Merge remote-tracking branch 'origin/release-6.1' into eigen_mem_align

Conflicts: CHANGELOG.md dart/CMakeLists.txt
dartsim · Oct 13, 2016 · a5c3d43 · a5c3d43
2 parents 4c5100c + d08ce8a
commit a5c3d43
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -4,7 +4,8 @@
 
 * Build
 
-  * Modified to build DART without additional SIMD options by default: [#790](https://github.com/dartsim/dart/pull/790)
+  * Modified to build DART without SIMD options by default: [#790](https://github.com/dartsim/dart/pull/790)
+  * Modified to build external libraries as separately build targets: [#787](https://github.com/dartsim/dart/pull/787)
   * Modified to export CMake target files separately per target: [#786](https://github.com/dartsim/dart/pull/786)
 
 ### DART 6.1.0 (2016-10-07)

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -265,10 +265,6 @@ function(dart_add_tutorial)
   dart_property_add(DART_TUTORIALS ${ARGN})
 endfunction(dart_add_tutorial)
 
-function(dart_add_unittest)
-  dart_property_add(DART_UNITTESTS ${ARGN})
-endfunction(dart_add_unittest)
-
 #===============================================================================
 # Add sub-directories
 #===============================================================================
@@ -281,20 +277,6 @@ if(TINYXML_FOUND AND TINYXML2_FOUND AND BULLET_FOUND)
   enable_testing()
   add_subdirectory(unittests EXCLUDE_FROM_ALL)
 
-  get_property(unittests GLOBAL PROPERTY DART_UNITTESTS)
-  add_custom_target(tests DEPENDS ${unittests})
-
-  if(DART_VERBOSE)
-    message(STATUS "")
-    message(STATUS "[ Unit Tests ]")
-    foreach(unittest ${unittests})
-      message(STATUS "Adding test: ${unittest}")
-    endforeach(unittest ${unittests})
-  else(DART_VERBOSE)
-    list(LENGTH unittests unittests_length)
-    message(STATUS "Adding ${unittests_length} unittests")
-  endif(DART_VERBOSE)
-
   if (OPENGL_FOUND AND HAVE_GLUT)
 
     # Add an "examples" target to build examples.
@@ -432,33 +414,46 @@ endif()
 #===============================================================================
 if(DOXYGEN_FOUND)
 
