microsoft · talregev · Mar 28, 2023
diff --git a/ports/gazebo/0001-Fix-deps.patch b/ports/gazebo/0001-Fix-deps.patch
@@ -1,26 +1,120 @@
-diff --git a/cmake/SearchForStuff.cmake b/cmake/SearchForStuff.cmake
-index 4085b5aaeb..f89ac88333 100644
+diff --git a/cmake/FindFreeimage.cmake b/cmake/FindFreeimage.cmake
+--- a/cmake/FindFreeimage.cmake
++++ b/cmake/FindFreeimage.cmake
+@@ -2,16 +2,19 @@
+ include (${gazebo_cmake_dir}/GazeboUtils.cmake)
+
+ ########################################
+ # Find packages
++if(false)
+ if (PKG_CONFIG_FOUND)
+   pkg_check_modules(freeimage freeimage>=${MIN_FREEIMAGE_VERSION})
+   if (NOT freeimage_FOUND)
+     message (STATUS "  freeimage.pc not found, trying freeimage_include_dir and freeimage_library_dir flags.")
+   endif (NOT freeimage_FOUND)
+ endif (PKG_CONFIG_FOUND)
++endif()
+
+ if (NOT freeimage_FOUND)
++  if (false)
+   find_path(freeimage_INCLUDE_DIRS FreeImage.h)
+   if (NOT freeimage_INCLUDE_DIRS)
+     message (STATUS "  Looking for FreeImage.h - not found")
+     BUILD_ERROR("Missing: Unable to find FreeImage.h")
+@@ -32,8 +35,13 @@
+        message (STATUS "  Looking for FreeImage.h - found")
+     endif (NOT FREEIMAGE_RUNS)
+   endif (NOT freeimage_INCLUDE_DIRS)
+
++  endif()
++ 
++  find_package(freeimage CONFIG REQUIRED)
++  set(freeimage_LIBRARIES freeimage::FreeImage)
++  if (0)
+   if (WIN32)
+     if ("${CMAKE_BUILD_TYPE}" STREQUAL "Debug")
+       find_library(freeimage_LIBRARIES FreeImaged)
+     else()
+@@ -48,5 +56,6 @@
+   else (NOT freeimage_LIBRARIES)
+     message (STATUS "  Looking for libfreeimage - found")
+     include_directories(${freeimage_INCLUDE_DIRS})
+   endif (NOT freeimage_LIBRARIES)
++  endif()
+ endif (NOT freeimage_FOUND)
+diff --git a/cmake/SearchForStuff.cmake b/cmake/SearchForStuff.cmake
+index 9777a46..be03eb8 100644
 --- a/cmake/SearchForStuff.cmake
 +++ b/cmake/SearchForStuff.cmake
-@@ -179,7 +179,7 @@ if (PKG_CONFIG_FOUND)
-   # (needed, at least, for MacOS)
+@@ -32,7 +32,9 @@
+ ########################################
+ # The Google Protobuf library for message generation + serialization
+-find_package(Protobuf REQUIRED)
++find_package(PROTOBUF NAMES protobuf REQUIRED)
++set(GZ_PROTOBUF_LIBRARY protobuf::libprotobuf protobuf::libprotobuf-lite)
++set(GZ_PROTOBUF_PROTOC_LIBRARY protobuf::libprotoc)
+ if (NOT PROTOBUF_FOUND)
+   BUILD_ERROR ("Missing: Google Protobuf (libprotobuf-dev)")
+ endif()
+ if (NOT PROTOBUF_PROTOC_EXECUTABLE)
+@@ -45,9 +43,11 @@
++if(0)
+ if ("${CMAKE_BUILD_TYPE}" STREQUAL "Debug")
+   set (GZ_PROTOBUF_LIBRARY ${PROTOBUF_LIBRARY_DEBUG})
+   set (GZ_PROTOBUF_PROTOC_LIBRARY ${PROTOBUF_PROTOC_LIBRARY_DEBUG})
+ else()
+   set (GZ_PROTOBUF_LIBRARY ${PROTOBUF_LIBRARY})
+   set (GZ_PROTOBUF_PROTOC_LIBRARY ${PROTOBUF_PROTOC_LIBRARY})
+ endif()
++endif()
 
+ ########################################
+@@ -144,7 +148,12 @@ if (PKG_CONFIG_FOUND)
+   # Find Simbody
+   set(SimTK_INSTALL_DIR ${SimTK_INSTALL_PREFIX})
+   #list(APPEND CMAKE_MODULE_PATH ${SimTK_INSTALL_PREFIX}/share/cmake)
+-  find_package(Simbody)
++  find_package(Simbody CONFIG REQUIRED)
