Fix finding OSG on Windows

cmake/DARTFindBullet.cmake

@@ -6,6 +6,8 @@
 #
 # This file is provided under the "BSD-style" License
 
+include(CMakeParseArguments)
+
 # Bullet. Force MODULE mode to use the FindBullet.cmake file distributed with
 # CMake. Otherwise, we may end up using the BulletConfig.cmake file distributed
 # with Bullet, which uses relative paths and may break transitive dependencies.

cmake/DARTFindOpenSceneGraph.cmake

@@ -6,6 +6,8 @@
 #
 # This file is provided under the "BSD-style" License
 
+include(CMakeParseArguments)
+
 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)
@@ -55,9 +57,19 @@ endif()
 # variables contain absolute paths of OpenSceneGraph that could be different in
 # 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)
+  if(WIN32 AND "optimized" IN_LIST OPENSCENEGRAPH_LIBRARIES
+          AND     "debug" IN_LIST OPENSCENEGRAPH_LIBRARIES)
+    cmake_parse_arguments(OPENSCENEGRAPH_INTERFACE_LIBRARIES "" "" "debug;optimized"
+        ${OPENSCENEGRAPH_LIBRARIES})
+    set(OPENSCENEGRAPH_INTERFACE_LIBRARIES
+        $<$<CONFIG:Debug>:${OPENSCENEGRAPH_INTERFACE_LIBRARIES_debug}>
+        $<$<NOT:$<CONFIG:Debug>>:${OPENSCENEGRAPH_INTERFACE_LIBRARIES_optimized}>)
+  else()
+    set(OPENSCENEGRAPH_INTERFACE_LIBRARIES ${OPENSCENEGRAPH_LIBRARIES})
+  endif()
   add_library(osg::osg INTERFACE IMPORTED)
   set_target_properties(osg::osg PROPERTIES
     INTERFACE_INCLUDE_DIRECTORIES "${OPENSCENEGRAPH_INCLUDE_DIRS}"
-    INTERFACE_LINK_LIBRARIES "${OPENSCENEGRAPH_LIBRARIES}"
+    INTERFACE_LINK_LIBRARIES "${OPENSCENEGRAPH_INTERFACE_LIBRARIES}"
   )
 endif()