[build] Remove support for CMake < 3.22.1 and Eigen < 3.4.0

(cherry picked from commit 7a13a30)

.github/workflows/api_doc.yml

@@ -52,7 +52,47 @@ jobs:
       - name: Install Dependencies with cache
         uses: awalsh128/[email protected]
         with:
-          packages: build-essential libboost-all-dev clang clang-format-12 cmake curl doxygen gcovr git lcov lsb-release pkg-config software-properties-common valgrind libassimp-dev libccd-dev libeigen3-dev libfcl-dev libfmt-dev coinor-libipopt-dev freeglut3-dev libxi-dev libxmu-dev libbullet-dev libtinyxml2-dev liburdfdom-dev liburdfdom-headers-dev libopenscenegraph-dev libnlopt-cxx-dev liboctomap-dev libode-dev libspdlog-dev ocl-icd-opencl-dev libpython3-dev pybind11-dev python3 python3-dev python3-distutils python3-numpy python3-pip python3-setuptools
+          packages: |
+            build-essential
+            libboost-all-dev
+            clang
+            clang-format-12
+            cmake
+            curl
+            doxygen
+            gcovr
+            git
+            lcov
+            lsb-release
+            pkg-config
+            software-properties-common
+            valgrind
+            libassimp-dev
+            libeigen3-dev
+            libfcl-dev
+            libfmt-dev
+            coinor-libipopt-dev
+            freeglut3-dev
+            libxi-dev
+            libxmu-dev
+            libbullet-dev
+            libtinyxml2-dev
+            liburdfdom-dev
+            liburdfdom-headers-dev
+            libopenscenegraph-dev
+            libnlopt-cxx-dev
+            liboctomap-dev
+            libode-dev
+            libspdlog-dev
+            ocl-icd-opencl-dev
+            libpython3-dev
+            pybind11-dev
+            python3
+            python3-dev
+            python3-distutils
+            python3-numpy
+            python3-pip
+            python3-setuptools
           version: 1.1
 
       - name: Install Python dependencies

.github/workflows/ci_windows.yml

@@ -38,7 +38,7 @@ jobs:
       - uses: johnwason/vcpkg-action@v6
         with:
           # TODO: Add ode and coin-or-ipopt
-          pkgs: assimp ccd eigen3 fcl fmt spdlog bullet3 freeglut glfw3 nlopt opengl osg pagmo2 tinyxml2 urdfdom
+          pkgs: assimp eigen3 fcl fmt spdlog bullet3 freeglut glfw3 nlopt opengl osg pagmo2 tinyxml2 urdfdom
           triplet: x64-windows
           revision: "2024.02.14"
           github-binarycache: true

Brewfile

@@ -8,7 +8,6 @@ brew 'eigen'
 brew 'fcl'
 brew 'fmt'
 brew 'ipopt'
-brew 'libccd'
 brew 'nlopt'
 brew 'octomap'
 brew 'ode'

Dockerfile

@@ -18,7 +18,6 @@ RUN apt-get update \
     && apt-get -y install --no-install-recommends \
     libeigen3-dev \
     libassimp-dev \
-    libccd-dev \
     libfcl-dev \
     libfmt-dev \
     libnlopt-cxx-dev \

cmake/DARTFindBullet.cmake

@@ -13,13 +13,6 @@ find_package(Bullet COMPONENTS BulletMath BulletCollision MODULE QUIET)
 
 if((BULLET_FOUND OR Bullet_FOUND) AND NOT TARGET Bullet)
   add_library(Bullet INTERFACE IMPORTED)
-  if(CMAKE_VERSION VERSION_LESS 3.11)
-    set_target_properties(Bullet PROPERTIES
-      INTERFACE_INCLUDE_DIRECTORIES "${BULLET_INCLUDE_DIRS}"
-      INTERFACE_LINK_LIBRARIES "${BULLET_LIBRARIES}"
-    )
-  else()
-    target_include_directories(Bullet INTERFACE ${BULLET_INCLUDE_DIRS})
-    target_link_libraries(Bullet INTERFACE ${BULLET_LIBRARIES})
-  endif()
+  target_include_directories(Bullet INTERFACE ${BULLET_INCLUDE_DIRS})
+  target_link_libraries(Bullet INTERFACE ${BULLET_LIBRARIES})
 endif()

cmake/DARTFindOpenSceneGraph.cmake

@@ -6,19 +6,10 @@
 #
 # This file is provided under the "BSD-style" License
 
-if (CMAKE_VERSION VERSION_LESS 3.12)
-  get_property(old_find_library_use_lib64_paths GLOBAL PROPERTY FIND_LIBRARY_USE_LIB64_PATHS)
-  set_property(GLOBAL PROPERTY FIND_LIBRARY_USE_LIB64_PATHS TRUE)
-endif()
-
 find_package(OpenSceneGraph 3.0 QUIET
   COMPONENTS osg osgViewer osgManipulator osgGA osgDB osgShadow osgUtil
 )
 
