  # - cmd: cmake --build . --target ALL_BUILD --config %configuration% -- /maxcpucount:4
+  - cmd: cmake --build . --target ALL_BUILD --config %configuration% --parallel
 
   #-------------------------------
   # Ubuntu 16.04 LTS && 18.04 LTS
@@ -90,5 +72,12 @@ build_script:
   - sh: make check-format
 
 test_script:
-  #- cmd: ctest --build-config %configuration% --parallel 4 --output-on-failure
+  #------------------
+  # Windows 10
+  #------------------
+  - cmd: ctest --output-on-fauilure
+
+  #-------------------------------
+  # Ubuntu 16.04 LTS && 18.04 LTS
+  #-------------------------------
   - sh: ctest -j4
diff --git a/.github/workflows/ccpp.yml b/.github/workflows/ccpp.yml
@@ -5,10 +5,10 @@ name: C/C++ CI
 on:
   push:
     branches:
-      - '*'
+      - '**'
   pull_request:
     branches:
-      - '*'
+      - '**'
   schedule:
     # Run every day at 02:00
     - cron: '0 2 * * 0-6'
@@ -179,28 +179,57 @@ jobs:
     name: Windows [Release]
     runs-on: windows-2019
     env:
-      COMPILER: gcc
       BUILD_TYPE: Release
-      RUN_TESTS: OFF
       VCPKG_ROOT: 'C:/dartsim/vcpkg'
-      VCPKG_BUILD_TAG: v0.1.1
+      VCPKG_BUILD_TAG: v0.2.0-70f192e
     steps:
     - uses: actions/checkout@v1
     - name: Install Dependencies
       shell: cmd
       run: |
-        mkdir -p C:/dartsim
+        mkdir -p C:\dartsim
         choco install -y wget
-        wget https://github.com/dartsim/vcpkg-build/releases/download/%VCPKG_BUILD_TAG%/vcpkg-dartsim-dependencies.zip
-        unzip vcpkg-dartsim-dependencies.zip -d C:/dartsim
+        wget -q https://github.com/dartsim/vcpkg-build/releases/download/%VCPKG_BUILD_TAG%/vcpkg-dartsim-dependencies.zip
+        unzip -qq vcpkg-dartsim-dependencies.zip -d C:\dartsim
     - name: Build
       shell: cmd
       run: |
         mkdir build
         cd build
         cmake .. -G "Visual Studio 16 2019" -A x64 -Wno-dev ^
-          -DCMAKE_BUILD_TYPE=Release ^
+          -DCMAKE_BUILD_TYPE=%BUILD_TYPE% ^
           -DCMAKE_TOOLCHAIN_FILE="%VCPKG_ROOT%/scripts/buildsystems/vcpkg.cmake" ^
           -DDART_MSVC_DEFAULT_OPTIONS=ON ^
           -DDART_VERBOSE=ON
-        cmake --build . --target ALL_BUILD -- /maxcpucount:4
+        cmake --build . --target ALL_BUILD --parallel
+        ctest --output-on-fauilure
+
+  windows_2019_clang_cl:
+    name: Windows (clang-cl) [Release]
+    runs-on: windows-2019
+    env:
+      BUILD_TYPE: Release
+      VCPKG_ROOT: 'C:/dartsim/vcpkg'
+      VCPKG_BUILD_TAG: v0.2.0-70f192e
+    steps:
+    - uses: actions/checkout@v1
+    - name: Install Dependencies
+      shell: cmd
+      run: |
+        mkdir -p C:\dartsim
+        choco install -y wget
+        wget -q https://github.com/dartsim/vcpkg-build/releases/download/%VCPKG_BUILD_TAG%/vcpkg-dartsim-dependencies.zip
+        unzip -qq vcpkg-dartsim-dependencies.zip -d C:\dartsim
+    - name: Build
+      shell: cmd
+      run: |
+        mkdir build
+        cd build
+        cmake .. -G "Visual Studio 16 2019" -A x64 -Wno-dev ^
+          -T ClangCl ^
+          -DCMAKE_BUILD_TYPE=%BUILD_TYPE% ^
+          -DCMAKE_TOOLCHAIN_FILE="%VCPKG_ROOT%/scripts/buildsystems/vcpkg.cmake" ^
+          -DDART_MSVC_DEFAULT_OPTIONS=ON ^
+          -DDART_VERBOSE=ON
+        cmake --build . --target ALL_BUILD --parallel
+        ctest --output-on-fauilure
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -73,7 +73,6 @@ set(DART_PKG_EXTERNAL_DEPS "eigen, ccd, fcl, assimp, boost")
 # Build options
 #===============================================================================
 option(DART_VERBOSE "Whether print detailed information in CMake process" OFF)
-option(ENABLE_OPENMP "Build with OpenMP parallaization enabled" ON)
 if(MSVC)
   set(DART_RUNTIME_LIBRARY "/MD" CACHE STRING "BaseName chosen by the user at CMake configure time")
   set_property(CACHE DART_RUNTIME_LIBRARY PROPERTY STRINGS /MD /MT)
@@ -171,7 +170,7 @@ if(MSVC)
 