++  if (TARGET SimTKmath_static)
++    set(Simbody_LIBRARIES SimTKmath_static SimTKcommon_static SimTKsimbody_static)
++  else()
++    set(Simbody_LIBRARIES SimTKmath SimTKcommon SimTKsimbody)
++  endif()
+   if (Simbody_FOUND)
+     message (STATUS "Looking for Simbody - found")
+     set (HAVE_SIMBODY TRUE)
+@@ -188,4 +190,4 @@ if (PKG_CONFIG_FOUND)
    # Use system installation on UNIX and Apple, and internal copy on Windows
 -  if (UNIX OR APPLE)
 +  if (true)
-     message (STATUS "Using system tinyxml.")
-     set (USE_EXTERNAL_TINYXML True)
+     set (USE_EXTERNAL_TINYXML_DEFAULT_VALUE ON)
    elseif(WIN32)
-@@ -225,7 +225,7 @@ if (PKG_CONFIG_FOUND)
-   # (needed, at least, for MacOS)
-
+@@ -237,4 +239,4 @@ if (PKG_CONFIG_FOUND)
    # Use system installation on UNIX and Apple, and internal copy on Windows
 -  if (UNIX OR APPLE)
 +  if (true)
-     message (STATUS "Using system tinyxml2.")
-     set (USE_EXTERNAL_TINYXML2 True)
+     set (USE_EXTERNAL_TINYXML2_DEFAULT_VALUE ON)
    elseif(WIN32)
-@@ -513,7 +513,7 @@ if (PKG_CONFIG_FOUND)
+@@ -341,6 +350,7 @@ if (PKG_CONFIG_FOUND)
+   #################################################
+   # Find OGRE
+
++  if (false)
+   pkg_check_modules(OGRE-RTShaderSystem
+                     OGRE-RTShaderSystem>=${MIN_OGRE_VERSION})
+
+@@ -387,8 +397,8 @@ if (PKG_CONFIG_FOUND)
+       set (OGRE_PLUGINDIR ${_pkgconfig_invoke_result})
+     endif()
+   endif()
+-
+-  if (NOT OGRE_FOUND)
++  endif()
++  if (true)
+     # Workaround for CMake bug https://gitlab.kitware.com/cmake/cmake/issues/17135,
+     # that prevents to successfully run a find_package(<package>) call if before there
+     # was a failed call to pkg_check_modules(<package> <package>)
+@@ -525,7 +535,7 @@ if (PKG_CONFIG_FOUND)
    endif ()
 
    if (libavutil_FOUND AND libavformat_FOUND AND libavcodec_FOUND AND
@@ -29,7 +123,7 @@ index 4085b5aaeb..f89ac88333 100644
      set (HAVE_FFMPEG TRUE)
    else ()
      set (HAVE_FFMPEG FALSE)
-@@ -538,7 +538,7 @@ if (PKG_CONFIG_FOUND)
+@@ -550,7 +560,7 @@ if (PKG_CONFIG_FOUND)
    ########################################
    # Find GNU Triangulation Surface Library
    pkg_check_modules(gts gts)
@@ -38,7 +132,7 @@ index 4085b5aaeb..f89ac88333 100644
      message (STATUS "Looking for GTS - found")
      set (HAVE_GTS TRUE)
    else ()
-@@ -551,13 +551,14 @@ if (PKG_CONFIG_FOUND)
+@@ -563,13 +573,14 @@ if (PKG_CONFIG_FOUND)
    # First and preferred option is to look for bullet standard pkgconfig,
    # so check it first. if it is not present, check for the OSRF
    # custom bullet2.82.pc file
@@ -54,7 +148,7 @@ index 4085b5aaeb..f89ac88333 100644
      add_definitions( -DLIBBULLET_VERSION=${BULLET_VERSION} )
    else()
      set (HAVE_BULLET FALSE)
-@@ -572,7 +573,7 @@ if (PKG_CONFIG_FOUND)
+@@ -584,7 +595,7 @@ if (PKG_CONFIG_FOUND)
    ########################################
    # Find libusb
    pkg_check_modules(libusb-1.0 libusb-1.0)
@@ -63,7 +157,7 @@ index 4085b5aaeb..f89ac88333 100644
      BUILD_WARNING ("libusb-1.0 not found. USB peripherals support will be disabled.")
