From 5bfc027061af9bedc41e83b8c749bb97d93e35be Mon Sep 17 00:00:00 2001
From: Michael Carroll <michael@openrobotics.org>
Date: Tue, 25 May 2021 11:57:03 -0500
Subject: [PATCH] Fix bazel config file generation for 6.10 (#25)

* Fix bazel config file generation for 6.10

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Add support for bullet collision detector

Signed-off-by: Michael Carroll <michael@openrobotics.org>
---
 BUILD.bazel | 84 ++++++++++++++++++++++++++++++++++++++---------------
 1 file changed, 61 insertions(+), 23 deletions(-)

diff --git a/BUILD.bazel b/BUILD.bazel
index 46f052de23cd0..c3034073a9f4e 100644
--- a/BUILD.bazel
+++ b/BUILD.bazel
@@ -4,6 +4,7 @@ load(
     "IGNITION_ROOT",
     "IGNITION_VISIBILITY",
     "generate_include_header",
+    "cmake_configure_file",
 )
 
 package(
@@ -37,6 +38,31 @@ generated_includes = [
     for subdir in generated_includes
 ]
 
+cmake_configure_file(
+    name = "config",
+    src = "dart/config.hpp.in",
+    out = "dart/config.hpp",
+    cmakelists = ["dart/CMakeLists.txt"],
+    defines = [
+        "PROJECT_NAME=dart",
+        "DART_MAJOR_VERSION=6",
+        "DART_MINOR_VERSION=10",
+        "DART_PATCH_VERSION=10",
+        "DART_VERSION=6.10.0",
+        "DART_PKG_DESC='Dynamic Animation and Robotics Toolkit'",
+        "BUILD_TYPE_RELEASE=1",
+        "HAVE_BULLET=1",
+        "HAVE_NLOPT=1",
+        "HAVE_ODE=1",
+        "DART_ENABLE_SIMD=1",
+        "CMAKE_SOURCE_DIR=dart",
+        "CMAKE_INSTALL_PREFIX=.",
+        "DART_ADDITIONAL_DOCUMENTATION_INSTALL_PATH=dart",
+        "ASSIMP_AISCENE_CTOR_DTOR_DEFINED=1",
+        "ASSIMP_AIMATERIAL_CTOR_DTOR_DEFINED=1",
+    ]
+)
+
 # collision has two subdirectories with generated includes unlike the above
 # so treat it as a separate case
 generate_include_header(
@@ -47,6 +73,14 @@ generate_include_header(
     ]),
 )
 
+generate_include_header(
+    name = "collision_bullet_genrule",
+    out = "dart/collision/bullet/bullet.hpp",
+    hdrs = glob([
+        "dart/collision/bullet/*.hpp",
+    ]),
+)
+
 generate_include_header(
     name = "collision_dart_genrule",
     out = "dart/collision/dart/dart.hpp",
@@ -61,6 +95,7 @@ generate_include_header(
     hdrs = glob([
         "dart/collision/*.hpp",
     ]) + [
+        "dart/collision/dart/bullet.hpp",
         "dart/collision/dart/dart.hpp",
         "dart/collision/fcl/fcl.hpp",
     ],
@@ -116,13 +151,14 @@ cc_library(
         "dart/common/detail/*.cpp",
         "dart/common/*.hpp",
         "dart/common/detail/*.hpp",
-        "dart/config.hpp",
     ]) + [
         "dart/common/common.hpp",
+        "dart/config.hpp",
     ],
     hdrs = glob([
         "dart/common/*.hpp",
         "dart/common/detail/*.hpp",
+    ] + [
         "dart/config.hpp",
     ]),
     includes = ["."],
@@ -175,16 +211,11 @@ cc_library(
     srcs = glob([
         "dart/collision/*.cpp",
         "dart/collision/detail/*.cpp",
-        "dart/collision/*.hpp",
-        "dart/collision/detail/*.hpp",
-    ]) + [
-        "dart/collision/collision.hpp",
-        "dart/collision/fcl/fcl.hpp",
-        "dart/collision/dart/dart.hpp",
-    ],
+    ]),
     hdrs = glob([
         "dart/collision/*.hpp",
         "dart/collision/detail/*.hpp",
+        "dart/collision/collision.hpp",
     ]),
     deps = [
         ":dart-dynamics",
@@ -197,12 +228,11 @@ cc_library(
     srcs = glob([
         "dart/collision/ode/*.cpp",
         "dart/collision/ode/detail/*.cpp",
-        "dart/collision/ode/*.hpp",
-        "dart/collision/ode/detail/*.hpp",
     ]),
     hdrs = glob([
         "dart/collision/ode/*.hpp",
         "dart/collision/ode/detail/*.hpp",
+        "dart/collision/ode/ode.hpp",
     ]),
     deps = [
         ":dart-collision-core",
@@ -213,14 +243,33 @@ cc_library(
     ],
 )
 
+cc_library(
+    name = "dart-collision-bullet",
+    srcs = glob([
+        "dart/collision/bullet/*.cpp",
+        "dart/collision/bullet/detail/*.cpp",
+    ]),
+    hdrs = glob([
+        "dart/collision/bullet/*.hpp",
+        "dart/collision/bullet/detail/*.hpp",
+        "dart/collision/bullet/bullet.hpp",
+    ]),
+    deps = [
+        ":dart-collision-core",
+        ":dart-dynamics",
+        ":dart-math",
+        "@bullet",
+    ],
+)
+
 cc_library(
     name = "dart-collision-fcl",
     srcs = glob([
         "dart/collision/fcl/*.cpp",
-        "dart/collision/fcl/*.hpp",
     ]),
     hdrs = glob([
         "dart/collision/fcl/*.hpp",
+        "dart/collision/fcl/fcl.hpp",
     ]),
     deps = [
         ":dart-collision-core",
@@ -249,6 +298,7 @@ cc_library(
 cc_library(
     name = "dart-collision",
     deps = [
+        ":dart-collision-bullet",
         ":dart-collision-core",
         ":dart-collision-dart",
         ":dart-collision-fcl",
@@ -436,17 +486,5 @@ cc_binary(
     includes = ["dart"],
     deps = [
         ":dart",
-        ":dart-collision",
-        ":dart-common",
-        ":dart-constraint",
-        ":dart-dynamics",
-        ":dart-external",
-        ":dart-gui",
-        ":dart-integration",
-        ":dart-lcpsolver",
-        ":dart-math",
-        ":dart-optimizer",
-        ":dart-simulation",
-        ":dart-utils",
     ],
 )