Enable compilation of part that depend on sdformat and dartsim on Windows

[traversaro]

This required a bit of tricks to work with the heavily patched DART 6.9.5 to work on Windows, to switch to use VS2019 and to apply locally gazebosim/gz-physics#148 . However, unit tests seems to be working fine now.

Fix #7 .
Fix #8 .

Checklist

• Used a personal fork of the feedstock to propose changes
• Bumped the build number (if the version is unchanged)
• Reset the build number to 0 (if the version changed)
• Re-rendered with the latest conda-smithy (Use the phrase @conda-forge-admin, please rerender in a comment in this PR for automated rerendering)
• Ensured the license file is being packaged.

[conda-forge-linter]

Hi! This is the friendly automated conda-forge-linting service.

I just wanted to let you know that I linted all conda-recipes in your PR (recipe) and found it was in an excellent condition.

[traversaro]

As a preliminary step, I enabled tests to ensure that we did not had any regression, but there are some failures, it seems due to a missing libode run_export.

[conda-forge-linter]

Hi! This is the friendly automated conda-forge-linting service.

I wanted to let you know that I linted all conda-recipes in your PR (recipe) and found some lint.

Here's what I've got...

For recipe:

• requirements: host: libode >= 0.16.2 should not contain a space between relational operator and the version, i.e. libode >=0.16.2

[conda-forge-linter]

Hi! This is the friendly automated conda-forge-linting service.

I just wanted to let you know that I linted all conda-recipes in your PR (recipe) and found it was in an excellent condition.

[traversaro]

Some parts of dart are missing on Windows:

Could NOT find DART (missing: collision-ode) (Required is at least version "6.9")

[traversaro]

Blocked by conda-forge/dartsim-feedstock#7 .

[traversaro]

New discovery:

2021-03-26T22:05:58.4925838Z C:\Program Files (x86)\Microsoft Visual Studio\2017\Enterprise\VC\Tools\MSVC\14.16.27023\include\type_traits(1271,2): error: static_assert failed due to requirement '_Always_false<std::_Aligned<192, 16, double, false>>' "You've instantiated std::aligned_storage<Len, Align> with an extended alignment (in other words, Align > alignof(max_align_t)). Before VS 2017 15.8, the member type would non-conformingly have an alignment of only alignof(max_align_t). VS 2017 15.8 was fixed to handle this correctly, but the fix inherently changes layout and breaks binary compatibility (*only* for uses of aligned_storage with extended alignments). Please define either (1) _ENABLE_EXTENDED_ALIGNED_STORAGE to acknowledge that you understand this message and that you actually want a type with an extended alignment, or (2) _DISABLE_EXTENDED_ALIGNED_STORAGE to silence this message and get the old non-conformant behavior."
2021-03-26T22:05:58.4929720Z         static_assert(_Always_false<_Aligned>,

I guess this is something that was never spotted as ignition-physics was never compiled to target VS2017 C++ std library (even if via the clang-cl compiler). However, I think the desired behavior is the proper standard-compliant one, so I will try to define _ENABLE_EXTENDED_ALIGNED_STORAGE. If that does not work, we can simply try to switch to VS2019.

[traversaro]

Still two missing simbols:

2021-03-27T11:06:27.1964055Z EntityManagementFeatures.cc.obj : error LNK2019: unresolved external symbol "protected: __cdecl dart::dynamics::BodyNode::BodyNode(class dart::dynamics::BodyNode *,class dart::dynamics::Joint *,struct dart::common::detail::ComposeData<class dart::common::detail::CompositeData<class std::map<class std::type_index,class std::unique_ptr<class dart::common::Aspect::Properties,struct std::default_delete<class dart::common::Aspect::Properties> >,struct std::less<class std::type_index>,class std::allocator<struct std::pair<class std::type_index const ,class std::unique_ptr<class dart::common::Aspect::Properties,struct std::default_delete<class dart::common::Aspect::Properties> > > > >,struct dart::common::detail::GetProperties>,struct dart::common::detail::GetProperties,class dart::dynamics::BodyNode> const &)" (??0BodyNode@dynamics@dart@@IEAA@PEAV012@PEAVJoint@12@AEBU?$ComposeData@V?$CompositeData@V?$map@Vtype_index@std@@V?$unique_ptr@VProperties@Aspect@common@dart@@U?$default_delete@VProperties@Aspect@common@dart@@@std@@@2@U?$less@Vtype_index@std@@@2@V?$allocator@U?$pair@$$CBVtype_index@std@@V?$unique_ptr@VProperties@Aspect@common@dart@@U?$default_delete@VProperties@Aspect@common@dart@@@std@@@2@@std@@@2@@std@@UGetProperties@detail@common@dart@@@detail@common@dart@@UGetProperties@234@VBodyNode@dynamics@4@@detail@common@2@@Z) referenced in function "public: struct std::pair<class dart::dynamics::FreeJoint *,class dart::dynamics::BodyNode *> __cdecl dart::dynamics::Skeleton::createJointAndBodyNodePair<class dart::dynamics::FreeJoint,class dart::dynamics::BodyNode>(class dart::dynamics::BodyNode *,struct dart::dynamics::FreeJoint::Properties const &,struct dart::common::detail::ComposeData<class dart::common::detail::CompositeData<class std::map<class std::type_index,class std::unique_ptr<class dart::common::Aspect::Properties,struct std::default_delete<class dart::common::Aspect::Properties> >,struct std::less<class std::type_index>,class std::allocator<struct std::pair<class std::type_index const ,class std::unique_ptr<class dart::common::Aspect::Properties,struct std::default_delete<class dart::common::Aspect::Properties> > > > >,struct dart::common::detail::GetProperties>,struct dart::common::detail::GetProperties,class dart::dynamics::BodyNode> const &)" (??$createJointAndBodyNodePair@VFreeJoint@dynamics@dart@@VBodyNode@23@@Skeleton@dynamics@dart@@QEAA?AU?$pair@PEAVFreeJoint@dynamics@dart@@PEAVBodyNode@23@@std@@PEAVBodyNode@12@AEBUProperties@FreeJoint@12@AEBU?$ComposeData@V?$CompositeData@V?$map@Vtype_index@std@@V?$unique_ptr@VProperties@Aspect@common@dart@@U?$default_delete@VProperties@Aspect@common@dart@@@std@@@2@U?$less@Vtype_index@std@@@2@V?$allocator@U?$pair@$$CBVtype_index@std@@V?$unique_ptr@VProperties@Aspect@common@dart@@U?$default_delete@VProperties@Aspect@common@dart@@@std@@@2@@std@@@2@@std@@UGetProperties@detail@common@dart@@@detail@common@dart@@UGetProperties@234@VBodyNode@dynamics@4@@detail@common@2@@Z)
2021-03-27T11:06:27.1979768Z SDFFeatures.cc.obj : error LNK2001: unresolved external symbol "protected: __cdecl dart::dynamics::BodyNode::BodyNode(class dart::dynamics::BodyNode *,class dart::dynamics::Joint *,struct dart::common::detail::ComposeData<class dart::common::detail::CompositeData<class std::map<class std::type_index,class std::unique_ptr<class dart::common::Aspect::Properties,struct std::default_delete<class dart::common::Aspect::Properties> >,struct std::less<class std::type_index>,class std::allocator<struct std::pair<class std::type_index const ,class std::unique_ptr<class dart::common::Aspect::Properties,struct std::default_delete<class dart::common::Aspect::Properties> > > > >,struct dart::common::detail::GetProperties>,struct dart::common::detail::GetProperties,class dart::dynamics::BodyNode> const &)" (??0BodyNode@dynamics@dart@@IEAA@PEAV012@PEAVJoint@12@AEBU?$ComposeData@V?$CompositeData@V?$map@Vtype_index@std@@V?$unique_ptr@VProperties@Aspect@common@dart@@U?$default_delete@VProperties@Aspect@common@dart@@@std@@@2@U?$less@Vtype_index@std@@@2@V?$allocator@U?$pair@$$CBVtype_index@std@@V?$unique_ptr@VProperties@Aspect@common@dart@@U?$default_delete@VProperties@Aspect@common@dart@@@std@@@2@@std@@@2@@std@@UGetProperties@detail@common@dart@@@detail@common@dart@@UGetProperties@234@VBodyNode@dynamics@4@@detail@common@2@@Z)
