dartsim · jslee02 · Jan 9, 2019 · Dec 30, 2018 · Jan 5, 2019 · Jan 5, 2019
diff --git a/.travis.yml b/.travis.yml
@@ -15,21 +15,6 @@ env:
 
 matrix:
   include:
-    - os: linux
-      compiler: gcc
-      env:
-        - BUILD_NAME=TRUSTY_DEBUG
-        - SUDO=sudo
-        - BUILD_TYPE=Debug
-        - COMPILER=GCC
-        - BUILD_ONLY_ON_PULL_REQUEST=ON
-    - os: linux
-      compiler: gcc
-      env:
-        - BUILD_NAME=TRUSTY_RELEASE
-        - SUDO=sudo
-        - BUILD_TYPE=Release
-        - COMPILER=GCC
     - os: linux
       env:
         - BUILD_NAME=XENIAL_DEBUG

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,11 +1,10 @@
 #===============================================================================
 # CMake settings
 #===============================================================================
-# CMake 2.8.12 or above is required for CMakeParseArguments.
 if(MSVC)
   cmake_minimum_required(VERSION 3.8.0)
 else()
-  cmake_minimum_required(VERSION 2.8.12)
+  cmake_minimum_required(VERSION 3.5.1)
 endif()
 
 project(dart)
@@ -24,12 +23,6 @@ if(POLICY CMP0053)
   cmake_policy(SET CMP0053 NEW)
 endif()
 
-# Stick to the legacy GL library until we need GLVND
-# (see: https://cmake.org/cmake/help/git-stage/policy/CMP0072.html)
-if(POLICY CMP0072)
-  cmake_policy(SET CMP0072 OLD)
-endif()
-
 # Variables used in Components.cmake
 set(INCLUDE_INSTALL_DIR "include")
 set(LIBRARY_INSTALL_DIR "lib")
@@ -143,12 +136,6 @@ endif()
 #===============================================================================
 include(DARTFindDependencies)
 
-#===============================================================================
-# Include directories
-#===============================================================================
-include_directories(BEFORE ${PROJECT_SOURCE_DIR})
-include_directories("${CMAKE_BINARY_DIR}")
-
 #===============================================================================
 # Check for non-case-sensitive filesystems
 #===============================================================================
@@ -200,8 +187,6 @@ elseif(CMAKE_COMPILER_IS_GNUCXX)
   set(CXX_COMPILER_VERSION ${GCC_VERSION})
   if(GCC_VERSION VERSION_LESS 4.8)
     message(FATAL_ERROR "The installed g++ version is ${GCC_VERSION}. ${PROJECT_NAME} requires g++ 4.8 or greater.")
-  else()
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
   endif()
   set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG")
   set(CMAKE_CXX_FLAGS_DEBUG "-g -fno-omit-frame-pointer -fno-inline-functions -fno-inline-functions-called-once -fno-optimize-sibling-calls")
@@ -212,7 +197,7 @@ elseif(CMAKE_COMPILER_IS_GNUCXX)
   set(CMAKE_CXX_FLAGS_PROFILE "${CMAKE_CXX_FLAGS_DEBUG} -pg")
   set(CMAKE_SHARED_LINKER_FLAGS "-Wl,--no-undefined")
 
-elseif("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
+elseif("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang")
 
   if(DART_TREAT_WARNINGS_AS_ERRORS)
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Werror -Wno-error=deprecated-declarations")
@@ -225,8 +210,6 @@ elseif("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
   set(CXX_COMPILER_VERSION ${CLANG_VERSION})
   if(CLANG_VERSION VERSION_LESS 3.3)
     message(FATAL_ERROR "The installed Clang version is ${CLANG_VERSION}. ${PROJECT_NAME} requires clang 3.3 or greater.")
-  else()
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
   endif()
   if("${CMAKE_SYSTEM_NAME}" MATCHES "Darwin")
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -stdlib=libc++")

diff --git a/cmake/Components.cmake b/cmake/Components.cmake
@@ -26,8 +26,7 @@
 # OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
-# CMake 2.8.12 or above is required for CMakeParseArguments.
-cmake_minimum_required(VERSION 2.8.12)
+cmake_minimum_required(VERSION 3.5.1)
 
 include(CMakeParseArguments)
 