-  set(DOXYGEN_DOXYFILE_IN  ${PROJECT_SOURCE_DIR}/doxygen/Doxyfile.in    )
-  set(DOXYGEN_DOXYFILE     ${PROJECT_BINARY_DIR}/doxygen/Doxyfile       )
-  set(DOXYGEN_HTML_INDEX   ${PROJECT_SOURCE_DIR}/doxygen/html/index.html)
-  set(DOXYGEN_OUTPUT_ROOT  ${PROJECT_SOURCE_DIR}/doxygen/html           ) # Pasted into Doxyfile.in
-  set(DOXYGEN_GENERATE_TAGFILE ${DOXYGEN_OUTPUT_ROOT}/${PROJECT_NAME}.tag)
-  set(DOXYGEN_INCLUDE_PATH ${PROJECT_SOURCE_DIR})
-  set(DOXYGEN_INPUT_ROOT   ${PROJECT_SOURCE_DIR}/dart                   ) # Pasted into Doxyfile.in
-  set(DOXYGEN_EXTRA_INPUTS ${PROJECT_SOURCE_DIR}/doxygen/mainpage.dox   ) # Pasted into Doxyfile.in
-
+  set(DOXYGEN_DOXYFILE_IN      "${PROJECT_SOURCE_DIR}/doxygen/Doxyfile.in"    )
+  set(DOXYGEN_DOXYFILE         "${PROJECT_BINARY_DIR}/doxygen/Doxyfile"       )
+  set(DOXYGEN_HTML_INDEX       "${PROJECT_SOURCE_DIR}/doxygen/html/index.html")
+  set(DOXYGEN_OUTPUT_ROOT      "${PROJECT_SOURCE_DIR}/doxygen/html"           )
+  set(DOXYGEN_GENERATE_TAGFILE "${DOXYGEN_OUTPUT_ROOT}/${PROJECT_NAME}.tag"   )
+  set(DOXYGEN_INCLUDE_PATH     "${PROJECT_SOURCE_DIR}"                        )
+  set(DOXYGEN_INPUT_ROOT       "${PROJECT_SOURCE_DIR}/dart"                   )
+  set(DOXYGEN_EXTRA_INPUTS     "${PROJECT_SOURCE_DIR}/doxygen/mainpage.dox"   )
+  set(DOXYGEN_EXCLUDE          "${PROJECT_SOURCE_DIR}/dart/external"          )
+
+  # Generate a Doxyfile. This uses the variables:
+  #
+  # - DOXYGEN_OUTPUT_ROOT
+  # - DOXYGEN_GENERATE_TAGFILE
+  # - DOXYGEN_EXTRA_INPUTS
+  # - DOXYGEN_INPUT_ROOT
+  # - DOXYGEN_EXCLUDE
   configure_file(${DOXYGEN_DOXYFILE_IN} ${DOXYGEN_DOXYFILE} @ONLY)
-  file(COPY "${PROJECT_SOURCE_DIR}/doxygen/DART logo.png" DESTINATION ${DOXYGEN_OUTPUT_ROOT})
-  add_custom_command(OUTPUT ${DOXYGEN_HTML_INDEX}
-                     COMMAND ${CMAKE_COMMAND} -E echo_append "Building API Documentation..."
-                     COMMAND ${DOXYGEN_EXECUTABLE} -u ${DOXYGEN_DOXYFILE}
-                     COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_DOXYFILE}
-                     COMMAND ${CMAKE_COMMAND} -E echo "Done."
-                     WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/doxygen
-                     DEPENDS ${DOXYGEN_DOXYFILE}
+  file(
+    COPY "${PROJECT_SOURCE_DIR}/doxygen/DART logo.png"
+    DESTINATION ${DOXYGEN_OUTPUT_ROOT}
+  )
+  add_custom_command(
+    OUTPUT ${DOXYGEN_HTML_INDEX}
+    COMMAND ${CMAKE_COMMAND} -E echo_append "Building API Documentation..."
+    COMMAND ${DOXYGEN_EXECUTABLE} -u ${DOXYGEN_DOXYFILE}
+    COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_DOXYFILE}
+    COMMAND ${CMAKE_COMMAND} -E echo "Done."
+    WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/doxygen
+    DEPENDS ${DOXYGEN_DOXYFILE}
   )
   # add_custom_target(docs ALL DEPENDS ${DOXYGEN_HTML_INDEX})
   add_custom_target(docs DEPENDS ${DOXYGEN_HTML_INDEX})
-  add_custom_target(docs_forced
-                    COMMAND ${CMAKE_COMMAND} -E echo_append "Building API Documentation..."
-                    COMMAND ${DOXYGEN_EXECUTABLE} -u ${DOXYGEN_DOXYFILE}
-                    COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_DOXYFILE}
-                    COMMAND ${CMAKE_COMMAND} -E echo "Done."
-                    WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/doxygen
+  add_custom_target(
+    docs_forced
+    COMMAND ${CMAKE_COMMAND} -E echo_append "Building API Documentation..."
+    COMMAND ${DOXYGEN_EXECUTABLE} -u ${DOXYGEN_DOXYFILE}
+    COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_DOXYFILE}
+    COMMAND ${CMAKE_COMMAND} -E echo "Done."
+    WORKING_DIRECTORY ${PROJECT_SOURCE_DIR}/doxygen
   )
 
 endif()

diff --git a/dart/CMakeLists.txt b/dart/CMakeLists.txt
@@ -1,3 +1,5 @@
+add_subdirectory(external)
+
 # Enable multi-threaded compilation.
 # We do this here and not in the root folder since the examples and the
 # tutorials do not have enough source files to benefit from this.
@@ -136,10 +138,12 @@ target_include_directories(
 )
 target_link_libraries(
   dart
-  ${CCD_LIBRARIES}
-  ${FCL_LIBRARIES}
-  ${ASSIMP_LIBRARIES}
-  ${Boost_LIBRARIES}
+  PUBLIC
+    ${CCD_LIBRARIES}
+    ${FCL_LIBRARIES}
+    ${ASSIMP_LIBRARIES}
+    ${Boost_LIBRARIES}
+    ${PROJECT_NAME}-external-odelcpsolver
 )
 
