sci-libs/dart: add 6.12.1

Signed-off-by: Alessandro Barbieri <lssndrbarbieri@gmail.com>

sci-libs/dart/Manifest

@@ -1 +1,2 @@
 DIST dart-6.10.1.tar.gz 15867405 BLAKE2B 64c42ce1d808a88df53f4292df30c0bc58b52f864342ac0b353ad0496d41bd4986ad231cb08869058a16591350acf0fc0c12ae15d574d919c1c27f102028f608 SHA512 8abbf883628442ed5166e436349de8caaaf72a0ecfa88e75b986a550d617bd9b5df8ff32e32395e941ba12b7ad359be15b2ab2f566d99aa6c603bd0ebade1df0
+DIST dart-6.12.1.tar.gz 15990308 BLAKE2B d361dfad70745aa3747ea09f9f80a0b52051cb3e5d9a961995d469ab33086bf8d4068f95dbd4af8d0e2b23d5fbb0fa49dc63d823ffa52bbe750745093a6b54eb SHA512 f386f646f13989dad66efbe126691553b280bf6441edad1c03059d6ae650384652da538edd3d27f3404ba76b9d6f9348e5b1c0998d7673e856cc488b91a677ff

sci-libs/dart/dart-6.12.1.ebuild

@@ -0,0 +1,162 @@
+# Copyright 1999-2022 Gentoo Authors
+# Distributed under the terms of the GNU General Public License v2
+
+EAPI=8
+
+PYTHON_COMPAT=( python3_{8..10} )
+
+inherit cmake python-single-r1
+
+DESCRIPTION="Dynamic Animation and Robotics Toolkit"
+HOMEPAGE="
+	https://dartsim.github.io
+	https://github.com/dartsim/dart
+"
+SRC_URI="https://github.com/dartsim/${PN}/archive/v${PV}.tar.gz -> ${P}.tar.gz"
+
+LICENSE="BSD-2"
+SLOT="0"
+KEYWORDS="~amd64"
+IUSE="bullet doc examples extras glut gui +ipopt +nlopt ode python test tests tutorials urdfdom
+cpu_flags_x86_mmx cpu_flags_x86_mmxext	cpu_flags_x86_sse cpu_flags_x86_sse2 cpu_flags_x86_sse3
+cpu_flags_x86_ssse3 cpu_flags_x86_sse4a cpu_flags_x86_sse4_1 cpu_flags_x86_sse4_2 cpu_flags_x86_avx
+cpu_flags_x86_avx2 cpu_flags_x86_avx512dq cpu_flags_x86_avx512f cpu_flags_x86_avx512vl
+cpu_flags_x86_3dnow cpu_flags_x86_3dnowext cpu_flags_ppc_vsx cpu_flags_ppc_vsx2 cpu_flags_ppc_vsx3
+cpu_flags_ppc_altivec cpu_flags_arm_neon cpu_flags_arm_iwmmxt cpu_flags_arm_iwmmxt2 cpu_flags_arm_neon"
+#TODO: pagmo
+
+RDEPEND="
+	app-arch/lz4
+	>=dev-cpp/eigen-3.0.5
+	dev-libs/boost
+	dev-libs/tinyxml2
+	>=sci-libs/libccd-2.0
+	>=media-libs/assimp-3.0.0
+	>=sci-libs/fcl-0.2.9
+	sci-libs/flann
+	sci-libs/octomap
+
+	bullet? ( sci-physics/bullet )
+	examples? (
+		dev-cpp/tiny-dnn
+		dev-libs/urdfdom
+	)
+	extras? ( dev-libs/urdfdom )
+	glut? ( media-libs/freeglut )
+	gui? (
+		dev-games/openscenegraph
+		media-libs/imgui:=[opengl(-)]
+		media-libs/lodepng:=
+		virtual/opengl
+		x11-libs/libXi
+		x11-libs/libXmu
+	)
+	ipopt? ( sci-libs/ipopt )
+	nlopt? ( >=sci-libs/nlopt-2.4.1 )
+	ode? ( dev-games/ode )
+	python? (
+		${PYTHON_DEPS}
+		$(python_gen_cond_dep 'dev-python/pybind11[${PYTHON_USEDEP}]')
+	)
+	urdfdom? ( dev-libs/urdfdom )
+"
+DEPEND="
+	${RDEPEND}
