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

dartsim · Mar 22, 2024 · 952e30b · 952e30b
1 parent 7bc91d9
commit 952e30b
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Showing 10 changed files with 45 additions and 303 deletions.
diff --git a/cmake/DARTFindBullet.cmake b/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()
diff --git a/cmake/DARTFindOpenSceneGraph.cmake b/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()
diff --git a/dart/CMakeLists.txt b/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)

diff --git a/dart/common/Memory.hpp b/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
 

diff --git a/dart/common/detail/AlignedAllocator.hpp b/dart/common/detail/AlignedAllocator.hpp
diff --git a/dart/common/detail/Memory-impl.hpp b/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)
 }
 
 //==============================================================================

diff --git a/dart/config.hpp.in b/dart/config.hpp.in
@@ -12,34 +12,50 @@
 #define DART_VERSION "@DART_VERSION@"
 #define DART_DESCRIPTION "@DART_PKG_DESC@"
 
-#define DART_VERSION_AT_LEAST(x, y, z)                                         \
+#define DART_VERSION_GT(x, y, z)                                               \
+  (DART_MAJOR_VERSION < x                                                      \
+   || (DART_MAJOR_VERSION <= x                                                 \
+       && (DART_MINOR_VERSION < y                                              \
+           || (DART_MINOR_VERSION <= y && DART_PATCH_VERSION < z))))
+
+#define DART_VERSION_GE(x, y, z)                                               \
   (DART_MAJOR_VERSION > x                                                      \
    || (DART_MAJOR_VERSION >= x                                                 \
        && (DART_MINOR_VERSION > y                                              \
            || (DART_MINOR_VERSION >= y && DART_PATCH_VERSION >= z))))
 
-#define DART_MAJOR_MINOR_VERSION_AT_LEAST(x, y)                                \
+#define DART_VERSION_LT(x, y, z)                                               \
   (DART_MAJOR_VERSION > x                                                      \
    || (DART_MAJOR_VERSION >= x                                                 \
-       && (DART_MINOR_VERSION > y || (DART_MINOR_VERSION >= y))))
+       && (DART_MINOR_VERSION > y                                              \
+           || (DART_MINOR_VERSION >= y && DART_PATCH_VERSION > z)))
 
-#define DART_VERSION_AT_MOST(x, y, z)                                          \
+#define DART_VERSION_LE(x, y, z)                                               \
   (DART_MAJOR_VERSION < x                                                      \
    || (DART_MAJOR_VERSION <= x                                                 \
        && (DART_MINOR_VERSION < y                                              \
-           || (DART_MINOR_VERSION <= y && DART_PATCH_VERSION <= z))))
+           || (DART_MINOR_VERSION <= y && DART_PATCH_VERSION <= z)))
 
+// Deprecated in 6.14
+#define DART_VERSION_AT_LEAST(x, y, z)                                         \
+  DART_VERSION_GE(x, y, z)
+
+// Deprecated in 6.14
+#define DART_MAJOR_MINOR_VERSION_AT_LEAST(x, y)                                \
+  (DART_MAJOR_VERSION > x                                                      \
+   || (DART_MAJOR_VERSION >= x                                                 \
+       && (DART_MINOR_VERSION > y || (DART_MINOR_VERSION >= y))))
+
+// Deprecated in 6.14
+#define DART_VERSION_AT_MOST(x, y, z)                                          \
+  DART_VERSION_LE(x, y, z)
+
+// Deprecated in 6.14
 #define DART_MAJOR_MINOR_VERSION_AT_MOST(x, y)                                 \
   (DART_MAJOR_VERSION < x                                                      \
    || (DART_MAJOR_VERSION <= x                                                 \
        && (DART_MINOR_VERSION < y || (DART_MINOR_VERSION <= y))))
 
-#define EIGEN_VERSION_AT_MOST(x, y, z)                                         \
-  (EIGEN_WORLD_VERSION < x                                                     \
-   || (EIGEN_WORLD_VERSION <= x                                                \
-       && (EIGEN_MAJOR_VERSION < y                                             \
-           || (EIGEN_MAJOR_VERSION <= y && EIGEN_MINOR_VERSION <= z))))
-
 // Detect the compiler
 #if defined(__clang__)
   #define DART_COMPILER_CLANG

diff --git a/dart/math/MathTypes.hpp b/dart/math/MathTypes.hpp
@@ -63,23 +63,6 @@ using EIGEN_V_VEC3D = std::vector<Eigen::Vector3d>;
 // Deprecated
 using EIGEN_VV_VEC3D = std::vector<std::vector<Eigen::Vector3d>>;
 
-#if EIGEN_VERSION_AT_LEAST(3, 2, 1) && EIGEN_VERSION_AT_MOST(3, 2, 8)
-
-// Deprecated in favor of dart::common::aligned_vector
-template <typename _Tp>
-using aligned_vector
-    = std::vector<_Tp, dart::common::detail::aligned_allocator_cpp11<_Tp>>;
-
-// Deprecated in favor of dart::common::aligned_map
-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
-
 // Deprecated in favor of dart::common::aligned_vector
 template <typename _Tp>
 using aligned_vector = std::vector<_Tp, Eigen::aligned_allocator<_Tp>>;
@@ -92,8 +75,6 @@ using aligned_map = std::map<
     _Compare,
     Eigen::aligned_allocator<std::pair<const _Key, _Tp>>>;
 
-#endif
-
 // Deprecated in favor of dart::common::make_aligned_shared
 template <typename _Tp, typename... _Args>
 DART_DEPRECATED(6.2)