   # Visual Studio enables C++14 support by default
   set(msvc_required_version 1920)
-  if(MSVC_VERSION VERSION_LESS ${msvc_required_version})
+  if(MSVC_VERSION VERSION_LESS ${msvc_required_version} AND ${CMAKE_CXX_COMPILER_ID} STREQUAL "MSVC")
     message(FATAL_ERROR "Visual Studio ${MSVC_VERSION} is detected, but "
       "${PROJECT_NAME_UPPERCASE} requires ${msvc_required_version} or greater."
     )
@@ -186,17 +185,17 @@ if(MSVC)
     set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} ${DART_RUNTIME_LIBRARY}d /Zi /Gy /W1 /EHsc")
     set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${DART_RUNTIME_LIBRARY} /Zi /GL /Gy /W1 /EHsc")
   endif(NOT DART_MSVC_DEFAULT_OPTIONS)
-  add_definitions(-D_CRT_SECURE_NO_WARNINGS)
-  add_compile_options(/wd4334)
-  add_compile_options(/wd4267)
+  add_definitions(-D_CRT_SECURE_NO_WARNINGS -D_ENABLE_EXTENDED_ALIGNED_STORAGE)
+  add_compile_options(/wd4005)
+  add_compile_options(/wd4099)
   add_compile_options(/wd4244)
   add_compile_options(/wd4250)
-  add_compile_options(/wd4996)
-  add_compile_options(/wd4099)
+  add_compile_options(/wd4267)
   add_compile_options(/wd4305)
+  add_compile_options(/wd4334)
   add_compile_options(/wd4838)
+  add_compile_options(/wd4996)
   add_compile_options(/bigobj)
-  add_compile_definitions(_ENABLE_EXTENDED_ALIGNED_STORAGE)
 
 elseif(CMAKE_COMPILER_IS_GNUCXX)
 
