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