 # Build DART with all available SIMD instructions
@@ -148,7 +152,16 @@ if(DART_ENABLE_SIMD AND NOT MSVC)
 endif()
 
 # Default component
-add_component_targets(${PROJECT_NAME} dart dart)
+add_component_targets(
+  ${PROJECT_NAME}
+  dart # component name
+  dart # target name
+)
+add_component_dependencies(
+  ${PROJECT_NAME}
+  dart
+  external-odelcpsolver
+)
 
 # Coverage test
 dart_coveralls_add(${dart_core_headers} ${dart_core_sources})

diff --git a/dart/constraint/BallJointConstraint.cpp b/dart/constraint/BallJointConstraint.cpp
@@ -31,9 +31,10 @@
 #include <iostream>
 #include "dart/constraint/BallJointConstraint.hpp"
 
+#include "dart/external/odelcpsolver/lcp.h"
+
 #include "dart/dynamics/BodyNode.hpp"
 #include "dart/dynamics/Skeleton.hpp"
-#include "dart/lcpsolver/lcp.h"
 
 namespace dart {
 namespace constraint {

diff --git a/dart/constraint/ContactConstraint.cpp b/dart/constraint/ContactConstraint.cpp
@@ -33,11 +33,12 @@
 
 #include <iostream>
 
+#include "dart/external/odelcpsolver/lcp.h"
+
 #include "dart/common/Console.hpp"
 #include "dart/dynamics/BodyNode.hpp"
 #include "dart/dynamics/Skeleton.hpp"
 #include "dart/collision/CollisionObject.hpp"
-#include "dart/lcpsolver/lcp.h"
 #include "dart/math/Helpers.hpp"
 
 #define DART_EPSILON 1e-6

diff --git a/dart/constraint/DantzigLCPSolver.cpp b/dart/constraint/DantzigLCPSolver.cpp
@@ -36,11 +36,12 @@
 #include <iostream>
 #endif
 
+#include "dart/external/odelcpsolver/lcp.h"
+
 #include "dart/common/Console.hpp"
 #include "dart/constraint/ConstraintBase.hpp"
 #include "dart/constraint/ConstrainedGroup.hpp"
 #include "dart/lcpsolver/Lemke.hpp"
-#include "dart/lcpsolver/lcp.h"
 
 namespace dart {
 namespace constraint {

diff --git a/dart/constraint/JointCoulombFrictionConstraint.cpp b/dart/constraint/JointCoulombFrictionConstraint.cpp
@@ -37,7 +37,6 @@
 #include "dart/dynamics/BodyNode.hpp"
 #include "dart/dynamics/Joint.hpp"
 #include "dart/dynamics/Skeleton.hpp"
-#include "dart/lcpsolver/lcp.h"
 
 #define DART_CFM     1e-9
 

diff --git a/dart/constraint/JointLimitConstraint.cpp b/dart/constraint/JointLimitConstraint.cpp
@@ -33,11 +33,12 @@
 
 #include <iostream>
 
+#include "dart/external/odelcpsolver/lcp.h"
+
 #include "dart/common/Console.hpp"
 #include "dart/dynamics/BodyNode.hpp"
 #include "dart/dynamics/Joint.hpp"
 #include "dart/dynamics/Skeleton.hpp"
-#include "dart/lcpsolver/lcp.h"
 
 #define DART_ERROR_ALLOWANCE 0.0
 #define DART_ERP     0.01

diff --git a/dart/constraint/PGSLCPSolver.cpp b/dart/constraint/PGSLCPSolver.cpp
@@ -36,11 +36,12 @@
 #include <iostream>
 #endif
 
+#include "dart/external/odelcpsolver/lcp.h"
+
 #include "dart/common/Console.hpp"
 #include "dart/constraint/ConstraintBase.hpp"
 #include "dart/constraint/ConstrainedGroup.hpp"
 #include "dart/lcpsolver/Lemke.hpp"
-#include "dart/lcpsolver/lcp.h"
 
 namespace dart {
 namespace constraint {

diff --git a/dart/constraint/ServoMotorConstraint.cpp b/dart/constraint/ServoMotorConstraint.cpp
@@ -33,11 +33,12 @@
 
