misc/dartsim: Update 6.8.5 -> 6.9.2

6 files changed, 76 insertions, 104 deletions

diff --git a/misc/dartsim/Makefile b/misc/dartsim/Makefile
index f1d3d82eab59..f385c58f6ff2 100644
--- a/misc/dartsim/Makefile
+++ b/misc/dartsim/Makefile
@@ -2,8 +2,7 @@
 
 PORTNAME=	dartsim
 DISTVERSIONPREFIX=	v
-DISTVERSION=	6.8.5
-PORTREVISION=	6
+DISTVERSION=	6.9.2
 CATEGORIES=	misc
 
 MAINTAINER=	yuri@FreeBSD.org
@@ -28,6 +27,8 @@ LIB_DEPENDS=	libassimp.so:multimedia/assimp \
 		libode.so:devel/ode \
 		libosg.so:graphics/osg34 \
 		libnlopt.so:math/nlopt \
+		libpagmo.so:science/pagmo2 \
+		libtbb.so:devel/tbb \
 		libtinyxml2.so:textproc/tinyxml2 \
 		liburdfdom_world.so:devel/ros-urdfdom
 
@@ -39,6 +40,13 @@ USE_GL=		gl glu glut
 USE_XORG=	xi xmu
 USE_LDCONFIG=	yes
 
+CMAKE_ON=	BUILD_SHARED_LIBS
+
 DATADIR=	share/dart
+DOCSDIR=	${PREFIX}/share/doc/dart
+
+OPTIONS_DEFINE=	DOCS
+
+PORTDOCS=	*
 
