Add support for compiling on windows x64 and x86 with vcpkg-provided dependencies

.github/workflows/windows-config/action.yml

@@ -0,0 +1,51 @@
+name: windows-config
+description: configure windows
+inputs:
+  arch:
+    required: true
+    type: choice
+    options: 
+    - x86
+    - x64
+
+runs:
+  using: "composite"
+  steps:
+    - name: Cache dependencies
+      uses: actions/cache@v3
+      with:
+        path: deps\vcpkg\cache\windows
+        key: windows-${{ inputs.arch }}-${{ hashFiles('.github\workflows\windows-config\action.yml', 'deps\vcpkg\manifest\vcpkg.json') }}
+
+    - name: Setup msbuild
+      uses: ilammy/msvc-dev-cmd@v1
+      with:
+        arch: ${{ inputs.arch }}
+
+    - name: Fix vcpkg
+      shell: cmd
+      run: vcpkg.exe integrate remove
+
+    - name: Clone vcpkg
+      shell: cmd
+      run: |
+        git clone https://github.com/microsoft/vcpkg/
+
+    - name: Configure Gazebo
+      shell: cmd
+      run: |
+        set VCPKG_BINARY_SOURCES=clear;files,%CD%\deps\vcpkg\cache\windows,readwrite;
+        cmake . -G Ninja -B build ^
+            -DCMAKE_BUILD_TYPE=Release ^
+            -DCMAKE_TOOLCHAIN_FILE=vcpkg\scripts\buildsystems\vcpkg.cmake ^
+            -DVCPKG_MANIFEST_DIR=deps\vcpkg\manifest ^
+            -DVCPKG_OVERLAY_TRIPLETS=deps\vcpkg\triplets ^
+            -DVCPKG_INSTALLED_DIR=%CD%\vcpkg\installed ^
+            -DVCPKG_TARGET_TRIPLET=${{ inputs.arch }}-windows-release ^
+            -DVCPKG_HOST_TRIPLET=${{ inputs.arch }}-windows-release ^
+            -DVCPKG_INSTALL_OPTIONS=--clean-after-build ^
+            -DUSE_EXTERNAL_TINYXML=ON ^
+            -DUSE_EXTERNAL_TINYXML2=ON ^
+            -DUSE_EXTERNAL_TINY_PROCESS_LIBRARY=ON ^
+            -DGZ_PROTOBUF_USE_CMAKE_CONFIG=ON ^
+            -DCMAKE_INSTALL_PREFIX=%CD%\vcpkg\installed\${{ inputs.arch }}-windows-release

.github/workflows/windows.yml

@@ -0,0 +1,95 @@
+name: 🪟 Windows-vcpkg
+on:
+  push:
+    branches: [ gazebo11 ]
+  pull_request:
+    branches: [ gazebo11 ]
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
+jobs:
+  config:
+    name: ${{ matrix.arch }}-config
+    runs-on: windows-latest
+    strategy:
+      fail-fast: false  
+      matrix:
+        include:
+        - arch: x64
+        - arch: x86
+    steps:
+      - uses: actions/checkout@v3
+
+      - name: Config Gazebo
+        uses: ./.github/workflows/windows-config/
+        with:
+          arch: ${{ matrix.arch }}
+
+      - name: Prepare logs on failure
+        if: failure()
+        shell: cmd
+        run: |
+          7z a -t7z -r -mx=9 logs.7z ^
+              vcpkg/buildtrees/*.log
+
+      - name: Upload logs on failure
+        if: failure()
+        uses: actions/upload-artifact@v3
+        with:
+          name: windows_logs_${{matrix.arch}}_${{github.event.pull_request.head.sha}}
+          path: logs.7z
+
+  build:
+    name: ${{ matrix.arch }}-build
+    needs: config
+    runs-on: windows-latest
+    strategy:
+      fail-fast: false  
+      matrix:
+        include:
+        - arch: x64
+        - arch: x86
+    steps:
+      - uses: actions/checkout@v3     
+
+      - name: Config Gazebo
+        uses: ./.github/workflows/windows-config/
+        with:
+          arch: ${{ matrix.arch }}
+
+      - name: Build Gazebo
+        shell: cmd
+        run: |
+          set /a proc=%NUMBER_OF_PROCESSORS%
+          echo proc=%proc%
+          cmake --build build --config Release -j %proc%
+
+      - name: Install Gazebo
+        shell: cmd
+        run: |
+          cmake --install build --config Release
+
+      - name: Tests suite compilation
+        shell: cmd
+        run: |
+          echo compile and run tests here
+
+      - name: Prepare logs on failure
+        if: failure()
+        shell: cmd
+        run: |
+          7z a -t7z -r -mx=9 logs.7z ^
+              vcpkg/buildtrees/*.log ^
+              build/.ninja_log ^
+              build/build.ninja ^
+              build/install_manifest.txt ^
+              build/vcpkg-manifest-install.log
+
+      - name: Upload logs on failure
+        if: failure()
+        uses: actions/upload-artifact@v3
+        with:
+          name: windows_logs_${{matrix.arch}}_${{github.event.pull_request.head.sha}}
+          path: logs.7z

.gitignore

@@ -4,6 +4,7 @@ build
 build_*
 build-*
 Ogre.log
+deps/vcpkg/cache
 .DS_Store
 *.swp
 *.orig

CMakeLists.txt

@@ -193,7 +193,7 @@ set(GAZEBO_MODEL_DATABASE_URI http://models.gazebosim.org)
 set(OGRE_RESOURCE_PATH ${OGRE_PLUGINDIR})
 # Seems that OGRE_PLUGINDIR can end in a newline, which will cause problems when
 # we pass it to the compiler later.
-string(REPLACE "\n" "" OGRE_RESOURCE_PATH ${OGRE_RESOURCE_PATH})
+string(REPLACE "\n" "" OGRE_RESOURCE_PATH "${OGRE_RESOURCE_PATH}")
 FILE(TO_CMAKE_PATH "${OGRE_RESOURCE_PATH}" OGRE_RESOURCE_PATH)
 