@@ -206,7 +205,6 @@ elseif(CMAKE_COMPILER_IS_GNUCXX)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -fPIC")
   execute_process(
     COMMAND ${CMAKE_CXX_COMPILER} -dumpfullversion -dumpversion OUTPUT_VARIABLE GCC_VERSION)
-  set(CXX_COMPILER_VERSION ${GCC_VERSION})
   if(GCC_VERSION VERSION_LESS 5.3.1)
     message(FATAL_ERROR "The installed g++ version is ${GCC_VERSION}. ${PROJECT_NAME} requires g++ 5.3.1 or greater.")
   endif()
@@ -234,7 +232,6 @@ elseif("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang")
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
   execute_process(
     COMMAND ${CMAKE_CXX_COMPILER} -dumpversion OUTPUT_VARIABLE CLANG_VERSION)
-  set(CXX_COMPILER_VERSION ${CLANG_VERSION})
   if(CLANG_VERSION VERSION_LESS 3.8)
     message(FATAL_ERROR "The installed Clang version is ${CLANG_VERSION}. ${PROJECT_NAME} requires clang 3.8 or greater.")
   endif()
@@ -269,10 +266,9 @@ if(DART_VERBOSE)
   message(STATUS "[ Build summary ]")
   message(STATUS "CMAKE_GENERATOR  : ${CMAKE_GENERATOR}")
   message(STATUS "Compiler ID      : ${CMAKE_CXX_COMPILER_ID}")
-  message(STATUS "Compiler version : ${CXX_COMPILER_VERSION}")
+  message(STATUS "Compiler version : ${CMAKE_CXX_COMPILER_VERSION}")
   message(STATUS "Build type       : ${CMAKE_BUILD_TYPE}")
   message(STATUS "BUILD_SHARED_LIBS: ${BUILD_SHARED_LIBS}")
-  message(STATUS "ENABLE_OPENMP    : ${ENABLE_OPENMP}")
   message(STATUS "Build gui::osg   : ${DART_BUILD_GUI_OSG}")
   message(STATUS "Install path     : ${CMAKE_INSTALL_PREFIX}")
   message(STATUS "CXX_FLAGS        : ${CMAKE_CXX_FLAGS}")
@@ -302,7 +298,7 @@ if(TARGET dart)
   # Add a "tests" target to build unit tests.
   enable_testing()
   if(MSVC)
-    # add_subdirectory(unittests)
+    add_subdirectory(unittests)
   else()
     add_subdirectory(unittests EXCLUDE_FROM_ALL)
   endif()

diff --git a/Dockerfile b/Dockerfile
@@ -0,0 +1,70 @@
+FROM ubuntu:focal
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install build dependencies
+RUN apt-get clean \
+    && apt-get update \
+    && apt-get -y install --no-install-recommends \
+    build-essential \
+    cmake \
+    git \
+    pkg-config \
+    software-properties-common \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install DART dependencies
+RUN apt-get update \
+    && apt-get -y install --no-install-recommends \
+    libeigen3-dev \
+    libassimp-dev \
+    libccd-dev \
+    libfcl-dev \
+    libboost-all-dev \
+    libnlopt-cxx-dev \
+    coinor-libipopt-dev \
+    libbullet-dev \
+    liblz4-dev \
+    libode-dev \
+    liboctomap-dev \
+    libflann-dev \
+    libtinyxml2-dev \
+    liburdfdom-dev \
+    libxi-dev \
+    libxmu-dev \
+    freeglut3-dev \
+    libopenscenegraph-dev \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install dartpy dependencies
+RUN apt-get update \
+    && apt-get -y install --no-install-recommends \
+    libpython3-dev \
+    pybind11-dev \
+    python3 \
+    python3-pip \
+    python3-pytest \
+    python3-distutils \
+    && rm -rf /var/lib/apt/lists/*
+
+# Compile and install DART and dartpy
+COPY . /opt/dart
+WORKDIR /opt/dart
+RUN cd /opt/dart \
+    && mkdir build \
+    && cd build \
+    && cmake \
+    -DCMAKE_INSTALL_PREFIX=/usr/ \
+    -DCMAKE_BUILD_TYPE=Release .. \
+    -DBUILD_SHARED_LIBS=ON \
+    -DDART_BUILD_DARTPY=ON \
+    && make \
+    && make install \
+    && make dartpy \
+    && make install-dartpy
+
+# Install python dependencies
+RUN python3 -m pip install\
+    numpy
+
+WORKDIR "/"
diff --git a/cmake/DARTFindODE.cmake b/cmake/DARTFindODE.cmake
@@ -6,12 +6,18 @@
 #
 # This file is provided under the "BSD-style" License
 