 .include <bsd.port.mk>
diff --git a/misc/dartsim/distinfo b/misc/dartsim/distinfo
index f4dbbdd3695e..7d809cda8924 100644
--- a/misc/dartsim/distinfo
+++ b/misc/dartsim/distinfo
@@ -1,3 +1,3 @@
-TIMESTAMP = 1558978119
-SHA256 (dartsim-dart-v6.8.5_GH0.tar.gz) = f0ee1c396758d4b6c77dbb5ada186f1f4bf8de409537f3cee93c66c8c3728cb0
-SIZE (dartsim-dart-v6.8.5_GH0.tar.gz) = 14718917
+TIMESTAMP = 1587286400
+SHA256 (dartsim-dart-v6.9.2_GH0.tar.gz) = 7d46d23c04d74d3b78331f9fa7deb5ab32fd4b0c03b93548cd84a2d67771d816
+SIZE (dartsim-dart-v6.9.2_GH0.tar.gz) = 14820929
diff --git a/misc/dartsim/files/patch-CMakeLists.txt b/misc/dartsim/files/patch-CMakeLists.txt
index 53556a3867cf..4ec9059f43a6 100644
--- a/misc/dartsim/files/patch-CMakeLists.txt
+++ b/misc/dartsim/files/patch-CMakeLists.txt
@@ -1,28 +1,15 @@
---- CMakeLists.txt.orig	2019-05-03 16:07:54 UTC
+--- CMakeLists.txt.orig	2019-08-17 03:14:11 UTC
 +++ CMakeLists.txt
-@@ -34,9 +34,9 @@ set(CONFIG_INSTALL_DIR "${CMAKE_INSTALL_
- 
- # Set relative location to install additional documentation (sample data,
- # examples, and tutorials)
--set(DART_ADDITIONAL_DOCUMENTATION_INSTALL_PATH
--  "${CMAKE_INSTALL_DATAROOTDIR}/doc/${PROJECT_NAME}"
--)
-+#set(DART_ADDITIONAL_DOCUMENTATION_INSTALL_PATH
-+#  "${CMAKE_INSTALL_DATAROOTDIR}/doc/${PROJECT_NAME}"
-+#)
- 
- set(CMAKE_DEBUG_POSTFIX "d")
- set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
-@@ -195,7 +195,7 @@ elseif(CMAKE_COMPILER_IS_GNUCXX)
-   if(GCC_VERSION VERSION_LESS 4.8)
-     message(FATAL_ERROR "The installed g++ version is ${GCC_VERSION}. ${PROJECT_NAME} requires g++ 4.8 or greater.")
+@@ -202,7 +202,7 @@ elseif(CMAKE_COMPILER_IS_GNUCXX)
+   if(GCC_VERSION VERSION_LESS 5.3.1)
+     message(FATAL_ERROR "The installed g++ version is ${GCC_VERSION}. ${PROJECT_NAME} requires g++ 5.3.1 or greater.")
    endif()
 -  set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG")
 +  set(CMAKE_CXX_FLAGS_RELEASE "-DNDEBUG")
    set(CMAKE_CXX_FLAGS_DEBUG "-g -fno-omit-frame-pointer -fno-inline-functions -fno-inline-functions-called-once -fno-optimize-sibling-calls")
    if(DART_FAST_DEBUG)
      set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O1")
-@@ -221,7 +221,7 @@ elseif("${CMAKE_CXX_COMPILER_ID}" MATCHE
+@@ -228,7 +228,7 @@ elseif("${CMAKE_CXX_COMPILER_ID}" MATCHES "Clang")
    if("${CMAKE_SYSTEM_NAME}" MATCHES "Darwin")
      set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -stdlib=libc++")
    endif()
@@ -31,59 +18,33 @@
    set(CMAKE_CXX_FLAGS_DEBUG "-g -fno-omit-frame-pointer -fno-inline-functions -fno-optimize-sibling-calls")
    if(DART_FAST_DEBUG)
      set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -O1")
-@@ -276,22 +276,22 @@ if(TARGET dart)
- 
-   # Add a "tests" target to build unit tests.
-   enable_testing()
--  add_subdirectory(unittests EXCLUDE_FROM_ALL)
-+  #add_subdirectory(unittests EXCLUDE_FROM_ALL)
- 
-   # Add example subdirectories and an "examples" target.
--  add_subdirectory(examples EXCLUDE_FROM_ALL)
--  get_property(examples GLOBAL PROPERTY DART_EXAMPLES)
--  add_custom_target(examples DEPENDS ${examples})
-+  #add_subdirectory(examples EXCLUDE_FROM_ALL)
-+  #get_property(examples GLOBAL PROPERTY DART_EXAMPLES)
-+  #add_custom_target(examples DEPENDS ${examples})
+@@ -293,20 +293,20 @@ if(TARGET dart AND NOT DART_BUILD_DARTPY)
+   if(MSVC)
+     # add_subdirectory(examples)
+   else()
+-    add_subdirectory(examples EXCLUDE_FROM_ALL)
+-    get_property(examples GLOBAL PROPERTY DART_EXAMPLES)
+-    add_custom_target(examples DEPENDS ${examples})
++    #add_subdirectory(examples EXCLUDE_FROM_ALL)
++    #get_property(examples GLOBAL PROPERTY DART_EXAMPLES)
++    #add_custom_target(examples DEPENDS ${examples})
+   endif()
  
    if(DART_VERBOSE)
      message(STATUS "")
--    message(STATUS "[ Examples ]")
+     message(STATUS "[ Examples ]")
 -    foreach(example ${examples})
 -      message(STATUS "Adding example: ${example}")
 -    endforeach(example ${examples})
-+    #message(STATUS "[ Examples ]")
+-  else(DART_VERBOSE)
+-    list(LENGTH examples examples_length)
+-    message(STATUS "Adding ${examples_length} examples")
 +    #foreach(example ${examples})
 +    #  message(STATUS "Adding example: ${example}")
 +    #endforeach(example ${examples})
-   else(DART_VERBOSE)
--    list(LENGTH examples examples_length)
--    message(STATUS "Adding ${examples_length} examples")
++  #else(DART_VERBOSE)
 +    #list(LENGTH examples examples_length)
 +    #message(STATUS "Adding ${examples_length} examples")
    endif(DART_VERBOSE)
  
