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dartsim · Apr 4, 2024 · 48dcf97 · 48dcf97
1 parent ed9c930
commit 48dcf97
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Showing 7 changed files with 38 additions and 14 deletions.
diff --git a/dart/common/Subject.hpp b/dart/common/Subject.hpp
@@ -33,6 +33,8 @@
 #ifndef DART_COMMON_SUBJECT_HPP_
 #define DART_COMMON_SUBJECT_HPP_
 
+#include <dart/Export.hpp>
+
 #include <set>
 
 namespace dart {
@@ -54,7 +56,7 @@ class Observer;
 /// dart::sub_ptr is a templated smart pointer that will change itself into a
 /// nullptr when its Subject is destroyed. It offers one of the easiest ways to
 /// take advantage of the Subject/Observer pattern.
-class Subject
+class DART_API Subject
 {
 public:
   friend class Observer;

diff --git a/dart/dynamics/SoftBodyNode.hpp b/dart/dynamics/SoftBodyNode.hpp
@@ -331,7 +331,7 @@ class DART_API SoftBodyNode : public detail::SoftBodyNodeBase
   void updateInertiaWithPointMass();
 };
 
-class SoftBodyNodeHelper
+class DART_API SoftBodyNodeHelper
 {
 public:
   /// Create a Properties struct for a box-shaped SoftBodyNode with 8

diff --git a/dart/dynamics/detail/EntityNodeAspect.hpp b/dart/dynamics/detail/EntityNodeAspect.hpp
@@ -44,7 +44,7 @@ class EntityNode;
 namespace detail {
 
 //==============================================================================
-struct EntityNodeProperties
+struct DART_API EntityNodeProperties
 {
   /// Name of the Entity/Node
   std::string mName;

diff --git a/dart/dynamics/detail/FixedFrameAspect.hpp b/dart/dynamics/detail/FixedFrameAspect.hpp
@@ -33,13 +33,14 @@
 #ifndef DART_DYNAMICS_DETAIL_FIXEDFRAMEASPECT_HPP_
 #define DART_DYNAMICS_DETAIL_FIXEDFRAMEASPECT_HPP_
 
-#include <Eigen/Geometry>
+#include <dart/Export.hpp>
 
+#include <Eigen/Geometry>
 namespace dart {
 namespace dynamics {
 namespace detail {
 
-struct FixedFrameProperties
+struct DART_API FixedFrameProperties
 {
   /// The relative transform of the FixedFrame
   Eigen::Isometry3d mRelativeTf;

diff --git a/dart/dynamics/detail/MarkerAspect.hpp b/dart/dynamics/detail/MarkerAspect.hpp
@@ -33,6 +33,8 @@
 #ifndef DART_DYNAMICS_DETAIL_MARKERASPECT_HPP_
 #define DART_DYNAMICS_DETAIL_MARKERASPECT_HPP_
 
+#include <dart/Export.hpp>
+
 #include <dart/math/Helpers.hpp>
 
 #include <Eigen/Core>
@@ -41,7 +43,7 @@ namespace dart {
 namespace dynamics {
 namespace detail {
 
-struct MarkerProperties
+struct DART_API MarkerProperties
 {
   enum ConstraintType
   {

diff --git a/dart/dynamics/detail/PlanarJointAspect.hpp b/dart/dynamics/detail/PlanarJointAspect.hpp
@@ -109,8 +109,8 @@ struct DART_API PlanarJointUniqueProperties
 };
 
 //==============================================================================
-struct PlanarJointProperties : GenericJoint<math::R3Space>::Properties,
-                               PlanarJointUniqueProperties
+struct DART_API PlanarJointProperties : GenericJoint<math::R3Space>::Properties,
+                                        PlanarJointUniqueProperties
 {
   DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(PlanarJointProperties)
 

diff --git a/docker/dev/v6.14/Dockerfile.gazebo b/docker/dev/v6.14/Dockerfile.gazebo
@@ -4,13 +4,32 @@ FROM jslee02/dart-dev:ubuntu-jammy-v6.14
 # Avoid warnings by switching to noninteractive
 ENV DEBIAN_FRONTEND=noninteractive
 
+WORKDIR /ws
+
 # Compile and install DART and dartpy
-COPY . /opt/dart
-WORKDIR /opt/dart
-RUN cd /opt/dart \
-    && cmake \
-    -B build \
+COPY . /ws/dart
+RUN rm -rf /ws/dart/build
+RUN  cmake \
+    -S dart \
+    -B dart/build \
     -DCMAKE_INSTALL_PREFIX=/usr/ \
     -DCMAKE_BUILD_TYPE=Release .. \
     -DBUILD_SHARED_LIBS=ON \
-    && cmake --build build --target install -j
+    && cmake \
+    --build dart/build \
+    --target install \
+    -j16
+
+# Install Gazebo from source
+ENV IGNITION_PHYSICS_VERSION=7
+RUN apt-add-repository -s "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -c -s) main"
+RUN apt-get build-dep -y ignition-physics${IGNITION_PHYSICS_VERSION}-dev
+RUN clone https://github.com/ignitionrobotics/ign-physics -b ign-physics${IGNITION_PHYSICS_VERSION}
+RUN cmake \
+    -S ign-physics \
+    -B ign-physics/build \
+    -DCMAKE_BUILD_TYPE=Release .. \
+    && cmake \
+    --build build \
+    --target install \
+    -j16