Merge from upstream master branch

.appveyor.yml

@@ -2,24 +2,25 @@
 version: "{build}"
 
 image:
-  - Visual Studio 2017
+  - Visual Studio 2019
   # - Ubuntu1604
   # - Ubuntu1804
 
 platform: x64
 
 # specify custom environment variables
 environment:
+  VCPKG_BUILD_TAG: v0.2.0-70f192e
   MSVC_DEFAULT_OPTIONS: ON
-  CMAKE_TOOLCHAIN_FILE: -DCMAKE_TOOLCHAIN_FILE="C:\tools\vcpkg\scripts\buildsystems\vcpkg.cmake"
+  CMAKE_TOOLCHAIN_FILE: -DCMAKE_TOOLCHAIN_FILE="C:\dartsim\vcpkg\scripts\buildsystems\vcpkg.cmake"
   matrix:
-    - CMAKE_GENERATOR: -G"Visual Studio 15 2017 Win64"
-      CMAKE_TOOLCHAIN: -T"v141"
+    - CMAKE_GENERATOR: -G"Visual Studio 16 2019"
+      CMAKE_TOOLCHAIN: -T"v142"
 
 # build configuration, i.e. Debug, Release, etc.
 configuration:
   - Debug
-  - Release
+  # - Release
 
 # scripts that are called at very beginning, before repo cloning
 init:
@@ -37,47 +38,30 @@ install:
   #------------------
   # Windows 10
   #------------------
-  # update vcpkg
-  # - cmd: cd C:\tools\vcpkg
-  # - cmd: git pull
-  # - cmd: .\bootstrap-vcpkg.bat
-
   - cmd: if "%platform%"=="Win32" set VCPKG_ARCH=x86-windows
   - cmd: if "%platform%"=="x64"   set VCPKG_ARCH=x64-windows
-
-  # remove outdated versions
-  # - cmd: vcpkg remove --outdated --recurse
-
-  # install required dependencies
-  - cmd: vcpkg install --recurse --triplet %VCPKG_ARCH% assimp boost-system boost-filesystem ccd eigen3 fcl
-
-  # install optional dependencies
-  #- vcpkg install --recurse --triplet %VCPKG_ARCH% bullet3 flann freeglut nlopt ode opengl osg tinyxml2 urdfdom
-  #- vcpkg install ipopt:%VCPKG_ARCH%
-
-  - cmd: vcpkg integrate install
+  - cmd: mkdir -p C:\dartsim
+  - cmd: choco install -y wget
+  - cmd: wget -q https://github.com/dartsim/vcpkg-build/releases/download/%VCPKG_BUILD_TAG%/vcpkg-dartsim-dependencies.zip
+  - cmd: unzip -qq vcpkg-dartsim-dependencies.zip -d C:\dartsim
   - cmd: cd "%APPVEYOR_BUILD_FOLDER%"
 
   #-------------------------------
   # Ubuntu 16.04 LTS && 18.04 LTS
   #-------------------------------
   - sh: sudo apt-get update
   - sh: sudo apt-get --yes install build-essential cmake pkg-config git
-  - sh: sudo apt-get --yes install libeigen3-dev libassimp-dev libccd-dev libfcl-dev libboost-regex-dev libboost-system-dev
+  - sh: sudo apt-get --yes install libeigen3-dev libassimp-dev libccd-dev libfcl-dev libboost-system-dev
   - sh: sudo apt-get --yes install libnlopt-dev coinor-libipopt-dev libbullet-dev libflann-dev libtinyxml2-dev liburdfdom-dev libxi-dev libxmu-dev freeglut3-dev libopenscenegraph-dev
   - sh: sudo apt-get --yes install clang-format-6.0
 