+	examples? ( dev-libs/urdfdom_headers )
+	extras? ( dev-libs/urdfdom_headers )
+	test? (
+		dev-cpp/gtest
+		python? ( $(python_gen_cond_dep 'dev-python/pytest[${PYTHON_USEDEP}]') )
+	)
+	urdfdom? ( dev-libs/urdfdom_headers )
+"
+BDEPEND="
+	app-text/dos2unix
+	doc? ( app-doc/doxygen )
+	test? ( python? ( $(python_gen_cond_dep 'dev-python/pytest[${PYTHON_USEDEP}]') ) )
+"
+
+RESTRICT="!test? ( test )"
+PATCHES=(
+	"${FILESDIR}/${PN}-respect-ldflags.patch"
+	"${FILESDIR}/${P}-respect-cflags.patch"
+	"${FILESDIR}/${P}-use-system-gtest.patch"
+	"${FILESDIR}/${P}-use-system-lodepng-imgui.patch"
+)
+REQUIRED_USE="
+	examples? ( gui )
+	python? (
+		${PYTHON_REQUIRED_USE}
+		gui
+	)
+
+	|| ( ipopt nlopt )
+"
+
+pkg_setup() {
+	use python && python-single-r1_pkg_setup
+}
+
+src_prepare() {
+	# delete bundled gtest
+	rm -r unittests/gtest || die
+	rm -r dart/external/{imgui,lodepng} || die
+	dos2unix unittests/CMakeLists.txt || die
+	cmake_src_prepare
+}
+
+src_configure() {
+	local simd=OFF
+	use cpu_flags_x86_mmx && simd=ON
+	use cpu_flags_x86_mmxext && simd=ON
+	use cpu_flags_x86_sse && simd=ON
+	use cpu_flags_x86_sse2 && simd=ON
+	use cpu_flags_x86_sse3 && simd=ON
+	use cpu_flags_x86_ssse3 && simd=ON
+	use cpu_flags_x86_sse4a && simd=ON
+	use cpu_flags_x86_sse4_1 && simd=ON
+	use cpu_flags_x86_sse4_2 && simd=ON
+	use cpu_flags_x86_avx && simd=ON
+	use cpu_flags_x86_avx2 && simd=ON
+	use cpu_flags_x86_avx512dq && simd=ON
+	use cpu_flags_x86_avx512f && simd=ON
+	use cpu_flags_x86_avx512vl && simd=ON
+	use cpu_flags_x86_3dnow && simd=ON
+	use cpu_flags_x86_3dnowext && simd=ON
+	use cpu_flags_ppc_vsx && simd=ON
+	use cpu_flags_ppc_vsx2 && simd=ON
+	use cpu_flags_ppc_vsx3 && simd=ON
+	use cpu_flags_ppc_altivec && simd=ON
+	use cpu_flags_arm_neon && simd=ON
+	use cpu_flags_arm_iwmmxt && simd=ON
+	use cpu_flags_arm_iwmmxt2 && simd=ON
+	use cpu_flags_arm_neon && simd=ON
+
+	local mycmakeargs=(
+		-DBUILD_SHARED_LIBS=ON
+		-DCMAKE_BUILD_TYPE=Release
+		-DDART_CODECOV=OFF
+		-DDART_VERBOSE=ON
+		-DDART_TREAT_WARNINGS_AS_ERRORS=OFF
+
+		-DDART_BUILD_EXTRAS=$(usex extras)
+		-DDART_BUILD_GUI_OSG=$(usex gui)
+		-DDART_ENABLE_SIMD="${simd}"
+	)
+	cmake_src_configure
+}
+
+src_compile() {
+	cmake_src_compile
+	use examples && cmake_build examples
+	use python && cmake_build dartpy # no work to do ...
+	use test && cmake_build tests
+	use tutorials && cmake_build tutorials
+}
+
+src_install() {
+	cmake_src_install
+	#TODO: python examples tests tutorials
+	mv "${ED}/usr/share/doc/dart" "${ED}/usr/share/doc/${PF}" || die
+	docompress -x "/usr/share/doc/${PF}"
+}