2021-03-27T11:06:27.1996974Z SDFFeatures.cc.obj : error LNK2019: unresolved external symbol "protected: __cdecl dart::dynamics::ShapeNode::ShapeNode(class dart::dynamics::BodyNode *,struct dart::common::detail::ComposeData<class dart::common::detail::CompositeData<class std::map<class std::type_index,class std::unique_ptr<class dart::common::Aspect::Properties,struct std::default_delete<class dart::common::Aspect::Properties> >,struct std::less<class std::type_index>,class std::allocator<struct std::pair<class std::type_index const ,class std::unique_ptr<class dart::common::Aspect::Properties,struct std::default_delete<class dart::common::Aspect::Properties> > > > >,struct dart::common::detail::GetProperties>,struct dart::common::detail::GetProperties,class dart::common::EmbeddedPropertiesAspect<class dart::dynamics::EntityNode<class dart::dynamics::TemplatedJacobianNode<class dart::dynamics::FixedJacobianNode> >,struct dart::dynamics::detail::EntityNodeProperties>,class dart::dynamics::FixedFrame,class dart::dynamics::ShapeFrame> const &)" (??0ShapeNode@dynamics@dart@@IEAA@PEAVBodyNode@12@AEBU?$ComposeData@V?$CompositeData@V?$map@Vtype_index@std@@V?$unique_ptr@VProperties@Aspect@common@dart@@U?$default_delete@VProperties@Aspect@common@dart@@@std@@@2@U?$less@Vtype_index@std@@@2@V?$allocator@U?$pair@$$CBVtype_index@std@@V?$unique_ptr@VProperties@Aspect@common@dart@@U?$default_delete@VProperties@Aspect@common@dart@@@std@@@2@@std@@@2@@std@@UGetProperties@detail@common@dart@@@detail@common@dart@@UGetProperties@234@V?$EmbeddedPropertiesAspect@V?$EntityNode@V?$TemplatedJacobianNode@VFixedJacobianNode@dynamics@dart@@@dynamics@dart@@@dynamics@dart@@UEntityNodeProperties@detail@23@@34@VFixedFrame@dynamics@4@VShapeFrame@84@@detail@common@2@@Z) referenced in function "public: class dart::dynamics::ShapeNode * __cdecl dart::dynamics::BodyNode::createShapeNode<class dart::dynamics::Shape,class std::basic_string<char,struct std::char_traits<char>,class std::allocator<char> > const &>(class std::shared_ptr<class dart::dynamics::Shape> const &,class std::basic_string<char,struct std::char_traits<char>,class std::allocator<char> > const &)" (??$createShapeNode@VShape@dynamics@dart@@AEBV?$basic_string@DU?$char_traits@D@std@@V?$allocator@D@2@@std@@@BodyNode@dynamics@dart@@QEAAPEAVShapeNode@12@AEBV?$shared_ptr@VShape@dynamics@dart@@@std@@AEBV?$basic_string@DU?$char_traits@D@std@@V?$allocator@D@2@@5@@Z)
2021-03-27T11:06:27.2022786Z ShapeFeatures.cc.obj : error LNK2001: unresolved external symbol "protected: __cdecl dart::dynamics::ShapeNode::ShapeNode(class dart::dynamics::BodyNode *,struct dart::common::detail::ComposeData<class dart::common::detail::CompositeData<class std::map<class std::type_index,class std::unique_ptr<class dart::common::Aspect::Properties,struct std::default_delete<class dart::common::Aspect::Properties> >,struct std::less<class std::type_index>,class std::allocator<struct std::pair<class std::type_index const ,class std::unique_ptr<class dart::common::Aspect::Properties,struct std::default_delete<class dart::common::Aspect::Properties> > > > >,struct dart::common::detail::GetProperties>,struct dart::common::detail::GetProperties,class dart::common::EmbeddedPropertiesAspect<class dart::dynamics::EntityNode<class dart::dynamics::TemplatedJacobianNode<class dart::dynamics::FixedJacobianNode> >,struct dart::dynamics::detail::EntityNodeProperties>,class dart::dynamics::FixedFrame,class dart::dynamics::ShapeFrame> const &)" (??0ShapeNode@dynamics@dart@@IEAA@PEAVBodyNode@12@AEBU?$ComposeData@V?$CompositeData@V?$map@Vtype_index@std@@V?$unique_ptr@VProperties@Aspect@common@dart@@U?$default_delete@VProperties@Aspect@common@dart@@@std@@@2@U?$less@Vtype_index@std@@@2@V?$allocator@U?$pair@$$CBVtype_index@std@@V?$unique_ptr@VProperties@Aspect@common@dart@@U?$default_delete@VProperties@Aspect@common@dart@@@std@@@2@@std@@@2@@std@@UGetProperties@detail@common@dart@@@detail@common@dart@@UGetProperties@234@V?$EmbeddedPropertiesAspect@V?$EntityNode@V?$TemplatedJacobianNode@VFixedJacobianNode@dynamics@dart@@@dynamics@dart@@@dynamics@dart@@UEntityNodeProperties@detail@23@@34@VFixedFrame@dynamics@4@VShapeFrame@84@@detail@common@2@@Z)
2021-03-27T11:06:27.2033744Z bin\ignition-physics3-dartsim-plugin.dll : fatal error LNK1120: 2 unresolved externals