@@ -205,20 +204,28 @@ function(install_component_exports package_name)
     get_property(dependency_package TARGET "${target}"
       PROPERTY "${component_prefix}dependency_package")
     foreach(dependent_package ${dependency_package})
-      set(findfile_name "DARTFind${dependent_package}.cmake")
-      set(findfile_path "")
+      set(find_pkg_name "Find${dependent_package}.cmake")
+      set(find_pkg_path "")
+      set(dart_find_pkg_name "DARTFind${dependent_package}.cmake")
+      set(dart_find_pkg_path "")
       foreach(module_path ${CMAKE_MODULE_PATH})
-        set(findfile_path_candidate "${module_path}/${findfile_name}")
-        if(EXISTS "${findfile_path_candidate}")
-          set(findfile_path ${findfile_path_candidate})
-          break()
+        set(find_pkg_path_candidate "${module_path}/${find_pkg_name}")
+        set(dart_find_pkg_path_candidate "${module_path}/${dart_find_pkg_name}")
+        if("${find_pkg_path}" STREQUAL "" AND EXISTS "${find_pkg_path_candidate}")
+          set(find_pkg_path ${find_pkg_path_candidate})
+        endif()
+        if("${dart_find_pkg_path}" STREQUAL "" AND EXISTS "${dart_find_pkg_path_candidate}")
+          set(dart_find_pkg_path ${dart_find_pkg_path_candidate})
         endif()
       endforeach()
-      if("${findfile_path}" STREQUAL "")
-        message(FATAL_ERROR "Failed to find '${findfile_path}'.")
+      if(NOT "${find_pkg_path}" STREQUAL "")
+        install(FILES "${find_pkg_path}" DESTINATION "${CONFIG_INSTALL_DIR}")
+      endif()
+      if("${dart_find_pkg_path}" STREQUAL "")
+        message(FATAL_ERROR "Failed to find '${dart_find_pkg_path}'.")
       endif()
-      file(APPEND "${output_path}" "include(\${CMAKE_CURRENT_LIST_DIR}/${findfile_name})\n")
-      install(FILES "${findfile_path}" DESTINATION "${CONFIG_INSTALL_DIR}")
+      file(APPEND "${output_path}" "include(\${CMAKE_CURRENT_LIST_DIR}/${dart_find_pkg_name})\n")
+      install(FILES "${dart_find_pkg_path}" DESTINATION "${CONFIG_INSTALL_DIR}")
     endforeach()
 
     install(FILES "${output_path}"

diff --git a/cmake/DARTConfig.cmake.in b/cmake/DARTConfig.cmake.in
@@ -2,9 +2,13 @@
 # CMake config file for DART
 #
 # This sets the following variables:
-# @PROJECT_NAME_UPPERCASE@_INCLUDE_DIRS - Directories containing the DART include files.
-# @PROJECT_NAME_UPPERCASE@_LIBRARIES    - Libraries needed to use DART.
-# @PROJECT_NAME_UPPERCASE@_VERSION      - DART version.
+#   @PROJECT_NAME_UPPERCASE@_INCLUDE_DIRS - Directories containing the DART include files.
+#   @PROJECT_NAME_UPPERCASE@_LIBRARIES    - Libraries needed to use DART.
+#   @PROJECT_NAME_UPPERCASE@_VERSION      - DART version.
+#
+# and the following `IMPORTED` targets:
+#   dart     - Main target.
+#   dart-<C> - Target for specific component (e.g., dart-collision-bullet).
 