 

cmake/SearchForStuff.cmake

@@ -167,6 +167,10 @@ if (PKG_CONFIG_FOUND)
   find_package(Simbody)
   if (Simbody_FOUND)
     message (STATUS "Looking for Simbody - found")
+    # When simbody is found but it static libs, we need to add it manually.
+    if ("${Simbody_LIBRARIES}" STREQUAL "" OR "${Simbody_LIBRARIES}" STREQUAL "Simbody_LIBRARIES-NOTFOUND")
+      set(Simbody_LIBRARIES ${Simbody_STATIC_LIBRARIES})
+    endif()
     set (HAVE_SIMBODY TRUE)
   else()
     message (STATUS "Looking for Simbody - not found")
@@ -587,9 +591,15 @@ if (PKG_CONFIG_FOUND)
   if (NOT BULLET_FOUND)
      pkg_check_modules(BULLET bullet2.82>=2.82)
   endif()
-
+  if (NOT BULLET_FOUND)
+    find_package(BULLET CONFIG 2.82)
+  endif()
   if (BULLET_FOUND)
     set (HAVE_BULLET TRUE)
+    if (${BULLET_VERSION} STREQUAL "")
+      set (BULLET_VERSION ${BULLET_VERSION_STRING})
+    endif()
+    message (STATUS "Bullet found: " ${BULLET_VERSION})
     add_definitions( -DLIBBULLET_VERSION=${BULLET_VERSION} )
   else()
     set (HAVE_BULLET FALSE)

deps/vcpkg/manifest/vcpkg.json

@@ -0,0 +1,156 @@
+{
+  "name": "gazebo",
+  "description": "Open source robotics simulator.",
+  "homepage": "http://gazebosim.org",
+  "license": "Apache-2.0",
+  "builtin-baseline": "19af97cba8ca48474e4ad15a24ed50271a9ecdac",
+  "dependencies": [
+    "boost-asio",
+    "boost-date-time",
+    "boost-filesystem",
+    "boost-format",
+    "boost-interprocess",
+    "boost-iostreams",
+    "boost-program-options",
+    "boost-property-tree",
+    "boost-regex",
+    "boost-system",
+    "boost-thread",
+    "boost-uuid",
+    "ccd",
+    "freeimage",
+    {
+      "name": "hdf5",
+      "features": [
+        "cpp"
+      ]
+    },
+    "ignition-common3",
+    "ignition-fuel-tools4",
+    "ignition-math6",
+    "ignition-msgs5",
+    "ignition-transport8",
+    {
+      "name": "libtar",
+      "platform": "!windows"
+    },
+    "ogre",
+    "opengl",
+    {
+      "name": "pkgconf",
+      "host": true
+    },
+    "protobuf",
+    "qt5-base",
+    "qwt",
+    "sdformat9",
+    "tbb",
+    "tiny-process-library",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ],
+  "default-features": [
+    "bullet",
+    "dart",
+    "ffmpeg",
+    "gdal",
+    "graphviz",
+    "gts",
+    "libusb",
+    "openal",
+    "simbody"
+  ],
+  "features": {
+    "bullet": {
+      "description": "Use the bullet physics engine",
+      "dependencies": [
+        "bullet3"
+      ]
+    },
+    "dart": {
+      "description": "Use the dart physics engine",
+      "dependencies": [
+        "dartsim"
+      ]
+    },
+    "ffmpeg": {
+      "description": "Enable audio-video capabilities",
+      "dependencies": [
+        {
+          "name": "ffmpeg",
+          "features": [
+            "avcodec",
+            "avformat",
+            "swscale"
+          ]
+        }
+      ]
+    },
+    "gdal": {
+      "description": "Enable digital elevation terrains support",
+      "dependencies": [
+        "gdal"
+      ]
+    },
+    "graphviz": {
+      "description": "Enable model editor's schematic view",
+      "dependencies": [
+        "graphviz"
+      ]
+    },
+    "gts": {
+      "description": "Enable CSG support",
+      "dependencies": [
+        "gts"
+      ]
+    },
+    "libusb": {
+      "description": "Enable USB peripheral support",
+      "dependencies": [
+        "libusb"
+      ]
+    },
+    "openal": {
+      "description": "Enable audio support",
+      "dependencies": [
+        "openal-soft"
+      ]
+    },
+    "plugins": {
+      "description": "Build gazebo plugins",
+      "supports": "!linux"
+    },
+    "simbody": {
+      "description": "Use the simbody physics engine",
+      "dependencies": [
+        "simbody"
+      ]
+    },
+    "tools": {
+      "description": "Build gazebo tools",
+      "supports": "!(linux & static)"
+    }
+  },
+  "overrides": [
+    {
+      "name": "ogre",
+      "version": "1.12.9",
+      "port-version": 10
+    },
+    {
+      "name": "qwt",
+      "version": "6.1.5"
+    },
+    {
+      "name": "graphviz",
+      "version": "2.49.1",
+      "port-version": 4
+    }
+  ]
+}

deps/vcpkg/triplets/x86-windows-release.cmake

@@ -0,0 +1,4 @@
+set(VCPKG_TARGET_ARCHITECTURE x86)
+set(VCPKG_CRT_LINKAGE dynamic)
+set(VCPKG_LIBRARY_LINKAGE dynamic)
+set(VCPKG_BUILD_TYPE release)