[traversaro]

Still two missing simbols:

The missing symbols are of DART, and come from DART code. So either there are some linking problems in DART itself, or it is some corner case incompatibility between MSVC anc clang-cl ABI handling.

[traversaro]

@conda-forge-admin, please rerender

[traversaro]

With VS2019 there is a template-related compilation error instead:

2021-03-27T11:43:59.2993044Z %PREFIX%\Library\include\dart/dynamics/ShapeFrame.hpp(212): note: see declaration of 'dart::dynamics::ShapeFrame::asShapeFrame'
2021-03-27T11:43:59.2995974Z %PREFIX%\Library\include\dart/common/AspectWithVersion.hpp(80): error C2974: 'dart::common::detail::AspectWithState': invalid template argument for 'CompositeT', type expected
2021-03-27T11:43:59.3009841Z %PREFIX%\Library\include\dart/common/detail/AspectWithVersion.hpp(50): note: see declaration of 'dart::common::detail::AspectWithState'
2021-03-27T11:43:59.3013227Z %PREFIX%\Library\include\dart/dynamics/EndEffector.hpp(58): note: see reference to class template instantiation 'dart::common::AspectWithStateAndVersionedProperties<dart::dynamics::Support,dart::dynamics::detail::SupportStateData,dart::dynamics::detail::SupportPropertiesData,dart::dynamics::EndEffector,&void dart::dynamics::detail::SupportUpdate(dart::dynamics::Support *),&void dart::dynamics::detail::SupportUpdate(dart::dynamics::Support *)>' being compiled
2021-03-27T11:43:59.3017390Z %PREFIX%\Library\include\dart/common/AspectWithVersion.hpp(80): error C2976: 'dart::common::detail::AspectWithState': too few template arguments
2021-03-27T11:43:59.3019464Z %PREFIX%\Library\include\dart/common/detail/AspectWithVersion.hpp(50): note: see declaration of 'dart::common::detail::AspectWithState'
2021-03-27T11:43:59.3022176Z %PREFIX%\Library\include\dart/common/CompositeJoiner.hpp(129): warning C4250: 'dart::common::CompositeJoiner<dart::dynamics::FixedJacobianNode,dart::common::SpecializedForAspect<dart::dynamics::Support>>': inherits 'dart::dynamics::EntityNode<dart::dynamics::TemplatedJacobianNode<dart::dynamics::FixedJacobianNode>>::dart::dynamics::EntityNode<dart::dynamics::TemplatedJacobianNode<dart::dynamics::FixedJacobianNode>>::setName' via dominance

[traversaro]

Finally working @Tobias-Fischer ! Thanks a lot for the help.

[traversaro]

@conda-forge-admin, please rerender

[github-actions]

Hi! This is the friendly automated conda-forge-webservice.
I tried to rerender for you, but it looks like there was nothing to do.

[Tobias-Fischer]

Great work, thanks!