FindBullet: separate win32 optimized and debug libraries (#1395)

* FindBullet: separate WIN32 debug/optimized libs

* azure: vcpkg install bullet3 ode

* use VCPKG_OPTIONAL_PACKAGES

.azure-pipelines.yml

@@ -143,6 +143,7 @@ jobs:
     VCPKG_INSTALL_ROOT: $(Build.SourcesDirectory)\vcpkg
     VCPKG_ARCH: 'x64-windows'
     VCPKG_PACKAGES: 'assimp boost-system boost-filesystem ccd eigen3 fcl'
+    VCPKG_OPTIONAL_PACKAGES: 'bullet3 ode'
     BUILD_TOOLSET_VERSION: '142'
     CMAKE_GENERATOR: 'Visual Studio 16 2019'
   steps:
@@ -151,7 +152,7 @@ jobs:
       $(VCPKG_INSTALL_ROOT)\bootstrap-vcpkg.bat
     displayName: 'Install vcpkg'
   - script: |
-      $(VCPKG_INSTALL_ROOT)\vcpkg.exe install --recurse --triplet $(VCPKG_ARCH) $(VCPKG_PACKAGES)
+      $(VCPKG_INSTALL_ROOT)\vcpkg.exe install --recurse --triplet $(VCPKG_ARCH) $(VCPKG_PACKAGES) $(VCPKG_OPTIONAL_PACKAGES)
       $(VCPKG_INSTALL_ROOT)\vcpkg.exe integrate install
     displayName: 'Install dependencies'
   - script: |

cmake/DARTFindBullet.cmake

@@ -12,9 +12,19 @@
 find_package(Bullet COMPONENTS BulletMath BulletCollision MODULE QUIET)
 
 if((BULLET_FOUND OR Bullet_FOUND) AND NOT TARGET Bullet)
+  if(WIN32 AND "optimized" IN_LIST BULLET_LIBRARIES
+           AND     "debug" IN_LIST BULLET_LIBRARIES)
+    cmake_parse_arguments(BULLET_INTERFACE_LIBRARIES "" "" "debug;optimized"
+        ${BULLET_LIBRARIES})
+    set(BULLET_INTERFACE_LIBRARIES
+        $<$<CONFIG:Debug>:${BULLET_INTERFACE_LIBRARIES_debug}>
+        $<$<NOT:$<CONFIG:Debug>>:${BULLET_INTERFACE_LIBRARIES_optimized}>)
+  else()
+    set(BULLET_INTERFACE_LIBRARIES ${BULLET_LIBRARIES})
+  endif()
   add_library(Bullet INTERFACE IMPORTED)
   set_target_properties(Bullet PROPERTIES
     INTERFACE_INCLUDE_DIRECTORIES "${BULLET_INCLUDE_DIRS}"
-    INTERFACE_LINK_LIBRARIES "${BULLET_LIBRARIES}"
+    INTERFACE_LINK_LIBRARIES "${BULLET_INTERFACE_LIBRARIES}"
   )
 endif()