      set (HAVE_USB OFF CACHE BOOL "HAVE USB" FORCE)
    else()
-@@ -648,7 +649,7 @@ endif ()
+@@ -660,7 +671,7 @@ endif ()
  ########################################
  # Find gdal
  include (FindGDAL)
@@ -72,7 +166,7 @@ index 4085b5aaeb..f89ac88333 100644
    message (STATUS "Looking for libgdal - not found")
    BUILD_WARNING ("GDAL not found, Digital elevation terrains support will be disabled.")
    set (HAVE_GDAL OFF CACHE BOOL "HAVE GDAL" FORCE)
-@@ -718,7 +719,7 @@ endif()
+@@ -744,7 +755,7 @@ endif()
  ########################################
  # Find graphviz
  include (${gazebo_cmake_dir}/FindGraphviz.cmake)
@@ -82,7 +176,7 @@ index 4085b5aaeb..f89ac88333 100644
    BUILD_WARNING ("Graphviz not found, Model editor's schematic view will be disabled.")
    set (HAVE_GRAPHVIZ OFF CACHE BOOL "HAVE GRAPHVIZ" FORCE)
 diff --git a/cmake/gazebo-config.cmake.in b/cmake/gazebo-config.cmake.in
-index b57a90dd76..63ce97095e 100644
+index b57a90d..63ce970 100644
 --- a/cmake/gazebo-config.cmake.in
 +++ b/cmake/gazebo-config.cmake.in
 @@ -99,12 +99,13 @@ list(APPEND @PKG_NAME@_CFLAGS -I${GAZEBO_INSTALL_INCLUDE_DIR}/gazebo-@GAZEBO_MAJ

diff --git a/ports/gazebo/add-features.patch b/ports/gazebo/add-features.patch
@@ -0,0 +1,39 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 3e0ae3d..eeb1ba7 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -384,16 +384,18 @@ else (build_errors)
+     set(TEST_TYPE "UNIT")
+     add_subdirectory(gazebo)
+     add_subdirectory(media)
++    if (BUILD_TOOLS)
+     add_subdirectory(tools)
++    endif()
++    if (BUILD_PLUGINS)
+     add_subdirectory(plugins)
++    endif()
+     add_subdirectory(interfaces)
+     add_subdirectory(worlds)
+     add_subdirectory(models)
+
+     if (BUILD_TESTING)
+       add_subdirectory(test)
+-    else()
+-      add_subdirectory(test EXCLUDE_FROM_ALL)
+     endif()
+
+   endif (BUILD_GAZEBO)
+diff --git a/gazebo/CMakeLists.txt b/gazebo/CMakeLists.txt
+index 9ad9d02..5c45753 100644
+--- a/gazebo/CMakeLists.txt
++++ b/gazebo/CMakeLists.txt
+@@ -41,7 +41,9 @@ add_subdirectory(gui)
+ add_subdirectory(physics)
+ add_subdirectory(sensors)
+ add_subdirectory(util)
++if (BUILD_TESTING)
+ add_subdirectory(test)
++endif()
+
+ add_dependencies(gazebo_physics gazebo_msgs)
+ add_dependencies(gazebo_gui gazebo_msgs)
diff --git a/ports/gazebo/fix-build-type.patch b/ports/gazebo/fix-build-type.patch
@@ -0,0 +1,18 @@
+diff --git a/cmake/GazeboUtils.cmake b/cmake/GazeboUtils.cmake