 #include <iostream>
 
+#include "dart/external/odelcpsolver/lcp.h"
+
 #include "dart/common/Console.hpp"
 #include "dart/dynamics/BodyNode.hpp"
 #include "dart/dynamics/Joint.hpp"
 #include "dart/dynamics/Skeleton.hpp"
-#include "dart/lcpsolver/lcp.h"
 
 #define DART_CFM     1e-9
 

diff --git a/dart/constraint/SoftContactConstraint.cpp b/dart/constraint/SoftContactConstraint.cpp
@@ -33,6 +33,8 @@
 
 #include <iostream>
 
+#include "dart/external/odelcpsolver/lcp.h"
+
 #include "dart/common/Console.hpp"
 #include "dart/dynamics/BodyNode.hpp"
 #include "dart/dynamics/PointMass.hpp"
@@ -41,7 +43,6 @@
 #include "dart/dynamics/Shape.hpp"
 #include "dart/dynamics/SoftMeshShape.hpp"
 #include "dart/collision/CollisionObject.hpp"
-#include "dart/lcpsolver/lcp.h"
 
 #define DART_EPSILON 1e-6
 #define DART_ERROR_ALLOWANCE 0.0

diff --git a/dart/constraint/WeldJointConstraint.cpp b/dart/constraint/WeldJointConstraint.cpp
@@ -31,9 +31,10 @@
 
 #include "dart/constraint/WeldJointConstraint.hpp"
 
+#include "dart/external/odelcpsolver/lcp.h"
+
 #include "dart/dynamics/BodyNode.hpp"
 #include "dart/dynamics/Skeleton.hpp"
-#include "dart/lcpsolver/lcp.h"
 
 namespace dart {
 namespace constraint {

diff --git a/dart/external/CMakeLists.txt b/dart/external/CMakeLists.txt
@@ -0,0 +1,3 @@
+add_subdirectory(imgui)
+add_subdirectory(lodepng)
+add_subdirectory(odelcpsolver)
diff --git a/dart/external/imgui/CMakeLists.txt b/dart/external/imgui/CMakeLists.txt
@@ -0,0 +1,24 @@
+# Search all header and source files
+file(GLOB hdrs "*.h")
+file(GLOB srcs "*.cpp")
+
+# Set local target name
+set(target_name ${PROJECT_NAME}-external-imgui)
+set(component_name external-imgui)
+
+dart_add_library(${target_name} ${hdrs} ${srcs})
+include_directories(
+  ${target_name}
+  PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}"
+)
+
+# Component
+add_component(${PROJECT_NAME} ${component_name})
+add_component_targets(${PROJECT_NAME} ${component_name} ${target_name})
+
+# Install
+install(
+  FILES ${hdrs}
+  DESTINATION include/dart/external/imgui
+  COMPONENT headers
+)
diff --git a/dart/gui/imconfig.h → dart/external/imgui/imconfig.h b/dart/gui/imconfig.h → dart/external/imgui/imconfig.h
diff --git a/dart/gui/imgui.cpp → dart/external/imgui/imgui.cpp b/dart/gui/imgui.cpp → dart/external/imgui/imgui.cpp
diff --git a/dart/gui/imgui.h → dart/external/imgui/imgui.h b/dart/gui/imgui.h → dart/external/imgui/imgui.h
diff --git a/dart/gui/imgui_draw.cpp → dart/external/imgui/imgui_draw.cpp b/dart/gui/imgui_draw.cpp → dart/external/imgui/imgui_draw.cpp
diff --git a/dart/gui/imgui_internal.h → dart/external/imgui/imgui_internal.h b/dart/gui/imgui_internal.h → dart/external/imgui/imgui_internal.h
diff --git a/dart/gui/stb_rect_pack.h → dart/external/imgui/stb_rect_pack.h b/dart/gui/stb_rect_pack.h → dart/external/imgui/stb_rect_pack.h
diff --git a/dart/gui/stb_textedit.h → dart/external/imgui/stb_textedit.h b/dart/gui/stb_textedit.h → dart/external/imgui/stb_textedit.h
diff --git a/dart/gui/stb_truetype.h → dart/external/imgui/stb_truetype.h b/dart/gui/stb_truetype.h → dart/external/imgui/stb_truetype.h
diff --git a/dart/external/lodepng/CMakeLists.txt b/dart/external/lodepng/CMakeLists.txt
@@ -0,0 +1,24 @@
+# Search all header and source files
+file(GLOB hdrs "*.h")
+file(GLOB srcs "*.cpp")
+
+# Set local target name
+set(target_name ${PROJECT_NAME}-external-lodepng)
+set(component_name external-lodepng)
+
+dart_add_library(${target_name} ${hdrs} ${srcs})
+include_directories(
+  ${target_name}
+  PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}"
+)
+
+# Component
+add_component(${PROJECT_NAME} ${component_name})
+add_component_targets(${PROJECT_NAME} ${component_name} ${target_name})
+
+# Install
+install(
+  FILES ${hdrs}
+  DESTINATION include/dart/external/lodepng
+  COMPONENT headers
+)
diff --git a/dart/gui/lodepng.cpp → dart/external/lodepng/lodepng.cpp b/dart/gui/lodepng.cpp → dart/external/lodepng/lodepng.cpp
diff --git a/dart/gui/lodepng.h → dart/external/lodepng/lodepng.h b/dart/gui/lodepng.h → dart/external/lodepng/lodepng.h
diff --git a/dart/external/odelcpsolver/CMakeLists.txt b/dart/external/odelcpsolver/CMakeLists.txt
@@ -0,0 +1,24 @@
+# Search all header and source files
+file(GLOB hdrs "*.h")
+file(GLOB srcs "*.cpp")
+
+# Set local target name
+set(target_name ${PROJECT_NAME}-external-odelcpsolver)
+set(component_name external-odelcpsolver)
+
+dart_add_library(${target_name} ${hdrs} ${srcs})
+include_directories(
+  ${target_name}
+  PUBLIC "${CMAKE_CURRENT_SOURCE_DIR}"
+)
+
+# Component
+add_component(${PROJECT_NAME} ${component_name})
+add_component_targets(${PROJECT_NAME} ${component_name} ${target_name})
+
+# Install
+install(
+  FILES ${hdrs}
+  DESTINATION include/dart/external/odelcpsolver
+  COMPONENT headers
+)
diff --git a/dart/lcpsolver/common.h → dart/external/odelcpsolver/common.h b/dart/lcpsolver/common.h → dart/external/odelcpsolver/common.h
@@ -25,8 +25,8 @@
 