-if (CMAKE_VERSION VERSION_LESS 3.12)
-  set_property(GLOBAL PROPERTY FIND_LIBRARY_USE_LIB64_PATHS ${old_find_library_use_lib64_paths})
-endif()
-
 # It seems that OPENSCENEGRAPH_FOUND will inadvertently get set to true when
 # OpenThreads is found, even if OpenSceneGraph is not installed. This is quite
 # possibly a bug in OSG's cmake configuration file. For now, it seems that
@@ -56,13 +47,6 @@ endif()
 # where the system that DART is built and where the system that consumes DART.
 if((OPENSCENEGRAPH_FOUND OR OpenSceneGraph_FOUND) AND NOT TARGET osg::osg)
   add_library(osg::osg INTERFACE IMPORTED)
-  if(CMAKE_VERSION VERSION_LESS 3.11)
-    set_target_properties(osg::osg PROPERTIES
-      INTERFACE_INCLUDE_DIRECTORIES "${OPENSCENEGRAPH_INCLUDE_DIRS}"
-      INTERFACE_LINK_LIBRARIES "${OPENSCENEGRAPH_LIBRARIES}"
-    )
-  else()
-    target_include_directories(osg::osg INTERFACE ${OPENSCENEGRAPH_INCLUDE_DIRS})
-    target_link_libraries(osg::osg INTERFACE ${OPENSCENEGRAPH_LIBRARIES})
-  endif()
+  target_include_directories(osg::osg INTERFACE ${OPENSCENEGRAPH_INCLUDE_DIRS})
+  target_link_libraries(osg::osg INTERFACE ${OPENSCENEGRAPH_LIBRARIES})
 endif()

dart/CMakeLists.txt

@@ -160,9 +160,6 @@ endif()
 
 # C++ standard settings
 target_compile_features(dart PUBLIC cxx_std_17)
-if(CMAKE_COMPILER_IS_GNUCXX AND CMAKE_CXX_COMPILER_VERSION VERSION_LESS 8.0)
-  target_link_libraries(dart PUBLIC "stdc++fs")
-endif()
 
 # Build DART with all available SIMD instructions
 if(DART_ENABLE_SIMD)

dart/common/Memory.hpp

@@ -36,7 +36,8 @@
 #include <dart/config.hpp>
 
 #include <dart/common/Deprecated.hpp>
-#include <dart/common/detail/AlignedAllocator.hpp>
+
+#include <Eigen/Core>
 
 #include <map>
 #include <memory>
@@ -53,21 +54,6 @@ template <typename T, typename... Args>
 DART_DEPRECATED(6.9)
 std::unique_ptr<T> make_unique(Args&&... args);
 
-#if EIGEN_VERSION_AT_LEAST(3, 2, 1) && EIGEN_VERSION_AT_MOST(3, 2, 8)
-
-template <typename _Tp>
-using aligned_vector
-    = std::vector<_Tp, dart::common::detail::aligned_allocator_cpp11<_Tp>>;
-
-template <typename _Key, typename _Tp, typename _Compare = std::less<_Key>>
-using aligned_map = std::map<
-    _Key,
-    _Tp,
-    _Compare,
-    dart::common::detail::aligned_allocator_cpp11<std::pair<const _Key, _Tp>>>;
-
-#else
-
 template <typename _Tp>
 using aligned_vector = std::vector<_Tp, Eigen::aligned_allocator<_Tp>>;
 
@@ -78,8 +64,6 @@ using aligned_map = std::map<
     _Compare,
     Eigen::aligned_allocator<std::pair<const _Key, _Tp>>>;
 
-#endif
-
 } // namespace common
 } // namespace dart
 

dart/common/detail/Memory-impl.hpp

@@ -36,15 +36,10 @@
 #include <dart/config.hpp>
 
 #include <Eigen/Core>
+#include <Eigen/StdVector>
 
 #include <memory>
 
-#if EIGEN_VERSION_AT_LEAST(3, 2, 1) && EIGEN_VERSION_AT_MOST(3, 2, 8)
-  #include <dart/common/detail/AlignedAllocator.hpp>
-#else
-  #include <Eigen/StdVector>
-#endif
-
 namespace dart {
 namespace common {
 
@@ -54,14 +49,8 @@ std::shared_ptr<_Tp> make_aligned_shared(_Args&&... __args)
 {
   using _Tp_nc = typename std::remove_const<_Tp>::type;
 
-#if EIGEN_VERSION_AT_LEAST(3, 2, 1) && EIGEN_VERSION_AT_MOST(3, 2, 8)
-  return std::allocate_shared<_Tp>(
-      detail::aligned_allocator_cpp11<_Tp_nc>(),
-      std::forward<_Args>(__args)...);
-#else
   return std::allocate_shared<_Tp>(
       Eigen::aligned_allocator<_Tp_nc>(), std::forward<_Args>(__args)...);
-#endif // EIGEN_VERSION_AT_LEAST(3,2,1) && EIGEN_VERSION_AT_MOST(3,2,8)
 }
 
 //==============================================================================

dart/common/detail/SharedLibraryManager.cpp

@@ -37,6 +37,8 @@
 
 #include <fstream>
 
+#include <cassert>
+
 namespace dart {
 namespace common {
 namespace detail {