Merge pull request #486 from dartsim/windows_build_issues

Fix build issues on Windows

CMakeLists.txt

@@ -10,6 +10,13 @@ if(POLICY CMP0042)
   cmake_policy(SET CMP0042 NEW)
 endif()
 
+# Simplify variable reference and escape sequence evaluation. This was added in
+# CMake 3.1. Explicitly setting this policy is necessary to suppress a warning
+# in CMake 3.1 and above.
+if(POLICY CMP0053)
+  cmake_policy(SET CMP0053 NEW)
+endif()
+
 # Disables a warning about a change in Cygwin Cmake
 set(CMAKE_LEGACY_CYGWIN_WIN32 0)
 set(CMAKE_CXX_WARNING_LEVEL 4)
@@ -53,7 +60,7 @@ message(STATUS "============================================")
 option(ENABLE_OPENMP "Build with OpenMP parallaization enabled" ON)
 option(BUILD_CORE_ONLY "Build only the core of DART" OFF)
 if(MSVC)
-  set(DART_RUNTIME_LIBRARY "/MT" CACHE STRING "BaseName chosen by the user at CMake configure time")
+  set(DART_RUNTIME_LIBRARY "/MD" CACHE STRING "BaseName chosen by the user at CMake configure time")
   set_property(CACHE DART_RUNTIME_LIBRARY PROPERTY STRINGS /MD /MT)
 else()
   option(BUILD_SHARED_LIBS "Build shared libraries" ON)
@@ -332,7 +339,8 @@ endif()
 #===============================================================================
 # DART dependency variable settings
 #===============================================================================
-set(DART_CORE_DEPENDENCIES ${FCL_LIBRARIES}
+set(DART_CORE_DEPENDENCIES ${CCD_LIBRARIES}
+                           ${FCL_LIBRARIES}
                            ${ASSIMP_LIBRARIES}
                            ${Boost_LIBRARIES}
                            ${OPENGL_LIBRARIES}
@@ -364,6 +372,7 @@ endif()
 #===============================================================================
 include_directories(BEFORE ${PROJECT_SOURCE_DIR})
 include_directories(SYSTEM ${EIGEN3_INCLUDE_DIRS})
+include_directories(SYSTEM ${CCD_INCLUDE_DIRS})
 include_directories(SYSTEM ${FCL_INCLUDE_DIRS})
 include_directories(SYSTEM ${ASSIMP_INCLUDE_DIRS})
 include_directories(SYSTEM ${Boost_INCLUDE_DIRS})

appveyor.yml

@@ -2,23 +2,23 @@
 version: "{build}"
 
 # Operating system (build VM template)
-os: Previous Windows Server 2012 R2  # using previous worker images since default worker has problem installing DART-Prerequisites.msi
+os: Visual Studio 2015
 
 # build platform, i.e. Win32 (instead of x86), x64, Any CPU. This setting is optional.
 platform: 
   - Win32
-  - x64
+  #- x64  Disable build for x64 machine until x64 version of dart-prerequisites is ready
 
 # specify custom environment variables
 environment:
-  BOOST_ROOT: c:\Libraries\boost
-  BOOST_LIBRARYDIR: c:\Libraries\boost\stage\lib
+  BOOST_ROOT: C:\Libraries\boost
+  BOOST_LIBRARYDIR: C:\Libraries\boost\stage\lib
+  BUILD_EXAMPLES: OFF  # don't build examples to not exceed allowed build time (40 min)
   matrix:
   - BUILD_CORE_ONLY: ON
-  # Diabled since we don't have binaries of DART prerequisites build on Visual Studio 2013 (/MT) yet (See #270)
-  # - BUILD_CORE_ONLY: OFF
+  - BUILD_CORE_ONLY: OFF
 
-# build Configuration, i.e. Debug, Release, etc.
+# build configuration, i.e. Debug, Release, etc.
 configuration:
   - Debug
   - Release
@@ -42,10 +42,8 @@ branches:
 
 # scripts that run after cloning repository
 install:
-  - cmd: cd C:\projects
-  - ps: Start-FileDownload 'http://www.prism.gatech.edu/~tkunz3/DART-Prerequisites.msi'
-  - cmd: C:\projects\DART-Prerequisites.msi
-  # - cmd: choco install doxygen.install
+  - ps: cd "C:\projects\dart\ci"
+  - ps: .\appveyor_install.ps1
 
 # scripts to run before build
 before_build:
@@ -55,17 +53,12 @@ before_build:
   # We generate project files for Visual Studio 12 because the boost binaries installed on the test server are for Visual Studio 12.
   - cmd: if "%platform%"=="Win32" set CMAKE_GENERATOR_NAME=Visual Studio 12
   - cmd: if "%platform%"=="x64"   set CMAKE_GENERATOR_NAME=Visual Studio 12 Win64
-  - cmd: cmake -G "%CMAKE_GENERATOR_NAME%" -DCMAKE_BUILD_TYPE=%configuration% -DBUILD_CORE_ONLY="%BUILD_CORE_ONLY%" -DBOOST_ROOT="%BOOST_ROOT%" -DBOOST_LIBRARYDIR="%BOOST_LIBRARYDIR%" -DBoost_USE_STATIC_LIBS="ON" -Durdfdom_DIR="%urdfdom_DIR%" -Durdfdom_headers_DIR="%urdfdom_headers_DIR%" ..
+  - cmd: cmake -G "%CMAKE_GENERATOR_NAME%" -DCMAKE_BUILD_TYPE=%configuration% -DBUILD_CORE_ONLY="%BUILD_CORE_ONLY%" -DDART_BUILD_EXAMPLES="%BUILD_EXAMPLES%" -DBOOST_ROOT="%BOOST_ROOT%" -DBOOST_LIBRARYDIR="%BOOST_LIBRARYDIR%" -DBoost_USE_STATIC_LIBS="ON" -Durdfdom_DIR="%urdfdom_DIR%" -Durdfdom_headers_DIR="%urdfdom_headers_DIR%" ..
 