+index f1710e9..ace50f9 100644
+--- a/cmake/GazeboUtils.cmake
++++ b/cmake/GazeboUtils.cmake
+@@ -146,13 +146,11 @@ endmacro ()
+ #################################################
+ macro (gz_setup_unix)
+     # Using dynamic linking in UNIX by default
+-    set(BUILD_SHARED_LIBS TRUE)
+ endmacro()
+
+ #################################################
+ macro (gz_setup_windows)
+     # Using dynamic linking in Windows by default
+-    set(BUILD_SHARED_LIBS TRUE)
+     add_definitions(-DWIN32_LEAN_AND_MEAN)
+
+     # Need for M_PI constant
diff --git a/ports/gazebo/fix-msgs.patch b/ports/gazebo/fix-msgs.patch
@@ -0,0 +1,13 @@
+diff --git a/gazebo/msgs/msgs.cc b/gazebo/msgs/msgs.cc
+--- a/gazebo/msgs/msgs.cc
++++ b/gazebo/msgs/msgs.cc
+@@ -16,8 +16,9 @@
+ */
+
+ #include <google/protobuf/descriptor.h>
+ #include <algorithm>
++#include <array>
+ #include <ignition/math/MassMatrix3.hh>
+ #include <ignition/math/Rand.hh>
+
+ #include "gazebo/common/CommonIface.hh"
diff --git a/ports/gazebo/fix-opengl-def.patch b/ports/gazebo/fix-opengl-def.patch
@@ -0,0 +1,13 @@
+diff --git a/gazebo/rendering/RenderEngine.cc b/gazebo/rendering/RenderEngine.cc
+index 87d78ea95d..bd90493266 100644
+--- a/gazebo/rendering/RenderEngine.cc
++++ b/gazebo/rendering/RenderEngine.cc
+@@ -22,6 +22,8 @@
+
+ // Not Apple or Windows
+ #if not defined(__APPLE__) && not defined(_WIN32)
++#define GL_GLEXT_LEGACY
++#define GLX_GLXEXT_LEGACY
+ # include <X11/Xlib.h>
+ # include <X11/Xutil.h>
+ # include <GL/glx.h>
diff --git a/ports/gazebo/portfile.cmake b/ports/gazebo/portfile.cmake
@@ -1,26 +1,23 @@
-vcpkg_download_distfile(gazebo3211
-    URLS "https://patch-diff.githubusercontent.com/raw/osrf/gazebo/pull/3211.diff"
-    FILENAME "gazebo3211.diff"
-    SHA512 761e254866d4705acc0b81479285f979c436b3b611739a207a575031d8a8daba48de4fc0c8de5edb9a9f89725586c5caeef9e6e1e3d63a2d961ca09df974f7de
-)
-
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
-    REPO osrf/gazebo
-    REF 382dcc3f36095a8d79b5bc9c8b8ad346e867c51d
-    SHA512 57638cd0b23b5f2bfd32fdc159d6cd77ca34e3bd695c225591979aef4b7271eac93d3706fa1ffa2340f90013267a4171bebe1e4c142f19ad2bf67963dfed627e
-    HEAD_REF gazebo11
+    REPO gazebosim/gazebo-classic
+    REF gazebo11_${VERSION}
+    SHA512 50a5160dc1fb30cd517bf6937675359e2db01a46eeacad5e1ca5cf61ee36bcb4a9d425d6dabe32fecb705989fb54f2ad807b43b7f39f88a871e1bec9d3f6c70a
     PATCHES
         0001-Fix-deps.patch
-        "${gazebo3211}"
