[v7] wip

.github/workflows/ci_macos.yml

@@ -34,6 +34,7 @@ jobs:
       COMPILER: clang
       BUILD_TYPE: ${{ matrix.build_type }}
       BUILD_DARTPY: ON
+      DART_USE_SYSTEM_ENTT: ON
       DART_USE_SYSTEM_IMGUI: OFF
       IN_CI: ON
       ENABLE_SIMD: ${{ matrix.enable_simd }}

.github/workflows/ci_windows.yml

@@ -41,6 +41,7 @@ jobs:
           pkgs: >
             assimp
             eigen3
+            entt
             fcl
             fmt
             spdlog
@@ -78,6 +79,7 @@ jobs:
             -DDART_MSVC_DEFAULT_OPTIONS=ON ^
             -DDART_VERBOSE=ON ^
             -DBUILD_SHARED_LIBS=${{ matrix.build_shared_libs }} ^
+            -DDART_USE_SYSTEM_ENTT=ON ^
             -DDART_USE_SYSTEM_IMGUI=OFF ^
             || exit /b
           cmake ^

.github/workflows/publish_dartpy.yml

@@ -103,6 +103,7 @@ jobs:
             assimp
             ccd
             eigen3
+            entt
             fcl
             fmt
             spdlog

Brewfile

@@ -14,6 +14,7 @@ brew 'octomap'
 # brew 'ode'  # disabled until https://github.com/dartsim/dart/actions/runs/8477285794/job/23227980022 is resolved
 # brew 'open-scene-graph'  # disabled until 3.7.0 is released
 brew 'pagmo'
+brew 'skypjack/entt/entt'
 brew 'spdlog'
 brew 'tinyxml2'
 brew 'urdfdom'

CMakeLists.txt

@@ -98,6 +98,7 @@ dart_option(DART_FAST_DEBUG "Add -O1 option for DEBUG mode build" OFF)
 # See: https://medium.com/@alasher/colored-c-compiler-output-with-ninja-clang-gcc-10bfe7f2b949
 dart_option(DART_FORCE_COLORED_OUTPUT
   "Always produce ANSI-colored output (GNU/Clang only)." OFF)
+dart_option(DART_USE_SYSTEM_ENTT "Use system EnTT" OFF)
 dart_option(DART_USE_SYSTEM_IMGUI "Use system ImGui" OFF)
 dart_option(DART_IN_CI "Indicate building DART as part of CI" OFF)
 

cmake/DARTFindDependencies.cmake

@@ -17,6 +17,12 @@ dart_check_required_package(fmt "libfmt")
 dart_find_package(Eigen3)
 dart_check_required_package(EIGEN3 "eigen3")
 
+# Entt
+if(DART_USE_SYSTEM_ENTT)
+  dart_find_package(EnTT)
+  dart_check_required_package(EnTT "EnTT")
+endif()
+
 # FCL
 dart_find_package(fcl)
 dart_check_required_package(fcl "fcl")

cmake/DARTFindEnTT.cmake

@@ -0,0 +1,9 @@
+# Copyright (c) 2011-2024, The DART development contributors
+# All rights reserved.
+#
+# The list of contributors can be found at:
+#   https://github.com/dartsim/dart/blob/main/LICENSE
+#
+# This file is provided under the "BSD-style" License
+
+find_package(EnTT QUIET CONFIG)

dart/config.hpp.in

@@ -97,6 +97,7 @@
 // BULLET_DEFINITIONS or generate a #cmakedefine header.
 #cmakedefine BT_USE_DOUBLE_PRECISION
 
+#cmakedefine01 DART_USE_SYSTEM_ENTT
 #cmakedefine01 DART_USE_SYSTEM_IMGUI
 
 #cmakedefine01 DART_BUILD_PROFILE

dart/external/CMakeLists.txt

@@ -1,4 +1,7 @@
 add_subdirectory(convhull_3d)
+if(NOT DART_USE_SYSTEM_ENTT)
+  add_subdirectory(entt)
+endif()
 if(NOT DART_USE_SYSTEM_IMGUI)
   add_subdirectory(imgui)
 endif()

dart/external/entt/CMakeLists.txt

@@ -0,0 +1,40 @@
+# Copyright (c) The DART development contributors
+# All rights reserved.
+#
+# The list of contributors can be found at:
+#   https://github.com/dartsim/dart/blob/master/LICENSE
+#
+# This file is provided under the following "BSD-style" License:
+#   Redistribution and use in source and binary forms, with or
+#   without modification, are permitted provided that the following
+#   conditions are met:
+#   * Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#   * Redistributions in binary form must reproduce the above
+#     copyright notice, this list of conditions and the following
+#     disclaimer in the documentation and/or other materials provided
+#     with the distribution.
+#   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+#   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+#   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+#   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+#   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+#   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+#   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+#   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+#   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+#   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+#   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+#   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#   POSSIBILITY OF SUCH DAMAGE.
+
+if(DART_USE_SYSTEM_ENTT)
+  return()
+endif()
+
+# TODO: Download file from github
+install(
+  FILES entt.hpp
+  DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/dart/external/entt
+  COMPONENT headers
+)