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missing bullet includes for DART 4.3 #351

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hsu opened this issue Mar 15, 2015 · 5 comments
Closed

missing bullet includes for DART 4.3 #351

hsu opened this issue Mar 15, 2015 · 5 comments
Milestone
DART 4.3.0

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@hsu
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hsu commented Mar 15, 2015

Since DART depends on bullet collision, it should export bullet paths in its cmake config file:

diff --git a/cmake/DARTCoreConfig.cmake.in b/cmake/DARTCoreConfig.cmake.in
index 4e37dff..61778d3 100644
--- a/cmake/DARTCoreConfig.cmake.in
+++ b/cmake/DARTCoreConfig.cmake.in
@@ -11,6 +11,7 @@ get_filename_component(CURRENT_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
 set(DARTCore_INCLUDE_DIRS
   "@CMAKE_INSTALL_PREFIX@/include"
   "@Eigen_INCLUDE_DIRS@"
+  "@BULLET_INCLUDE_DIRS@"
 )

 set(DARTCore_LIBRARY_DIRS "@CMAKE_INSTALL_PREFIX@/lib" "@Boost_LIBRARY_DIRS@")

otherwise dependents might encounter errors such as below:

[ 43%] Building CXX object gazebo/physics/dart/CMakeFiles/gazebo_physics_dart.dir/DARTBallJoint.cc.o
cd /home/hsu/projects/haptix/gazebo_haptix/build_release/gazebo/physics/dart && /usr/bin/c++   -DLIBBULLET_VERSION=2.83 -Dgazebo_physics_dart_EXPORTS -s -O3 -DNDEBUG -msse4.2 -msse4.1 -mssse3 -msse3 -mfpmath=sse -msse -msse2  -std=c++11  -Wall -Wextra -Wno-long-long -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wno-unused-value -Wfloat-equal -Wshadow -Winit-self -Wswitch-default -Wmissing-include-dirs -pedantic -fvisibility=hidden -fvisibility-inlines-hidden  -s -O3 -DNDEBUG -msse4.2 -msse4.1 -mssse3 -msse3 -mfpmath=sse -msse -msse2  -fPIC -I/home/hsu/projects/haptix/gazebo_haptix/test/gtest/include -I/home/hsu/projects/haptix/gazebo_haptix -I/home/hsu/projects/haptix/gazebo_haptix/build_release -I/usr/include/libusb-1.0 -isystem /usr/include/OGRE/RTShaderSystem -isystem /usr/include/OGRE -isystem /usr/include/OGRE/Terrain -isystem /usr/include/OGRE/Paging -isystem /home/hsu/local/include/sdformat-3.0 -I/home/hsu/local_dart_4.3/include -I/usr/include/eigen3    -fPIC -o CMakeFiles/gazebo_physics_dart.dir/DARTBallJoint.cc.o -c /home/hsu/projects/haptix/gazebo_haptix/gazebo/physics/dart/DARTBallJoint.cc
In file included from /home/hsu/local_dart_4.3/include/dart/collision/bullet/bullet.h:3:0,
                 from /home/hsu/local_dart_4.3/include/dart/collision/collision.h:8,
                 from /home/hsu/projects/haptix/gazebo_haptix/gazebo/physics/dart/dart_inc.h:26,
                 from /home/hsu/projects/haptix/gazebo_haptix/gazebo/physics/dart/DARTJoint.hh:26,
                 from /home/hsu/projects/haptix/gazebo_haptix/gazebo/physics/dart/DARTBallJoint.hh:22,
                 from /home/hsu/projects/haptix/gazebo_haptix/gazebo/physics/dart/DARTBallJoint.cc:21:
/home/hsu/local_dart_4.3/include/dart/collision/bullet/BulletCollisionDetector.h:43:37: fatal error: btBulletCollisionCommon.h: No such file or directory
 #include <btBulletCollisionCommon.h>
                                     ^
compilation terminated.
make[2]: *** [gazebo/physics/dart/CMakeFiles/gazebo_physics_dart.dir/DARTBallJoint.cc.o] Error 1
make[2]: Leaving directory `/home/hsu/projects/haptix/gazebo_haptix/build_release'
make[1]: *** [gazebo/physics/dart/CMakeFiles/gazebo_physics_dart.dir/all] Error 2
make[1]: Leaving directory `/home/hsu/projects/haptix/gazebo_haptix/build_release'
make: *** [all] Error 2
@jslee02 jslee02 mentioned this issue Mar 16, 2015
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@jslee02
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jslee02 commented Mar 16, 2015

Since bullet is an optional dependency of DART, I put the bullet includes under if statements that checks if bullet is installed.

@jslee02 jslee02 added this to the Release DART 4.3 milestone Mar 16, 2015
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jslee02 commented Mar 19, 2015

I believe this is resolved by #352.

@jslee02 jslee02 closed this as completed Mar 19, 2015
@scpeters scpeters reopened this Mar 21, 2015
@scpeters
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I think it's not actually fixed. The HAVE_BULLET_COLLISION variable isn't necessarily defined in the downstream code. The following will works for me (currently I can't build gazebo against dart without this change):

diff --git a/cmake/DARTCoreConfig.cmake.in b/cmake/DARTCoreConfig.cmake.in
index fcd6b80..ef699bb 100644
--- a/cmake/DARTCoreConfig.cmake.in
+++ b/cmake/DARTCoreConfig.cmake.in
@@ -11,12 +11,9 @@ get_filename_component(CURRENT_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
 set(DARTCore_INCLUDE_DIRS
   "@CMAKE_INSTALL_PREFIX@/include"
   "@Eigen_INCLUDE_DIRS@"
+  @BULLET_INCLUDE_DIRS@
 )

-if(HAVE_BULLET_COLLISION)
-  set(DARTCore_INCLUDE_DIRS ${DARTCore_INCLUDE_DIRS} "@BULLET_INCLUDE_DIRS@")
-endif()
-
 set(DARTCore_LIBRARY_DIRS "@CMAKE_INSTALL_PREFIX@/lib" "@Boost_LIBRARY_DIRS@")

 include("${CURRENT_DIR}/DARTCoreTargets.cmake")

@scpeters
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I'll make a pull request for this.

scpeters added a commit that referenced this issue Mar 21, 2015
@scpeters
Fix BULLET_INCLUDE_DIRS in DARTCoreConfig.cmake
dbc3df4 
The fix from #352 doesn't work if the downstream code
doesn't have the HAVE_BULLET_COLLISION variable defined.
This change just inserts the BULLET_INCLUDE_DIRS
variable into DARTCore_INCLUDE_DIRS
and trusts that it will be blank and not affect
anything if it is unset.

Closes #351.
@scpeters scpeters mentioned this issue Mar 21, 2015
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@jslee02
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jslee02 commented Mar 21, 2015

Fixed by #361

@jslee02 jslee02 closed this as completed Mar 21, 2015
@jslee02 jslee02 mentioned this issue Mar 21, 2015
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