-        fix-tbb.patch # Effectively https://github.com/osrf/gazebo/pull/3174 with merge conflict resolutions
+        fix-build-type.patch
+        fix-opengl-def.patch
+        add-features.patch
+        fix-msgs.patch
 )
 
 vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
     FEATURES
         openal    HAVE_OPENAL
         ffmpeg    FFMPEG_FEATURE
         gts       GTS_FEATURE
+        plugins   BUILD_PLUGINS
+        tools     BUILD_TOOLS
     INVERTED_FEATURES
         simbody   CMAKE_DISABLE_FIND_PACKAGE_Simbody
         dart      CMAKE_DISABLE_FIND_PACKAGE_DART
@@ -33,9 +30,10 @@ vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
 vcpkg_cmake_configure(
     SOURCE_PATH "${SOURCE_PATH}"
     OPTIONS
+        ${FEATURE_OPTIONS}
         -DUSE_EXTERNAL_TINY_PROCESS_LIBRARY=ON
         "-DPKG_CONFIG_EXECUTABLE=${CURRENT_HOST_INSTALLED_DIR}/tools/pkgconf/pkgconf${VCPKG_HOST_EXECUTABLE_SUFFIX}"
-        ${FEATURE_OPTIONS}
+        -DPKG_CONFIG_USE_CMAKE_PREFIX_PATH=ON
         -DBUILD_TESTING=OFF  # Not enabled by default, but to be sure
 )
 
@@ -50,11 +48,15 @@ foreach(postfix "" "-11")
     vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/share/${PORT}${postfix}/setup.sh" "${CURRENT_INSTALLED_DIR}" "`dirname $0`/../..")
 endforeach()
 
+set(BINARIES_LIST gazebo gzclient gzserver)
+if (BUILD_TOOLS) 
+    set(BINARIES_LIST ${BINARIES_LIST} gz)
+endif()
 vcpkg_copy_tools(
-    TOOL_NAMES gazebo gz gzclient gzserver
+    TOOL_NAMES ${BINARIES_LIST}
     AUTO_CLEAN
 )
-set(EXTRA_OGRE_LIBS Codec_EXR Codec_FreeImage Codec_STBI OgreBites OgreMain OgreMeshLodGenerator OgreOverlay OgrePaging OgreProperty OgreRTShaderSystem OgreTerrain OgreVolume Plugin_BSPSceneManager Plugin_DotScene Plugin_OctreeSceneManager Plugin_OctreeZone Plugin_ParticleFX Plugin_PCZSceneManager RenderSystem_Direct3D11 RenderSystem_GL RenderSystem_GL3Plus)
+set(EXTRA_OGRE_LIBS Codec_FreeImage Codec_STBI OgreBites OgreMain OgreMeshLodGenerator OgreOverlay OgrePaging OgreProperty OgreRTShaderSystem OgreTerrain OgreVolume Plugin_BSPSceneManager Plugin_DotScene Plugin_OctreeSceneManager Plugin_OctreeZone Plugin_ParticleFX Plugin_PCZSceneManager RenderSystem_Direct3D11 RenderSystem_GL RenderSystem_GL3Plus)
 foreach(LIB IN LISTS EXTRA_OGRE_LIBS)
     set(FILE_NAME "${CMAKE_SHARED_LIBRARY_PREFIX}${LIB}${CMAKE_SHARED_LIBRARY_SUFFIX}")
     file(COPY "${CURRENT_INSTALLED_DIR}/bin/${FILE_NAME}" DESTINATION "${CURRENT_PACKAGES_DIR}/tools/${PORT}")