 #===============================================================================
 # Helper Function Definitions
@@ -128,6 +132,8 @@ endfunction()
 # Main
 #===============================================================================
 
+list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR})
+
 # Default component: dart
 list(APPEND @PROJECT_NAME_UPPERCASE@_FIND_COMPONENTS dart)
 
@@ -142,6 +148,8 @@ if(@PROJECT_NAME_UPPERCASE@_FIND_COMPONENTS)
   @PROJECT_NAME@_package_init(${@PROJECT_NAME_UPPERCASE@_FIND_COMPONENTS})
 endif()
 
+list(REMOVE_AT CMAKE_MODULE_PATH -1)
+
 # Use find_package_handle_standard_args to generate output. This handles the
 # REQUIRED keyword, sets @PROJECT_NAME_UPPERCASE@_FOUND, and generates the appropriate
 # STATUS and FATAL_ERROR messages.

diff --git a/cmake/DARTFindBoost.cmake b/cmake/DARTFindBoost.cmake
@@ -0,0 +1,25 @@
+# Copyright (c) 2011-2019, The DART development contributors
+# All rights reserved.
+#
+# The list of contributors can be found at:
+#   https://github.com/dartsim/dart/blob/master/LICENSE
+#
+# This file is provided under the "BSD-style" License
+
+set(DART_MIN_BOOST_VERSION 1.58.0 CACHE INTERNAL "Boost min version requirement" FORCE)
+if(MSVC)
+  add_definitions(-DBOOST_ALL_NO_LIB)
+endif()
+add_definitions(-DBOOST_TEST_DYN_LINK)
+set(Boost_USE_MULTITHREADED ON)
+set(Boost_USE_STATIC_RUNTIME OFF)
+if(MSVC)
+  set(BOOST_REQUIRED_COMPONENTS system filesystem)
+else()
+  set(BOOST_REQUIRED_COMPONENTS regex system filesystem)
+endif()
+if(DART_VERBOSE)
+  find_package(Boost ${DART_MIN_BOOST_VERSION} REQUIRED COMPONENTS ${BOOST_REQUIRED_COMPONENTS})
+else()
+  find_package(Boost ${DART_MIN_BOOST_VERSION} QUIET REQUIRED COMPONENTS ${BOOST_REQUIRED_COMPONENTS})
+endif()
diff --git a/cmake/DARTFindBullet.cmake b/cmake/DARTFindBullet.cmake
@@ -0,0 +1,20 @@
+# Copyright (c) 2011-2019, The DART development contributors
+# All rights reserved.
+#
+# The list of contributors can be found at:
+#   https://github.com/dartsim/dart/blob/master/LICENSE
+#
+# This file is provided under the "BSD-style" License
+
+# Bullet. Force MODULE mode to use the FindBullet.cmake file distributed with
+# CMake. Otherwise, we may end up using the BulletConfig.cmake file distributed
+# with Bullet, which uses relative paths and may break transitive dependencies.
+find_package(Bullet COMPONENTS BulletMath BulletCollision MODULE QUIET)
+
+if(BULLET_FOUND AND NOT TARGET Bullet)
+  add_library(Bullet INTERFACE IMPORTED)
+  set_target_properties(Bullet PROPERTIES
+    INTERFACE_INCLUDE_DIRECTORIES "${BULLET_INCLUDE_DIRS}"
+    INTERFACE_LINK_LIBRARIES "${BULLET_LIBRARIES}"
+  )
+endif()
diff --git a/cmake/DARTFindDependencies.cmake b/cmake/DARTFindDependencies.cmake
@@ -10,20 +10,20 @@ if(DART_VERBOSE)
 endif()
 
 # Eigen
-find_package(EIGEN3 3.0.5 REQUIRED)
+dart_find_package(Eigen3)
 dart_check_required_package(EIGEN3 "eigen3")
 
 # CCD
-find_package(CCD 1.4.0 REQUIRED)
-dart_check_required_package(CCD "libccd")
+dart_find_package(ccd)
+dart_check_required_package(ccd "libccd")
 
