Fix various build issues with Visual Studio 2017 (15.5.3)

.appveyor.yml

@@ -0,0 +1,78 @@
+# Specify version format
+version: "{build}"
+
+image: Visual Studio 2017
+
+platform: x64
+
+# specify custom environment variables
+environment:
+  MSVC_DEFAULT_OPTIONS: ON
+  CMAKE_TOOLCHAIN_FILE: -DCMAKE_TOOLCHAIN_FILE="C:\tools\vcpkg\scripts\buildsystems\vcpkg.cmake"
+  matrix:
+    - CMAKE_GENERATOR: -G"Visual Studio 15 2017 Win64"
+      CMAKE_TOOLCHAIN: -T"v141"
+
+# build configuration, i.e. Debug, Release, etc.
+configuration:
+  - Debug
+  - Release
+
+# scripts that are called at very beginning, before repo cloning
+init:
+  - cmd: cmake --version
+  - cmd: msbuild /version
+
+# clone directory
+clone_folder: C:\projects\dart
+
+# branches to build
+branches:
+  # blacklist
+  except:
+    - gh-pages
+
+# scripts that run after cloning repository
+install:
+  - if "%platform%"=="Win32" set VCPKG_ARCH=x86-windows
+  - if "%platform%"=="x64"   set VCPKG_ARCH=x64-windows
+
+  # install pacakges
+  # ---- required dependencies: boost, eigen3, libccd, fcl, assimp
+  - vcpkg install boost:%VCPKG_ARCH%
+  - vcpkg install eigen3:%VCPKG_ARCH%
+  - vcpkg install ccd:%VCPKG_ARCH%
+  - vcpkg install fcl:%VCPKG_ARCH%
+  - vcpkg install assimp:%VCPKG_ARCH%
+  # ---- optional dependencies: nlopt, ipopt, bullet3, ode, flann, tinyxml2, urdfdom_headers, urdfdom, opengl, freeglut, osg
+  #- vcpkg install nlopt:%VCPKG_ARCH%
+  #- vcpkg install ipopt:%VCPKG_ARCH%
+  #- vcpkg install bullet3:%VCPKG_ARCH%
+  #- vcpkg install ode:%VCPKG_ARCH%
+  #- vcpkg install flann:%VCPKG_ARCH%
+  #- vcpkg install tinyxml2:%VCPKG_ARCH%
+  #- vcpkg install urdfdom-headers:%VCPKG_ARCH%
+  #- vcpkg install urdfdom:%VCPKG_ARCH%
+  #- vcpkg install opengl:%VCPKG_ARCH%
+  #- vcpkg install freeglut:%VCPKG_ARCH%
+  #- vcpkg install osg:%VCPKG_ARCH%
+
+  - vcpkg integrate install
+
+  - cmd: cd C:\projects\dart
+  - cmd: md build
+  - cmd: cd build
+  - cmd: cmake %CMAKE_GENERATOR% -DCMAKE_BUILD_TYPE=%configuration% -DDART_MSVC_DEFAULT_OPTIONS="%MSVC_DEFAULT_OPTIONS%" %CMAKE_TOOLCHAIN_FILE% %CMAKE_TOOLCHAIN% ..
+
+# preserve contents of selected directories and files across project builds
+cache:
+  - C:\tools\vcpkg\installed -> .appveyor.yml
+  - C:\tools\vcpkg\packages -> .appveyor.yml
+
+build:
+  project: C:\projects\dart\build\dart.sln # path to Visual Studio solution or project
+  parallel: true                           # enable MSBuild parallel builds
+  verbosity: quiet                         # MSBuild verbosity level (quiet|minimal|normal|detailed)
+
+#test_script:
+  #- cmd: ctest --build-config %configuration% --parallel 4 --output-on-failure

CHANGELOG.md

@@ -18,6 +18,7 @@
 * Misc
 
   * Suppressed warnings: [#937](https://github.com/dartsim/dart/pull/937)
+  * Fixed various build issues with Visual Studio: [#956](https://github.com/dartsim/dart/pull/956)
 
 ### [DART 6.3.0 (2017-10-04)](https://github.com/dartsim/dart/milestone/36?closed=1)
 

CMakeLists.txt

@@ -3,7 +3,7 @@
 #===============================================================================
 # CMake 2.8.12 or above is required for CMakeParseArguments.
 if(MSVC)
-  cmake_minimum_required(VERSION 3.1.3)
+  cmake_minimum_required(VERSION 3.8.0)
 else()
   cmake_minimum_required(VERSION 2.8.12)
 endif()
@@ -159,17 +159,27 @@ if(MSVC)
 
