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

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

@@ -146,9 +146,6 @@ 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 +36,6 @@
 #include <dart/config.hpp>
 
 #include <dart/common/Deprecated.hpp>
-#include <dart/common/detail/AlignedAllocator.hpp>
 
 #include <map>
 #include <memory>
@@ -53,21 +52,6 @@ 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 +62,6 @@ 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 {
 

docs/readthedocs/developer_guide/build.rst

@@ -129,6 +129,19 @@ FreeBSD (experimental)
 
 TODO
 
+Dependency Info
+~~~~~~~~~~~~~~~
+
+Here's a summary of the dependencies required to build DART (WIP):
+
++------------+----------+---------+--------------+-------+
+| Dependency | Required | Type    | Min. Version | Notes |
++============+==========+=========+==============+=======+
+| CMake      | Yes      | Build   | 3.22.1       |       |
++------------+----------+---------+--------------+-------+
+| Eigen      | Yes      | Runtime | 3.4.0        |       |
++------------+----------+---------+--------------+-------+
+
 Clone the DART Repository
 ~~~~~~~~~~~~~~~~~~~~~~~~~