-# preserve contents of selected directories and files across project builds
-cache:
-  - C:\tools\vcpkg\installed -> .appveyor.yml
-
 build_script:
   #------------------
   # Windows 10
   #------------------
   - cmd: mkdir build && cd build
-  - cmd: cmake %CMAKE_GENERATOR% -DCMAKE_BUILD_TYPE=%configuration% -DDART_MSVC_DEFAULT_OPTIONS="%MSVC_DEFAULT_OPTIONS%" %CMAKE_TOOLCHAIN_FILE% %CMAKE_TOOLCHAIN% ..
-  # - cmd: cmake --build . --target ALL_BUILD --config %configuration% -- /maxcpucount:4 /verbosity:quiet
+  - cmd: cmake %CMAKE_GENERATOR% -A x64 -DCMAKE_BUILD_TYPE=%configuration% -DDART_VERBOSE=ON -DDART_MSVC_DEFAULT_OPTIONS="%MSVC_DEFAULT_OPTIONS%" %CMAKE_TOOLCHAIN_FILE% %CMAKE_TOOLCHAIN% ..
+  - cmd: cmake --build . --target ALL_BUILD --config %configuration% --parallel
 
   #-------------------------------
   # Ubuntu 16.04 LTS && 18.04 LTS
@@ -88,5 +72,12 @@ build_script:
   - sh: make check-format
 
 test_script:
-  #- cmd: ctest --build-config %configuration% --parallel 4 --output-on-failure
+  #------------------
+  # Windows 10
+  #------------------
+  - cmd: ctest --output-on-fauilure
+
+  #-------------------------------
+  # Ubuntu 16.04 LTS && 18.04 LTS
+  #-------------------------------
   - sh: ctest -j4

.azure-pipelines.yml

@@ -2,158 +2,57 @@
 # Ref: https://docs.microsoft.com/en-us/azure/devops/pipelines
 