   # Visual Studio enables c++11 support by default
   if(MSVC_VERSION VERSION_LESS 1900)
-    message(FATAL_ERROR "${PROJECT_NAME} requires VS 2015 or greater.")
+    message(FATAL_ERROR "${PROJECT_NAME} requires VS2017 or greater.")
   endif()
   if(DART_TREAT_WARNINGS_AS_ERRORS)
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /WX")
   endif()
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /MP4")
-  set(CMAKE_EXE_LINKER_FLAGS_RELEASE "/LTCG /INCREMENTAL:NO")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /EHsc /permissive-")
+  #set(CMAKE_EXE_LINKER_FLAGS_RELEASE "/LTCG /INCREMENTAL:NO")
   if(NOT DART_MSVC_DEFAULT_OPTIONS)
     set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} ${DART_RUNTIME_LIBRARY}d /Zi /Gy /W1 /EHsc")
     set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${DART_RUNTIME_LIBRARY} /Zi /GL /Gy /W1 /EHsc")
   endif(NOT DART_MSVC_DEFAULT_OPTIONS)
+  add_definitions(-D_CRT_SECURE_NO_WARNINGS)
+  add_compile_options(/wd4334)
+  add_compile_options(/wd4267)
+  add_compile_options(/wd4244)
+  add_compile_options(/wd4250)
+  add_compile_options(/wd4996)
+  add_compile_options(/wd4099)
+  add_compile_options(/wd4305)
+  add_compile_options(/wd4838)
+  add_compile_options(/bigobj)
 
 elseif(CMAKE_COMPILER_IS_GNUCXX)
 

cmake/FindFCL.cmake

@@ -20,7 +20,7 @@ find_package(PkgConfig QUIET)
 pkg_check_modules(PC_FCL fcl QUIET)
 
 # Include directories
-if (${PC_FCL_VERSION} VERSION_LESS 0.6.0)
+if(PC_FCL_VERSION VERSION_LESS 0.6.0)
   find_path(FCL_INCLUDE_DIRS
       NAMES fcl/collision.h
       HINTS ${PC_FCL_INCLUDEDIR}

dart/collision/CollisionDetector.cpp

@@ -81,6 +81,13 @@ CollisionDetector::CollisionObjectManager::CollisionObjectManager(
   assert(cd);
 }
 
+//==============================================================================
+CollisionDetector*
+CollisionDetector::CollisionObjectManager::getCollisionDetector()
+{
+  return mCollisionDetector;
+}
+
 //==============================================================================
 CollisionDetector::
 ManagerForUnsharableCollisionObjects::ManagerForUnsharableCollisionObjects(
@@ -117,7 +124,7 @@ void
 CollisionDetector::ManagerForUnsharableCollisionObjects
 ::CollisionObjectDeleter::operator()(CollisionObject* object) const
 {
-  mCollisionObjectManager->mCollisionDetector->notifyCollisionObjectDestroying(
+  mCollisionObjectManager->getCollisionDetector()->notifyCollisionObjectDestroying(
         object);
 
   delete object;
@@ -180,8 +187,8 @@ void
 CollisionDetector::ManagerForSharableCollisionObjects
 ::CollisionObjectDeleter::operator()(CollisionObject* object) const
 {
-  mCollisionObjectManager->mCollisionDetector->notifyCollisionObjectDestroying(
-        object);
+  mCollisionObjectManager->getCollisionDetector()
+      ->notifyCollisionObjectDestroying(object);
   mCollisionObjectManager->mCollisionObjectMap.erase(object->getShapeFrame());
 
   delete object;

dart/collision/CollisionDetector.hpp

@@ -196,6 +196,9 @@ class CollisionDetector::CollisionObjectManager
   virtual std::shared_ptr<CollisionObject> claimCollisionObject(
       const dynamics::ShapeFrame* shapeFrame) = 0;
 
+  /// Returns collision detector
+  CollisionDetector* getCollisionDetector();
+
 protected:
 
   CollisionDetector* mCollisionDetector;

dart/collision/fcl/FCLCollisionDetector.cpp

@@ -514,7 +514,7 @@ ::fcl::BVHModel<BV>* createCylinder(double _baseRadius, double _topRadius,
   /* Cache is the vertex locations cache */
   for (i = 0; i < _slices; i++)
   {
-    angle = 2 * M_PI * i / _slices;
+    angle = 2 * math::constantsd::pi() * i / _slices;
     sinCache[i] = sin(angle);
     cosCache[i] = cos(angle);
   }

dart/common/Resource.hpp

@@ -35,6 +35,7 @@
 
 #include <cstddef>
 #include <memory>
+#include <string>
 
 namespace dart {
 namespace common {

dart/common/SharedLibrary.cpp

@@ -38,25 +38,17 @@
 #if DART_OS_LINUX || DART_OS_MACOS
 
 #include <dlfcn.h>
-#define DYNLIB_HANDLE void*
 #define DYNLIB_LOAD(a) dlopen(a, RTLD_LAZY | RTLD_GLOBAL)
 #define DYNLIB_GETSYM(a, b) dlsym(a, b)
 #define DYNLIB_UNLOAD(a) dlclose(a)
 