    # Add a "tutorials" target to build tutorials.
-@@ -390,16 +390,16 @@ install(FILES package.xml DESTINATION
- #===============================================================================
- 
- # Sample data
--install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/data"
--  DESTINATION ${DART_ADDITIONAL_DOCUMENTATION_INSTALL_PATH})
-+#install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/data"
-+#  DESTINATION ${DART_ADDITIONAL_DOCUMENTATION_INSTALL_PATH})
- 
- # Examples source
--install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/examples"
--  DESTINATION ${DART_ADDITIONAL_DOCUMENTATION_INSTALL_PATH})
-+#install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/examples"
-+#  DESTINATION share/examples/${PROJECT_NAME})
- 
- # Tutorials source
--install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/tutorials"
--  DESTINATION ${DART_ADDITIONAL_DOCUMENTATION_INSTALL_PATH})
-+#install(DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/tutorials"
-+#  DESTINATION ${DART_ADDITIONAL_DOCUMENTATION_INSTALL_PATH})
- 
- #===============================================================================
- # Uninstall
diff --git a/misc/dartsim/files/patch-dart_common_Platform.hpp b/misc/dartsim/files/patch-dart_common_Platform.hpp
index 5b5d1e1d5bae..46d36ad5a1b6 100644
--- a/misc/dartsim/files/patch-dart_common_Platform.hpp
+++ b/misc/dartsim/files/patch-dart_common_Platform.hpp
@@ -1,4 +1,4 @@
---- dart/common/Platform.hpp.orig	2018-09-03 18:37:30 UTC
+--- dart/common/Platform.hpp.orig	2019-08-17 03:14:11 UTC
 +++ dart/common/Platform.hpp
 @@ -43,6 +43,15 @@
  #define DART_ARCH_32BITS   1
@@ -16,14 +16,14 @@
  #elif defined(__APPLE__)
  
  #define DART_OS_MACOS      1
-@@ -77,6 +86,10 @@
-   #define DART_OS_LINUX    0
- #endif
+@@ -75,6 +84,10 @@
  
-+#ifndef DART_OS_FREEBSD
-+  #define DART_OS_FREEBSD    0
+ #ifndef DART_OS_LINUX
+   #define DART_OS_LINUX    0
 +#endif
 +
- #ifndef DART_OS_MACOS
-   #define DART_OS_MACOS   0
++#ifndef DART_OS_FREEBSD
++  #define DART_OS_FREEBSD    0
  #endif
+ 
+ #ifndef DART_OS_MACOS
diff --git a/misc/dartsim/files/patch-examples_osgExamples_osgWamIkFast_Helpers.cpp b/misc/dartsim/files/patch-examples_wam__ikfast_Helpers.cpp
index eb78f400c76f..30363efcac5b 100644
--- a/misc/dartsim/files/patch-examples_osgExamples_osgWamIkFast_Helpers.cpp
+++ b/misc/dartsim/files/patch-examples_wam__ikfast_Helpers.cpp
@@ -1,6 +1,6 @@
---- examples/osgExamples/osgWamIkFast/Helpers.cpp.orig	2018-11-20 05:49:04 UTC
-+++ examples/osgExamples/osgWamIkFast/Helpers.cpp
-@@ -104,10 +104,10 @@ void setupEndEffectors(const dart::dynam
+--- examples/wam_ikfast/Helpers.cpp.orig	2019-08-17 03:14:11 UTC
++++ examples/wam_ikfast/Helpers.cpp
+@@ -106,10 +106,10 @@ void setupEndEffectors(const dart::dynamics::SkeletonP
    ee->getIK(true)->setTarget(wam7_target);
  