sci-libs/dart/files/dart-6.12.1-respect-cflags.patch

@@ -0,0 +1,11 @@
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -208,7 +208,7 @@
+   if(GCC_VERSION VERSION_LESS 7.3.0)
+     message(FATAL_ERROR "The installed g++ version is ${GCC_VERSION}. ${PROJECT_NAME} requires g++ 7.3.0 or greater.")
+   endif()
+-  set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG")
++  set(CMAKE_CXX_FLAGS_RELEASE "-DNDEBUG")
+   set(CMAKE_CXX_FLAGS_DEBUG "-g -fno-omit-frame-pointer -fno-inline-functions -fno-inline-functions-called-once -fno-optimize-sibling-calls")
+   if(DART_FAST_DEBUG)
+     set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O1")

sci-libs/dart/files/dart-6.12.1-use-system-gtest.patch

@@ -0,0 +1,31 @@
+--- a/unittests/CMakeLists.txt
++++ b/unittests/CMakeLists.txt
+@@ -31,18 +31,7 @@
+ #
+ 
+ # GoogleTest setup
+-include_directories(BEFORE SYSTEM ${DART_SOURCE_DIR}/unittests/gtest/include)
+-include_directories(BEFORE SYSTEM ${DART_SOURCE_DIR}/unittests/gtest)
+-add_library(gtest STATIC gtest/src/gtest-all.cc)
+-add_library(gtest_main STATIC gtest/src/gtest_main.cc)
+-target_link_libraries(gtest_main gtest)
+-if(NOT WIN32)
+-  target_link_libraries(gtest pthread)
+-endif()
+-set_target_properties(
+-  gtest PROPERTIES
+-  ARCHIVE_OUTPUT_DIRECTORY ${DART_BINARY_DIR}/lib
+-)
++include_directories(BEFORE SYSTEM /usr/include/gtest)
+ 
+ #===============================================================================
+ # This function uses following global properties:
+@@ -66,7 +55,7 @@
+ 
+   add_executable(${target_name} ${sources})
+   add_test(${target_name} ${target_name})
+-  target_link_libraries(${target_name} dart gtest gtest_main)
++  target_link_libraries(${target_name} dart gtest)
+ 
+   dart_format_add(${sources})
+ 