 #elif DART_OS_WINDOWS
 
 #define WIN32_LEAN_AND_MEAN
-#if !defined(NOMINMAX) && defined(_MSC_VER)
-#define NOMINMAX // required to stop windows.h messing up std::min
-#endif
-#include <windows.h>
-#define DYNLIB_HANDLE hInstance
 // We can not use LOAD_WITH_ALTERED_SEARCH_PATH with relative paths
 #define DYNLIB_LOAD(a) LoadLibraryEx(a, nullptr, 0)
 #define DYNLIB_GETSYM(a, b) GetProcAddress(a, b)
 #define DYNLIB_UNLOAD(a) !FreeLibrary(a)
-struct HINSTANCE__;
-typedef struct HINSTANCE__* hInstance;
 
 #endif
 

dart/common/SharedLibrary.hpp

@@ -39,11 +39,25 @@
 #include "dart/common/Platform.hpp"
 
 #if DART_OS_LINUX
+
 #define DYNLIB_HANDLE void*
+
 #elif DART_OS_MACOS
+
 #define DYNLIB_HANDLE void*
+
 #elif DART_OS_WINDOWS
+
+#ifdef NOMINMAX
+#include <windows.h>
+#else
+#define NOMINMAX
+#include <windows.h>
+#undef NOMINMAX
+#endif
+using hInstance = HINSTANCE__*;
 #define DYNLIB_HANDLE hInstance
+
 #endif
 
 namespace dart {

dart/dynamics/ArrowShape.cpp

@@ -32,6 +32,8 @@
 
 #include "dart/dynamics/ArrowShape.hpp"
 
+#include "dart/math/Constants.hpp"
+
 namespace dart {
 namespace dynamics {
 
@@ -119,7 +121,7 @@ static void constructArrowTip(aiMesh* mesh, double base, double tip,
   std::size_t resolution = (mesh->mNumVertices-1)/2;
   for(std::size_t i=0; i<resolution; ++i)
   {
-    double theta = (double)(i)/(double)(resolution)*2*M_PI;
+    double theta = (double)(i)/(double)(resolution)*2*math::constantsd::pi();
 
     double R = properties.mRadius;
     double x = R*cos(theta);
@@ -146,7 +148,7 @@ static void constructArrowBody(aiMesh* mesh, double z1, double z2,
   std::size_t resolution = mesh->mNumVertices/2;
   for(std::size_t i=0; i<resolution; ++i)
   {
-    double theta = (double)(i)/(double)(resolution)*2*M_PI;
+    double theta = (double)(i)/(double)(resolution)*2*math::constantsd::pi();
 
     double R = properties.mRadius;
     double x = R*cos(theta);
@@ -283,15 +285,15 @@ void ArrowShape::instantiate(std::size_t resolution)
   {
     mesh->mNormals[2*i].Set(0.0f, 0.0f, 1.0f);
 
-    double theta = (double)(i)/(double)(resolution)*2*M_PI;
+    double theta = (double)(i)/(double)(resolution)*2*math::constantsd::pi();
     mesh->mNormals[2*i+1].Set(cos(theta), sin(theta), 0.0f);
   }
   mesh->mNormals[mesh->mNumVertices-1].Set(0.0f, 0.0f, -1.0f);
 
   mesh = scene->mMeshes[1];
   for(std::size_t i=0; i<resolution; ++i)
   {
-    double theta = (double)(i)/(double)(resolution)*2*M_PI;
+    double theta = (double)(i)/(double)(resolution)*2*math::constantsd::pi();
     mesh->mNormals[2*i].Set(cos(theta), sin(theta), 0.0f);
     mesh->mNormals[2*i+1].Set(cos(theta), sin(theta), 0.0f);
   }
@@ -301,7 +303,7 @@ void ArrowShape::instantiate(std::size_t resolution)
   {
     mesh->mNormals[2*i].Set(0.0f, 0.0f, -1.0f);
 
-    double theta = (double)(i)/(double)(resolution)*2*M_PI;
+    double theta = (double)(i)/(double)(resolution)*2* math::constantsd::pi();
     mesh->mNormals[2*i+1].Set(cos(theta), sin(theta), 0.0f);
   }
   mesh->mNormals[mesh->mNumVertices-1].Set(0.0f, 0.0f, 1.0f);

dart/gui/CMakeLists.txt

@@ -7,7 +7,7 @@ find_package(OpenGL QUIET)
 dart_check_optional_package(OPENGL "dart-gui" "OpenGL")
 
 if(WIN32 AND NOT CYGWIN)
-  set(GLUT_INCLUDE_DIR "@CMAKE_INSTALL_PREFIX@/include")
+  set(GLUT_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/include")
   set(GLUT_LIBRARIES glut32)
   set(HAVE_GLUT TRUE)
 else()