-find_package(ODE 0.13 QUIET MODULE)
+find_package(ODE CONFIG NAMES ODE ode)
+
+if(NOT ODE_FOUND)
+
+  find_package(ODE 0.13 QUIET MODULE)
+
+  if(ODE_FOUND AND NOT TARGET ODE::ODE)
+    add_library(ODE::ODE INTERFACE IMPORTED)
+    set_target_properties(ODE::ODE PROPERTIES
+      INTERFACE_INCLUDE_DIRECTORIES "${ODE_INCLUDE_DIRS}"
+      INTERFACE_LINK_LIBRARIES "${ODE_LIBRARIES}"
+    )
+  endif()
 
-if(ODE_FOUND AND NOT TARGET ODE::ODE)
-  add_library(ODE::ODE INTERFACE IMPORTED)
-  set_target_properties(ODE::ODE PROPERTIES
-    INTERFACE_INCLUDE_DIRECTORIES "${ODE_INCLUDE_DIRS}"
-    INTERFACE_LINK_LIBRARIES "${ODE_LIBRARIES}"
-  )
 endif()
diff --git a/cmake/DARTFindtinyxml2.cmake b/cmake/DARTFindtinyxml2.cmake
@@ -6,7 +6,17 @@
 #
 # This file is provided under the "BSD-style" License
 
-find_package(tinyxml2 QUIET MODULE)
+find_package(tinyxml2 QUIET CONFIG)
+if(tinyxml2_FOUND)
+  set(TINYXML2_FOUND        ${tinyxml2_FOUND})
+  set(TINYXML2_INCLUDE_DIRS ${tinyxml2_INCLUDE_DIRS})
+  set(TINYXML2_LIBRARIES    ${tinyxml2_LIBRARIES})
+  set(TINYXML2_VERSION      ${tinyxml2_VERSION})
+endif()
+
+if(NOT tinyxml2_FOUND)
+  find_package(tinyxml2 QUIET MODULE)
+endif()
 
 if((TINYXML2_FOUND OR tinyxml2_FOUND) AND NOT TARGET tinyxml2::tinyxml2)
   add_library(tinyxml2::tinyxml2 INTERFACE IMPORTED)

diff --git a/cmake/Findassimp.cmake b/cmake/Findassimp.cmake
@@ -26,15 +26,20 @@ find_path(ASSIMP_INCLUDE_DIRS assimp/scene.h
 
 # Libraries
 if(MSVC)
-  set(ASSIMP_LIBRARIES "assimp$<$<CONFIG:Debug>:d>")
+  find_package(assimp QUIET CONFIG)
+  if(TARGET assimp::assimp)
+    set(ASSIMP_LIBRARIES "assimp::assimp")
+  endif()
 else()
   find_library(ASSIMP_LIBRARIES
       NAMES assimp
       HINTS ${PC_ASSIMP_LIBDIR})
 endif()
 
 # Version
-set(ASSIMP_VERSION ${PC_ASSIMP_VERSION})
+if(PC_ASSIMP_VERSION)
+  set(ASSIMP_VERSION ${PC_ASSIMP_VERSION})
+endif()
 
 # Set (NAME)_FOUND if all the variables and the version are satisfied.
 include(FindPackageHandleStandardArgs)

diff --git a/cmake/Findfcl.cmake b/cmake/Findfcl.cmake
@@ -28,7 +28,10 @@ find_path(FCL_INCLUDE_DIRS
 
 # Libraries
 if(MSVC)
-  set(FCL_LIBRARIES "fcl$<$<CONFIG:Debug>:d>")
+  find_package(fcl QUIET CONFIG)
+  if(TARGET fcl)
+    set(FCL_LIBRARIES fcl)
+  endif()
 else()
   # Give explicit precedence to ${PC_FCL_LIBDIR}
   find_library(FCL_LIBRARIES
@@ -44,7 +47,9 @@ else()
 endif()
 
 # Version
-set(FCL_VERSION ${PC_FCL_VERSION})
+if(PC_FCL_VERSION)
+  set(FCL_VERSION ${PC_FCL_VERSION})
+endif()
 
 # Set (NAME)_FOUND if all the variables and the version are satisfied.
 include(FindPackageHandleStandardArgs)