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package("dartsim")
set_homepage("https://dartsim.github.io/")
set_description("Dynamic Animation and Robotics Toolkit")
set_license("BSD-2-Clause")
add_urls("https://github.com/dartsim/dart/archive/refs/tags/$(version).tar.gz",
"https://github.com/dartsim/dart.git")
add_versions("v6.14.4", "f5fc7f5cb1269cc127a1ff69be26247b9f3617ce04ff1c80c0f3f6abc7d9ab70")
add_versions("v6.13.0", "4da3ff8cee056252a558b05625a5ff29b21e71f2995e6d7f789abbf6261895f7")
add_versions("v6.14.2", "6bbaf452f8182b97bf22adeab6cc7f3dc1cd2733358543131fa130e07c0860fc")
add_configs("dartpy", {description = "Build dartpy interface.", default = false, type = "boolean"})
local configdeps = {bullet3 = "Bullet",
freeglut = "GLUT",
nlopt = "NLOPT",
ode = "ODE",
openscenegraph = "OpenSceneGraph",
tinyxml2 = "tinyxml2",
urdfdom = "urdfdom",
spdlog = "spdlog"}
for config, dep in pairs(configdeps) do
add_configs(config, {description = "Enable " .. config .. " support.", default = false, type = "boolean"})
end
if is_plat("windows") then
add_configs("shared", {description = "Build shared library.", default = false, type = "boolean", readonly = true})
add_cxxflags("/permissive-")
add_syslinks("user32")
end
add_deps("cmake")
add_deps("assimp", "libccd", "eigen", "fcl", "octomap", "fmt")
on_load("windows|x64", "linux", "macosx", function (package)
for config, dep in pairs(configdeps) do
if package:config(config) then
package:add("deps", config)
end
end
if package:config("dartpy") then
package:add("deps", "python 3.x")
end
end)
on_install("windows|x64", "linux", "macosx", function (package)
io.replace("CMakeLists.txt", "/GL", "", {plain = true})
io.replace("CMakeLists.txt", "if(TARGET dart)", "if(FALSE)", {plain = true})
io.replace("dart/CMakeLists.txt", "/LTCG", "", {plain = true})
io.replace("python/CMakeLists.txt", "add_subdirectory(tests)", "", {plain = true})
io.replace("python/CMakeLists.txt", "add_subdirectory(examples)", "", {plain = true})
io.replace("python/CMakeLists.txt", "add_subdirectory(tutorials)", "", {plain = true})
io.replace("cmake/DARTFindDependencies.cmake", "dart_check_required_package(assimp \"assimp\")", "dart_check_required_package(assimp \"assimp\")\nfind_package(ZLIB)\ntarget_link_libraries(assimp INTERFACE ZLIB::ZLIB)", {plain = true})
io.replace("cmake/DARTFindDependencies.cmake", "dart_check_required_package(fcl \"fcl\")", "dart_check_required_package(fcl \"fcl\")\ntarget_link_libraries(fcl INTERFACE ccd)", {plain = true})
io.replace("cmake/DARTFindDependencies.cmake", "check_cxx_source_compiles%(.-\".-\".-(ASSIMP.-DEFINED)%)", "set(%1 1)")
local configs = {
"-DDART_SKIP_lz4=ON",
"-DDART_SKIP_flann=ON",
"-DDART_SKIP_IPOPT=ON",
"-DDART_SKIP_pagmo=ON",
"-DDART_SKIP_DOXYGEN=ON",
"-DDART_TREAT_WARNINGS_AS_ERRORS=OFF",
}
table.insert(configs, "-DCMAKE_BUILD_TYPE=" .. (package:debug() and "Debug" or "Release"))
table.insert(configs, "-DBUILD_SHARED_LIBS=" .. (package:config("shared") and "ON" or "OFF"))
for config, dep in pairs(configdeps) do
table.insert(configs, "-DDART_SKIP_" .. dep .. "=" .. (package:config(config) and "OFF" or "ON"))
end
if package:is_plat("windows") then
table.insert(configs, "-DDART_RUNTIME_LIBRARY=" .. (package:config("vs_runtime"):startswith("MT") and "/MT" or "/MD"))
end
table.insert(configs, "-DDART_BUILD_DARTPY=" .. (package:config("dartpy") and "ON" or "OFF"))
table.insert(configs, "-DDART_BUILD_GUI_OSG=" .. (package:config("openscenegraph") and "ON" or "OFF"))
import("package.tools.cmake").install(package, configs)
end)
on_test(function (package)
assert(package:check_cxxsnippets({test = [[
#include <dart/dart.hpp>
void test() {
dart::simulation::WorldPtr world = dart::simulation::World::create();
}
]]}, {configs = {languages = "c++17"}}))
end)