 jobs:
-- job: xenial_gcc_release
-  pool:
-    vmImage: 'ubuntu-16.04'
-  variables:
-    OS_NAME: linux
-    COMPILER: gcc
-    BUILD_TYPE: Release
-    BUILD_DIR: $(Build.SourcesDirectory)
-    DOCKERFILE: Dockerfile.ubuntu-xenial
-  steps:
-  - template: .ci/azure-pipelines/docker.yml
-
-- job: bionic_gcc_debug
-  pool:
-    vmImage: 'ubuntu-16.04'
-  variables:
-    OS_NAME: linux
-    COMPILER: gcc
-    BUILD_TYPE: Debug
-    BUILD_DIR: $(Build.SourcesDirectory)
-    DOCKERFILE: Dockerfile.ubuntu-bionic
-  steps:
-  - template: .ci/azure-pipelines/docker.yml
-
-- job: bionic_gcc_dartpy_release
-  pool:
-    vmImage: 'ubuntu-16.04'
-  variables:
-    OS_NAME: linux
-    COMPILER: gcc
-    BUILD_TYPE: Release
-    BUILD_DARTPY: ON
-    BUILD_DIR: $(Build.SourcesDirectory)
-    DOCKERFILE: Dockerfile.ubuntu-bionic
-  steps:
-  - template: .ci/azure-pipelines/docker.yml
-  timeoutInMinutes: 0
-
-- job: disco_gcc_debug
-  pool:
-    vmImage: 'ubuntu-16.04'
-  variables:
-    OS_NAME: linux
-    COMPILER: gcc
-    BUILD_TYPE: Debug
-    BUILD_DIR: $(Build.SourcesDirectory)
-    DOCKERFILE: Dockerfile.ubuntu-disco
-  steps:
-  - template: .ci/azure-pipelines/docker.yml
-
-- job: disco_gcc_dartpy_release
-  pool:
-    vmImage: 'ubuntu-16.04'
-  variables:
-    OS_NAME: linux
-    COMPILER: gcc
-    BUILD_TYPE: Release
-    BUILD_DARTPY: ON
-    BUILD_DIR: $(Build.SourcesDirectory)
-    DOCKERFILE: Dockerfile.ubuntu-disco
-  steps:
-  - template: .ci/azure-pipelines/docker.yml
-  timeoutInMinutes: 0
-
-- job: eoan_gcc_debug
-  pool:
-    vmImage: 'ubuntu-16.04'
-  variables:
-    OS_NAME: linux
-    COMPILER: gcc
-    BUILD_TYPE: Debug
-    BUILD_DIR: $(Build.SourcesDirectory)
-    DOCKERFILE: Dockerfile.ubuntu-eoan
-  steps:
-  - template: .ci/azure-pipelines/docker.yml
-
-- job: eoan_gcc_dartpy_release
-  pool:
-    vmImage: 'ubuntu-16.04'
-  variables:
-    OS_NAME: linux
-    COMPILER: gcc
-    BUILD_TYPE: Release
-    BUILD_DARTPY: ON
-    BUILD_DIR: $(Build.SourcesDirectory)
-    DOCKERFILE: Dockerfile.ubuntu-eoan
-  steps:
-  - template: .ci/azure-pipelines/docker.yml
-  timeoutInMinutes: 0
-
-- job: mojav_clang_debug
-  pool:
-    vmImage: 'macOS-10.14'
-  variables:
-    OS_NAME: osx
-    BUILD_TYPE: Debug
-    BUILD_DIR: $(Build.SourcesDirectory)
-  steps:
-  - script: |
-      '.ci/install.sh'
-    displayName: 'Install'
-  - script: |
-      '.ci/script.sh'
-    displayName: 'Script'
-
-- job: mojav_clang_dartpy_release
-  pool:
-    vmImage: 'macOS-10.14'
-  variables:
-    OS_NAME: osx
-    BUILD_TYPE: Release
-    BUILD_DARTPY: ON
-    BUILD_DIR: $(Build.SourcesDirectory)
-  steps:
-  - script: |
-      '.ci/install.sh'
-    displayName: 'Install'
-  - script: |
-      '.ci/script.sh'
-    displayName: 'Script'
-
-- job: windows_vs2019_x64
-  pool:
-    vmImage: 'windows-2019'
-  timeoutInMinutes: 0
-  strategy:
-    matrix:
-      # Debug64:
-      #   CONFIGURATION: 'Debug'
-      Release64:
-        CONFIGURATION: 'Release'
-  variables:
-    VCPKG_INSTALL_ROOT: $(Build.SourcesDirectory)\vcpkg
-    VCPKG_ARCH: 'x64-windows'
-    VCPKG_PACKAGES: 'assimp boost-system boost-filesystem ccd eigen3 fcl'
-    BUILD_TOOLSET_VERSION: '142'
-    CMAKE_GENERATOR: 'Visual Studio 16 2019'
-  steps:
-  - script: |
-      git clone -q --depth 1 https://github.com/microsoft/vcpkg.git $(VCPKG_INSTALL_ROOT)
-      $(VCPKG_INSTALL_ROOT)\bootstrap-vcpkg.bat
-    displayName: 'Install vcpkg'
-  - script: |
-      $(VCPKG_INSTALL_ROOT)\vcpkg.exe install --recurse --triplet $(VCPKG_ARCH) $(VCPKG_PACKAGES)
-      $(VCPKG_INSTALL_ROOT)\vcpkg.exe integrate install
-    displayName: 'Install dependencies'
-  - script: |
-      cmake --version
-      mkdir build
-      cd build
-      cmake .. -G "$(CMAKE_GENERATOR)" -A x64 -DCMAKE_BUILD_TYPE=$(CONFIGURATION) -Wno-dev -T "v$(BUILD_TOOLSET_VERSION),host=x64" -DVCPKG_TARGET_TRIPLET=$(VCPKG_ARCH) -DCMAKE_TOOLCHAIN_FILE="$(VCPKG_INSTALL_ROOT)/scripts/buildsystems/vcpkg.cmake" -DCMAKE_INSTALL_PREFIX="$(Build.BinariesDirectory)/$(REPO_NAME)" -DDART_MSVC_DEFAULT_OPTIONS=ON
-      cmake --build . --target ALL_BUILD --config $(CONFIGURATION) -- /maxcpucount:4
-    displayName: 'Build'
-    workingDirectory: '$(Build.SourcesDirectory)'
-
+  - job: xenial_gcc_debug
+    timeoutInMinutes: 120
+    pool:
+      vmImage: "ubuntu-20.04"
+    variables:
+      COMPILER: gcc
+      BUILD_TYPE: Debug
+      BUILD_DIR: $(Build.SourcesDirectory)
+      DOCKER_NAME: dartsim/dart-dev:xenial-v6.10
+      BUILD_DARTPY: OFF
+    steps:
+      - template: .ci/azure-pipelines/docker.yml
+
+  - job: bionic_gcc_debug
+    timeoutInMinutes: 120
+    pool:
+      vmImage: "ubuntu-20.04"
+    variables:
+      COMPILER: gcc
+      BUILD_TYPE: Debug
+      BUILD_DIR: $(Build.SourcesDirectory)
+      DOCKER_NAME: dartsim/dart-dev:bionic-v6.10
+      BUILD_DARTPY: OFF
+    steps:
+      - template: .ci/azure-pipelines/docker.yml
+
+  - job: focal_gcc_debug
+    timeoutInMinutes: 120
+    pool:
+      vmImage: "ubuntu-20.04"
+    variables:
+      COMPILER: gcc
+      BUILD_TYPE: Debug
+      BUILD_DIR: $(Build.SourcesDirectory)
+      DOCKER_NAME: dartsim/dart-dev:focal-v6.10
+      BUILD_DARTPY: OFF
+    steps:
+      - template: .ci/azure-pipelines/docker.yml
+
+  - job: catalina_clang_debug
+    timeoutInMinutes: 120
+    pool:
+      vmImage: "macOS-10.15"
+    variables:
+      BUILD_TYPE: Debug
+      BUILD_DIR: $(Build.SourcesDirectory)
+      BUILD_DARTPY: OFF
+    steps:
+      - script: |
+          '.ci/install.sh'
+        displayName: "Install"
+      - script: |
+          '.ci/build.sh'
+        displayName: "Script"