    std::string libName = "libwamIk";
diff --git a/misc/dartsim/pkg-plist b/misc/dartsim/pkg-plist
index 370089683531..b75c1d46ae2b 100644
--- a/misc/dartsim/pkg-plist
+++ b/misc/dartsim/pkg-plist
@@ -9,6 +9,8 @@ include/dart/collision/DistanceFilter.hpp
 include/dart/collision/DistanceOption.hpp
 include/dart/collision/DistanceResult.hpp
 include/dart/collision/Option.hpp
+include/dart/collision/RaycastOption.hpp
+include/dart/collision/RaycastResult.hpp
 include/dart/collision/Result.hpp
 include/dart/collision/SmartPointer.hpp
 include/dart/collision/bullet/BulletCollisionDetector.hpp
@@ -285,6 +287,7 @@ include/dart/gui/osg/render/CapsuleShapeNode.hpp
 include/dart/gui/osg/render/ConeShapeNode.hpp
 include/dart/gui/osg/render/CylinderShapeNode.hpp
 include/dart/gui/osg/render/EllipsoidShapeNode.hpp
+include/dart/gui/osg/render/HeightmapShapeNode.hpp
 include/dart/gui/osg/render/LineSegmentShapeNode.hpp
 include/dart/gui/osg/render/MeshShapeNode.hpp
 include/dart/gui/osg/render/MultiSphereShapeNode.hpp
@@ -361,47 +364,47 @@ include/dart/utils/urdf/urdf.hpp
 include/dart/utils/urdf/urdf_world_parser.hpp
 include/dart/utils/utils.hpp
 lib/libdart-collision-bullet.so
-lib/libdart-collision-bullet.so.6.8
-lib/libdart-collision-bullet.so.6.8.5
+lib/libdart-collision-bullet.so.6.9
+lib/libdart-collision-bullet.so.6.9.2
 lib/libdart-collision-ode.so
-lib/libdart-collision-ode.so.6.8
-lib/libdart-collision-ode.so.6.8.5
+lib/libdart-collision-ode.so.6.9
+lib/libdart-collision-ode.so.6.9.2
 lib/libdart-external-imgui.so
-lib/libdart-external-imgui.so.6.8
-lib/libdart-external-imgui.so.6.8.5
+lib/libdart-external-imgui.so.6.9
+lib/libdart-external-imgui.so.6.9.2
 lib/libdart-external-lodepng.so
-lib/libdart-external-lodepng.so.6.8
-lib/libdart-external-lodepng.so.6.8.5
+lib/libdart-external-lodepng.so.6.9
+lib/libdart-external-lodepng.so.6.9.2
 lib/libdart-external-odelcpsolver.so
-lib/libdart-external-odelcpsolver.so.6.8
-lib/libdart-external-odelcpsolver.so.6.8.5
+lib/libdart-external-odelcpsolver.so.6.9
+lib/libdart-external-odelcpsolver.so.6.9.2
 lib/libdart-gui-osg.so
-lib/libdart-gui-osg.so.6.8
-lib/libdart-gui-osg.so.6.8.5
+lib/libdart-gui-osg.so.6.9
+lib/libdart-gui-osg.so.6.9.2
 lib/libdart-gui.so
-lib/libdart-gui.so.6.8
-lib/libdart-gui.so.6.8.5
+lib/libdart-gui.so.6.9
+lib/libdart-gui.so.6.9.2
 lib/libdart-optimizer-ipopt.so
-lib/libdart-optimizer-ipopt.so.6.8
-lib/libdart-optimizer-ipopt.so.6.8.5
+lib/libdart-optimizer-ipopt.so.6.9
+lib/libdart-optimizer-ipopt.so.6.9.2
 lib/libdart-optimizer-nlopt.so
-lib/libdart-optimizer-nlopt.so.6.8
-lib/libdart-optimizer-nlopt.so.6.8.5
+lib/libdart-optimizer-nlopt.so.6.9
+lib/libdart-optimizer-nlopt.so.6.9.2
 lib/libdart-optimizer-pagmo.so
-lib/libdart-optimizer-pagmo.so.6.8
-lib/libdart-optimizer-pagmo.so.6.8.5
+lib/libdart-optimizer-pagmo.so.6.9
+lib/libdart-optimizer-pagmo.so.6.9.2
 lib/libdart-planning.so
-lib/libdart-planning.so.6.8
-lib/libdart-planning.so.6.8.5
+lib/libdart-planning.so.6.9
+lib/libdart-planning.so.6.9.2
 lib/libdart-utils-urdf.so
-lib/libdart-utils-urdf.so.6.8
-lib/libdart-utils-urdf.so.6.8.5
+lib/libdart-utils-urdf.so.6.9
+lib/libdart-utils-urdf.so.6.9.2
 lib/libdart-utils.so
-lib/libdart-utils.so.6.8
-lib/libdart-utils.so.6.8.5
+lib/libdart-utils.so.6.9
+lib/libdart-utils.so.6.9.2
 lib/libdart.so
-lib/libdart.so.6.8
-lib/libdart.so.6.8.5
+lib/libdart.so.6.9
+lib/libdart.so.6.9.2
 libdata/pkgconfig/dart.pc
 %%DATADIR%%/cmake/DARTConfig.cmake
 %%DATADIR%%/cmake/DARTConfigVersion.cmake