sci-libs/dart/files/dart-6.12.1-use-system-lodepng-imgui.patch

@@ -0,0 +1,149 @@
+--- a/dart/external/CMakeLists.txt
++++ b/dart/external/CMakeLists.txt
+@@ -1,5 +1,3 @@
+ add_subdirectory(convhull_3d)
+-add_subdirectory(imgui)
+ add_subdirectory(ikfast)
+-add_subdirectory(lodepng)
+ add_subdirectory(odelcpsolver)
+--- a/dart/gui/CMakeLists.txt
++++ b/dart/gui/CMakeLists.txt
+@@ -42,14 +42,15 @@
+ dart_add_library(${target_name}
+   ${hdrs} ${srcs} ${dart_gui_headers} ${dart_gui_sources}
+ )
++target_include_directories(${target_name} PRIVATE /usr/include/imgui)
+ target_link_libraries(${target_name}
+   PUBLIC
+     dart-utils
+     OpenGL::GL
+     OpenGL::GLU
+     GLUT::GLUT
+-    ${PROJECT_NAME}-external-lodepng
+-    ${PROJECT_NAME}-external-imgui
++    -limgui
++    lodepng
+ )
+ 
+ # Component
+@@ -59,8 +60,6 @@
+   ${PROJECT_NAME}
+   ${component_name}
+   utils
+-  external-lodepng
+-  external-imgui
+ )
+ add_component_dependency_packages(${PROJECT_NAME} ${component_name} OpenGL)
+ if(NOT WIN32 OR CYGWIN)
+--- a/dart/gui/glut/GlutWindow.cpp
++++ b/dart/gui/glut/GlutWindow.cpp
+@@ -30,7 +30,7 @@
+  *   POSSIBILITY OF SUCH DAMAGE.
+  */
+ 
+-#include "dart/external/lodepng/lodepng.h"
++#include "lodepng.h"
+ #include "dart/gui/glut/Window.hpp"
+ 
+ #ifdef _WIN32
+--- a/dart/gui/osg/ImGuiHandler.cpp
++++ b/dart/gui/osg/ImGuiHandler.cpp
+@@ -44,8 +44,8 @@
+ #include <osg/RenderInfo>
+ 
+ #include "dart/common/Console.hpp"
+-#include "dart/external/imgui/imgui.h"
+-#include "dart/external/imgui/imgui_impl_opengl2.h"
++#include "imgui/imgui.h"
++#include "imgui/imgui_impl_opengl2.h"
+ #include "dart/gui/osg/ImGuiWidget.hpp"
+ 
+ namespace dart {
+--- a/dart/gui/osg/ImGuiWidget.cpp
++++ b/dart/gui/osg/ImGuiWidget.cpp
+@@ -38,7 +38,7 @@
+ 
+ #include "dart/gui/osg/ImGuiWidget.hpp"
+ 
+-#include "dart/external/imgui/imgui.h"
++#include "imgui/imgui.h"
+ 
+ namespace dart {
+ namespace gui {
+--- a/examples/atlas_simbicon/AtlasSimbiconWidget.cpp
++++ b/examples/atlas_simbicon/AtlasSimbiconWidget.cpp
+@@ -38,7 +38,7 @@
+ 
+ #include "AtlasSimbiconWidget.hpp"
+ 
+-#include "dart/external/imgui/imgui.h"
++#include "imgui/imgui.h"
+ 
+ #include "AtlasSimbiconWorldNode.hpp"
+ 
+--- a/examples/box_stacking/main.cpp
++++ b/examples/box_stacking/main.cpp
+@@ -33,7 +33,7 @@
+ #include <iostream>
+ 
+ #include <dart/dart.hpp>
+-#include <dart/external/imgui/imgui.h>
++#include "imgui/imgui.h"
+ #include <dart/gui/osg/osg.hpp>
+ #include <dart/utils/utils.hpp>
+ 
+--- a/examples/fetch/main.cpp
++++ b/examples/fetch/main.cpp
+@@ -32,7 +32,7 @@
+ 
+ #include <dart/collision/bullet/bullet.hpp>
+ #include <dart/dart.hpp>
+-#include <dart/external/imgui/imgui.h>
++#include "imgui/imgui.h"
+ #include <dart/gui/osg/osg.hpp>
+ #include <dart/utils/utils.hpp>
+ 
+--- a/examples/heightmap/main.cpp
++++ b/examples/heightmap/main.cpp
+@@ -33,7 +33,7 @@
+ #include <cmath>
+ 
+ #include <dart/dart.hpp>
+-#include <dart/external/imgui/imgui.h>
++#include "imgui/imgui.h"
+ #include <dart/gui/osg/osg.hpp>
+ #include <dart/utils/urdf/urdf.hpp>
+ #include <dart/utils/utils.hpp>
+--- a/examples/imgui/main.cpp
++++ b/examples/imgui/main.cpp
+@@ -31,7 +31,7 @@
+  */
+ 
+ #include <dart/dart.hpp>
+-#include <dart/external/imgui/imgui.h>
++#include "imgui/imgui.h"
+ #include <dart/gui/osg/osg.hpp>
+ 
+ //==============================================================================
+--- a/examples/point_cloud/main.cpp
++++ b/examples/point_cloud/main.cpp
+@@ -33,7 +33,7 @@
+ #include <cmath>
+ 
+ #include <dart/dart.hpp>
+-#include <dart/external/imgui/imgui.h>
++#include "imgui/imgui.h"
+ #include <dart/gui/osg/osg.hpp>
+ #include <dart/utils/urdf/urdf.hpp>
+ #include <dart/utils/utils.hpp>
+--- a/examples/tinkertoy/TinkertoyWidget.cpp
++++ b/examples/tinkertoy/TinkertoyWidget.cpp
+@@ -38,7 +38,7 @@
+ 
+ #include "TinkertoyWidget.hpp"
+ 
+-#include "dart/external/imgui/imgui.h"
++#include "imgui/imgui.h"
+ 
+ #include "TinkertoyWorldNode.hpp"
+ 

sci-libs/dart/metadata.xml

@@ -13,6 +13,7 @@
 		<flag name="bullet">Bullet Collision Detector Support</flag>
 		<flag name="examples">Build the examples</flag>
 		<flag name="extras">Build the experimental projects that are derived from the core DART project</flag>
+		<flag name="gui">OpenSceneGraph GUI</flag>
 		<flag name="ipopt">IPopt Optimization Support</flag>
 		<flag name="nlopt">NLopt Optimization Support</flag>
 		<flag name="ode">ODE Collision Detector Support</flag>