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("v6.14.5", "eb89cc01f4f48c399b055d462d8ecd2a3f846f825a35ffc67f259186b362e136") 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") -- https://gitlab.kitware.com/cmake/cmake/-/issues/20222 set_policy("package.cmake_generator.ninja", false) 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 if package:config("openscenegraph") then package:add("deps", "imgui") 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_USE_SYSTEM_IMGUI=ON", "-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) local suffix = package:is_debug() and "d" or "" for _, lib in ipairs({"dart-collision-bullet", "dart-collision-ode", "dart-gui-osg", "dart-gui", "dart-optimizer-ipopt", "dart-optimizer-nlopt", "dart-optimizer-pagmo", "dart-utils-urdf", "dart-utils", "dart", "dart-external-odelcpsolver", "dart-external-lodepng"}) do package:add("links", lib .. suffix) end end) on_test(function (package) assert(package:check_cxxsnippets({test = [[ #include void test() { dart::simulation::WorldPtr world = dart::simulation::World::create(); } ]]}, {configs = {languages = "c++17"}})) end)