 build:
-  project: C:\projects\dart\build\dart.sln
-
-  # enable MSBuild parallel builds
-  parallel: true
-
-  # MSBuild verbosity level (quiet|minimal|normal|detailed)
-  verbosity: detailed
+  project: C:\projects\dart\build\dart.sln # path to Visual Studio solution or project
+  parallel: true                           # enable MSBuild parallel builds
+  verbosity: minimal                       # MSBuild verbosity level (quiet|minimal|normal|detailed)
 
 test_script:
-  - cmd: ctest -C Release -VV
-  - cmd: ctest -C Debug -VV
+  - cmd: ctest --build-config %configuration% --extra-verbose --output-on-failure

ci/appveyor_install.ps1

@@ -0,0 +1,35 @@
+function ExecuteCommand($command, $command_args)
+{
+  Write-Host $command $command_args
+  Start-Process -FilePath $command -ArgumentList $command_args -Wait -Passthru
+}
+
+function InstallPrerequisites($work_dir, $install_dir)
+{
+  $old_dir = $pwd
+  cd $work_dir
+
+  $msi = "dart-prerequisites.msi"
+  $uri = "https://github.com/dartsim/dart-prerequisites-windows/raw/bfb42e9e8271bc99f8b070715bd407cb5988c322/DART%205.0-prerequisites-msvc12-md-32bit.msi"
+  Invoke-WebRequest $uri -OutFile $msi
+
+  $install_command = "msiexec.exe"
+  $install_args    = "/qn /log log.txt /i $msi TARGETDIR=$install_dir"
+  ExecuteCommand $install_command $install_args
+
+  cd $old_dir
+}
+
+function main()
+{
+  try 
+  {
+    InstallPrerequisites "C:/projects" "C:/Golems"
+  }
+  catch
+  {
+    throw
+  }
+}
+
+main

dart/common/Timer.cpp

@@ -55,7 +55,7 @@ Timer::Timer(const std::string& _name)
     mName(_name),
     mIsStarted(false)
 {
-#if WIN32
+#ifdef _WIN32
   mTimer.start.QuadPart = 0;
   mTimer.stop.QuadPart = 0;
   QueryPerformanceFrequency(&mFrequency);
@@ -71,7 +71,7 @@ Timer::~Timer()
 }
 
 //==============================================================================
-#if WIN32
+#ifdef _WIN32
 double Timer::_convLIToSecs(const LARGE_INTEGER& _L)
 {
   return (static_cast<double>(_L.QuadPart)
@@ -84,7 +84,7 @@ void Timer::start()
 {
   mIsStarted = true;
   mCount++;
-#if WIN32
+#ifdef _WIN32
   QueryPerformanceCounter(&mTimer.start);
 #else
   gettimeofday(&mTimeVal, nullptr);
@@ -96,7 +96,7 @@ void Timer::start()
 void Timer::stop()
 {
   mIsStarted = false;
-#if WIN32
+#ifdef _WIN32
   QueryPerformanceCounter(&mTimer.stop);
   LARGE_INTEGER time;
   time.QuadPart = mTimer.stop.QuadPart - mTimer.start.QuadPart;
@@ -112,7 +112,7 @@ void Timer::stop()
 //==============================================================================
 double Timer::getElapsedTime()
 {
-#if WIN32
+#ifdef _WIN32
   LARGE_INTEGER timenow;
   QueryPerformanceCounter(&timenow);
   LARGE_INTEGER time;
@@ -166,7 +166,7 @@ void Timer::print()
 //==============================================================================
 double Timer::getWallTime()
 {
-#if WIN32
+#ifdef _WIN32
   LARGE_INTEGER ticksPerSecond;
   LARGE_INTEGER ticks;
   QueryPerformanceFrequency(&ticksPerSecond);

dart/common/Timer.h

@@ -39,7 +39,7 @@
 
 #include <string>
 
-#if WIN32
+#ifdef _WIN32
   #ifdef NOMINMAX
     #include <windows.h>
   #else
@@ -100,7 +100,7 @@ class Timer
 private:
   int mCount;
 
-#if WIN32
+#ifdef _WIN32
   stopWatch mTimer;
 #else
   timeval mTimeVal;
@@ -113,7 +113,7 @@ class Timer
   std::string mName;
   bool mIsStarted;
 
-#if WIN32
+#ifdef _WIN32
   LARGE_INTEGER  mFrequency;
   double _convLIToSecs(const LARGE_INTEGER& _L);
 #endif