.ci/azure-pipelines/docker.yml

@@ -2,11 +2,12 @@ parameters:
   numThreads: 4
 
 steps:
-- script: |
-    docker build -t ${DOCKERFILE,,} -f ".ci/docker/$DOCKERFILE" .;
-    docker run -itd -v $(Build.SourcesDirectory):$(Build.SourcesDirectory) --env-file .ci/docker/env.list --name dart-docker ${DOCKERFILE,,};
-    docker exec dart-docker /bin/sh -c "cd $(Build.SourcesDirectory) && ./.ci/install.sh";
-  displayName: 'Install'
-- script: |
-    docker exec dart-docker /bin/sh -c "cd $(Build.SourcesDirectory) && ./.ci/script.sh -j${{ parameters.numThreads }}";
-  displayName: 'Script'
+  - script: docker pull $DOCKER_NAME
+    displayName: "Pull dev container"
+  - script: |
+      docker run \
+        -v $(Build.SourcesDirectory):$(Build.SourcesDirectory) \
+        --env-file .ci/docker/env.list \
+        $DOCKER_NAME \
+        /bin/sh -c "cd $(Build.SourcesDirectory) && ./.ci/build.sh -j${{ parameters.numThreads }}"
+    displayName: "Build"

.ci/azure-pipelines/native.yml

@@ -3,8 +3,8 @@ parameters:
 
 steps:
 - script: |
-    ./.ci/install.sh
+    sudo -E ./.ci/install.sh
   displayName: 'Install'
 - script: |
-    ./.ci/script.sh -j${{ parameters.numThreads }}
+    sudo -E ./.ci/build.sh -j${{ parameters.numThreads }}
   displayName: 'Script'