 # FCL
-find_package(FCL 0.2.9 REQUIRED)
-dart_check_required_package(FCL "fcl")
+dart_find_package(fcl)
+dart_check_required_package(fcl "fcl")
 
 # ASSIMP
-find_package(ASSIMP 3.0.0 REQUIRED)
-dart_check_required_package(ASSIMP "assimp")
+dart_find_package(assimp)
+dart_check_required_package(assimp "assimp")
 if(ASSIMP_FOUND)
   # Check for missing symbols in ASSIMP (see #451)
   include(CheckCXXSourceCompiles)
@@ -86,25 +86,10 @@ if(ASSIMP_FOUND)
 endif()
 
 # Boost
-set(DART_MIN_BOOST_VERSION 1.46.0 CACHE INTERNAL "Boost min version requirement" FORCE)
-if(MSVC)
-  add_definitions(-DBOOST_ALL_NO_LIB)
-endif()
-add_definitions(-DBOOST_TEST_DYN_LINK)
-set(Boost_USE_MULTITHREADED ON)
-set(Boost_USE_STATIC_RUNTIME OFF)
-if(MSVC)
-  set(BOOST_REQUIRED_COMPONENTS system filesystem)
-else()
-  set(BOOST_REQUIRED_COMPONENTS regex system filesystem)
-endif()
-if(DART_VERBOSE)
-  find_package(Boost ${DART_MIN_BOOST_VERSION} REQUIRED COMPONENTS ${BOOST_REQUIRED_COMPONENTS})
-else()
-  find_package(Boost ${DART_MIN_BOOST_VERSION} QUIET REQUIRED COMPONENTS ${BOOST_REQUIRED_COMPONENTS})
-endif()
+dart_find_package(Boost)
 
-find_package(octomap 1.6.8 QUIET)
+# octomap
+dart_find_package(octomap)
 if (octomap_FOUND AND NOT MSVC)
   if (MSVC)
     # Supporting Octomap on Windows is disabled for the following issue:

diff --git a/cmake/DARTFindEigen3.cmake b/cmake/DARTFindEigen3.cmake
@@ -0,0 +1,26 @@
+# Copyright (c) 2011-2019, The DART development contributors
+# All rights reserved.
+#
+# The list of contributors can be found at:
+#   https://github.com/dartsim/dart/blob/master/LICENSE
+#
+# This file is provided under the "BSD-style" License
+
+# We intentionally don't specify the required Eigen3 version like
+# find_package(Eigen3 3.2.92) because the version file is not provided by
+# upstream until 3.3.1.
+find_package(Eigen3 REQUIRED)
+if(EIGEN3_VERSION_STRING VERSION_LESS 3.2.92)  # 3.3~beta1
+  message(FATAL_ERROR "Eigen3 ${EIGEN3_VERSION_STRING} is found but >= 3.2.92
+    (3.3~beta1) is required"
+  )
+endif()
+
+# Set target Eigen3::Eigen if not set
+# The target is not imported by upstream until 3.3.2
+if(Eigen3_FOUND AND NOT TARGET Eigen3::Eigen)
+  add_library(Eigen3::Eigen INTERFACE IMPORTED)
+  set_target_properties(Eigen3::Eigen PROPERTIES
+    INTERFACE_INCLUDE_DIRECTORIES "${EIGEN3_INCLUDE_DIRS}"
+  )
+endif()
diff --git a/cmake/DARTFindGLUT.cmake b/cmake/DARTFindGLUT.cmake
@@ -0,0 +1,9 @@
+# Copyright (c) 2011-2019, The DART development contributors
+# All rights reserved.
+#
+# The list of contributors can be found at:
+#   https://github.com/dartsim/dart/blob/master/LICENSE
+#
+# This file is provided under the "BSD-style" License
+
+find_package(GLUT QUIET)
diff --git a/cmake/DARTFindIPOPT.cmake b/cmake/DARTFindIPOPT.cmake
@@ -0,0 +1,9 @@
+# Copyright (c) 2011-2019, The DART development contributors
+# All rights reserved.
+#
+# The list of contributors can be found at:
+#   https://github.com/dartsim/dart/blob/master/LICENSE
+#
+# This file is provided under the "BSD-style" License
+
+find_package(IPOPT 3.11.9 QUIET)
diff --git a/cmake/DARTFindNLOPT.cmake b/cmake/DARTFindNLOPT.cmake
@@ -0,0 +1,9 @@
+# Copyright (c) 2011-2019, The DART development contributors
+# All rights reserved.
+#
+# The list of contributors can be found at:
+#   https://github.com/dartsim/dart/blob/master/LICENSE
+#
+# This file is provided under the "BSD-style" License
+
+find_package(NLOPT 2.4.1 QUIET)
diff --git a/cmake/DARTFindODE.cmake b/cmake/DARTFindODE.cmake
@@ -0,0 +1,9 @@
+# Copyright (c) 2011-2019, The DART development contributors
+# All rights reserved.
+#
+# The list of contributors can be found at:
+#   https://github.com/dartsim/dart/blob/master/LICENSE
+#
+# This file is provided under the "BSD-style" License
+
+find_package(ODE 0.13 QUIET)
diff --git a/cmake/DARTFindOpenGL.cmake b/cmake/DARTFindOpenGL.cmake
@@ -0,0 +1,35 @@
+# Copyright (c) 2011-2019, The DART development contributors
+# All rights reserved.
+#
+# The list of contributors can be found at:
+#   https://github.com/dartsim/dart/blob/master/LICENSE
+#
+# This file is provided under the "BSD-style" License
+
+cmake_policy(PUSH)
+
+# Stick to the legacy GL library until we need GLVND
+# (see: https://cmake.org/cmake/help/git-stage/policy/CMP0072.html)
+if(POLICY CMP0072)
+  cmake_policy(SET CMP0072 OLD)
+endif()
+
+find_package(OpenGL QUIET)
+
+cmake_policy(POP)
+
+if(OPENGL_FOUND AND NOT TARGET OpenGL::GL)
+  add_library(OpenGL::GL INTERFACE IMPORTED)
+  set_target_properties(OpenGL::GL PROPERTIES
+    INTERFACE_INCLUDE_DIRECTORIES "${OPENGL_INCLUDE_DIR}"
+    INTERFACE_LINK_LIBRARIES "${OPENGL_gl_LIBRARY}"
+  )
+endif()
+
+if(OPENGL_FOUND AND NOT TARGET OpenGL::GLU)
+  add_library(OpenGL::GLU INTERFACE IMPORTED)
+  set_target_properties(OpenGL::GLU PROPERTIES
+    INTERFACE_INCLUDE_DIRECTORIES "${OPENGL_INCLUDE_DIR}"
+    INTERFACE_LINK_LIBRARIES "${OPENGL_glu_LIBRARY}"
+  )
+endif()
diff --git a/cmake/DARTFindassimp.cmake b/cmake/DARTFindassimp.cmake
@@ -0,0 +1,18 @@
+# Copyright (c) 2011-2019, The DART development contributors
+# All rights reserved.
+#
+# The list of contributors can be found at:
+#   https://github.com/dartsim/dart/blob/master/LICENSE
+#
+# This file is provided under the "BSD-style" License
+
+find_package(assimp REQUIRED)
+
+# Manually check version because the upstream version compatibility policy
+# doesn't allow different major number while DART is compatible any version
+# greater than or equal to 3.2.
+if(ASSIMP_VERSION VERSION_LESS 3.2)
+  message(STATUS "Found Assimp ${ASSIMP_VERSION}, but Assimp >= 3.2 is
+    required"
+  )
+endif()