 #include <math.h>
 
-#include "dart/lcpsolver/odeconfig.h"
-#include "dart/lcpsolver/error.h"
+#include "odeconfig.h"
+#include "error.h"
 
 #ifdef __cplusplus
 extern "C" {

diff --git a/dart/lcpsolver/error.cpp → dart/external/odelcpsolver/error.cpp b/dart/lcpsolver/error.cpp → dart/external/odelcpsolver/error.cpp
@@ -20,8 +20,8 @@
  *                                                                       *
  *************************************************************************/
 
-#include "dart/lcpsolver/odeconfig.h"
-#include "dart/lcpsolver/error.h"
+#include "odeconfig.h"
+#include "error.h"
 
 
 

diff --git a/dart/lcpsolver/error.h → dart/external/odelcpsolver/error.h b/dart/lcpsolver/error.h → dart/external/odelcpsolver/error.h
@@ -25,7 +25,7 @@
 #ifndef _ODE_ERROR_H_
 #define _ODE_ERROR_H_
 
-#include "dart/lcpsolver/odeconfig.h"
+#include "odeconfig.h"
 
 #ifdef __cplusplus
 extern "C" {

diff --git a/dart/lcpsolver/fastdot.cpp → dart/external/odelcpsolver/fastdot.cpp b/dart/lcpsolver/fastdot.cpp → dart/external/odelcpsolver/fastdot.cpp
@@ -22,7 +22,7 @@
 
 /* generated code, do not edit. */
 
-#include "dart/lcpsolver/matrix.h"
+#include "matrix.h"
 
 
 dReal _dDot (const dReal *a, const dReal *b, int n)

diff --git a/dart/lcpsolver/fastldlt.cpp → dart/external/odelcpsolver/fastldlt.cpp b/dart/lcpsolver/fastldlt.cpp → dart/external/odelcpsolver/fastldlt.cpp
@@ -22,7 +22,7 @@
 
 /* generated code, do not edit. */
 
-#include "dart/lcpsolver/matrix.h"
+#include "matrix.h"
 
 /* solve L*X=B, with B containing 1 right hand sides.
  * L is an n*n lower triangular matrix with ones on the diagonal.