Fix build errors on Windows + VS2022

dart/common/IncludeWindows.hpp

@@ -0,0 +1,50 @@
+/*
+ * Copyright (c) 2011-2022, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_COMMON_INCLUDEWINDOWS_HPP_
+#define DART_COMMON_INCLUDEWINDOWS_HPP_
+
+#ifdef _WIN32
+  #ifdef NOMINMAX
+    #include <windows.h>
+    #undef near
+    #undef far
+  #else
+    #define NOMINMAX
+    #include <windows.h>
+    #undef NOMINMAX
+    #undef near
+    #undef far
+  #endif
+#endif
+
+#endif // DART_COMMON_INCLUDEWINDOWS_HPP_

dart/common/SharedLibrary.hpp

@@ -50,13 +50,7 @@
 
 #elif DART_OS_WINDOWS
 
-  #ifdef NOMINMAX
-    #include <windows.h>
-  #else
-    #define NOMINMAX
-    #include <windows.h>
-    #undef NOMINMAX
-  #endif
+  #include "dart/common/IncludeWindows.hpp"
 using hInstance = HINSTANCE__*;
   #define DYNLIB_HANDLE hInstance
 

dart/common/Timer.hpp

@@ -36,18 +36,7 @@
 #include <string>
 
 #ifdef _WIN32
-  #ifdef NOMINMAX
-    #include <windows.h>
-  #else
-    #define NOMINMAX
-    #include <windows.h>
-    #undef NOMINMAX
-  #endif
-typedef struct
-{
-  LARGE_INTEGER start;
-  LARGE_INTEGER stop;
-} stopWatch;
+  #include "dart/common/IncludeWindows.hpp"
 #else
   #include <sys/time.h>
 #endif
@@ -101,7 +90,12 @@ class DART_DEPRECATED(6.13) Timer
   int mCount;
 
 #ifdef _WIN32
-  stopWatch mTimer;
+  struct StopWatch
+  {
+    LARGE_INTEGER start;
+    LARGE_INTEGER stop;
+  };
+  StopWatch mTimer;
 #else
   timeval mTimeVal;
   double mStartedTime;

dart/common/detail/SharedLibraryManager.hpp

@@ -41,6 +41,8 @@
 #include "dart/common/Filesystem.hpp"
 #include "dart/common/Singleton.hpp"
 
+#ifndef _WIN32
+
 namespace std {
 
 template <>
@@ -54,6 +56,8 @@ struct hash<::dart::common::filesystem::path>
 
 } // namespace std
 
+#endif
+
 namespace dart {
 namespace common {
 

dart/constraint/ConstraintSolver.cpp

@@ -406,8 +406,13 @@ bool ConstraintSolver::containSkeleton(const ConstSkeletonPtr& skeleton) const
 //==============================================================================
 bool ConstraintSolver::hasSkeleton(const ConstSkeletonPtr& skeleton) const
 {
+#if _WIN32
+  DART_ASSERT(
+      skeleton != nullptr && "Not allowed to insert null pointer skeleton.");
+#else
   DART_ASSERT(
       skeleton != nullptr, "Not allowed to insert null pointer skeleton.");
+#endif
 
   for (const auto& itrSkel : mSkeletons)
   {

dart/gui/LoadOpengl.hpp

@@ -34,13 +34,7 @@
 #define DART_GUI_LOADOPENGL_HPP_
 
 #if defined(_WIN32)
-  #ifdef NOMINMAX
-    #include <windows.h>
-  #else
-    #define NOMINMAX
-    #include <windows.h>
-    #undef NOMINMAX
-  #endif
+  #include "dart/common/IncludeWindows.hpp"
   #include <GL/gl.h>
   #include <GL/glu.h>
 #elif defined(__linux__)

dart/gui/osg/DefaultEventHandler.cpp

@@ -103,13 +103,13 @@ Eigen::Vector3d DefaultEventHandler::getDeltaCursor(
   ::osg::Vec3d eye, center, up;
   mViewer->getCamera()->getViewMatrixAsLookAt(eye, center, up);
 
-  Eigen::Vector3d near, far;
-  getNearAndFarPointUnderCursor(near, far);
-  Eigen::Vector3d v1 = far - near;
+  Eigen::Vector3d nearPt, farPt;
+  getNearAndFarPointUnderCursor(nearPt, farPt);
+  Eigen::Vector3d v1 = farPt - nearPt;
 
   if (LINE_CONSTRAINT == _constraint)
   {
-    const Eigen::Vector3d& b1 = near;
+    const Eigen::Vector3d& b1 = nearPt;
     const Eigen::Vector3d& v2 = _constraintVector;
     const Eigen::Vector3d& b2 = _fromPosition;
 
@@ -131,22 +131,22 @@ Eigen::Vector3d DefaultEventHandler::getDeltaCursor(
   else if (PLANE_CONSTRAINT == _constraint)
   {
     const Eigen::Vector3d& n = _constraintVector;
-    double s = n.dot(_fromPosition - near) / n.dot(v1);
-    return near - _fromPosition + s * v1;
+    double s = n.dot(_fromPosition - nearPt) / n.dot(v1);
+    return nearPt - _fromPosition + s * v1;
   }
   else
   {
     Eigen::Vector3d n = osgToEigVec3(center - eye);
-    double s = n.dot(_fromPosition - near) / n.dot(v1);
-    return near - _fromPosition + s * v1;
+    double s = n.dot(_fromPosition - nearPt) / n.dot(v1);
+    return nearPt - _fromPosition + s * v1;
   }
 
   return Eigen::Vector3d::Zero();
 }
 
 //==============================================================================
 void DefaultEventHandler::getNearAndFarPointUnderCursor(
-    Eigen::Vector3d& near, Eigen::Vector3d& far, double distance) const
+    Eigen::Vector3d& nearPt, Eigen::Vector3d& farPt, double distance) const
 {
   ::osg::Camera* C = mViewer->getCamera();
   ::osg::Matrix VPW = C->getViewMatrix() * C->getProjectionMatrix()
@@ -158,8 +158,8 @@ void DefaultEventHandler::getNearAndFarPointUnderCursor(
   auto osgNear = ::osg::Vec3d(x, y, 0.0) * invVPW;
   auto osgFar = ::osg::Vec3d(x, y, distance) * invVPW;
 
-  near = osgToEigVec3(osgNear);
-  far = osgToEigVec3(osgFar);
+  nearPt = osgToEigVec3(osgNear);
+  farPt = osgToEigVec3(osgFar);
 }
 
 //==============================================================================

dart/gui/osg/TrackballManipulator.hpp

@@ -64,7 +64,7 @@ namespace osg {
 // and dart::gui::osg, we need to explicitly specify the root namespace osg as
 // ::osg
 
-class OSGGA_EXPORT TrackballManipulator : public ::osgGA::OrbitManipulator
+class TrackballManipulator : public ::osgGA::OrbitManipulator
 {
 public:
   /// Constructor

dart/gui/osg/render/MeshShapeNode.cpp

@@ -935,7 +935,7 @@ void MeshShapeGeometry::extractData(bool firstTime)
   // Load textures on the first pass through
   if (firstTime)
   {
-    uint unit = 0;
+    unsigned int unit = 0;
     const aiVector3D* aiTexCoords = mAiMesh->mTextureCoords[unit];
 
     while (nullptr != aiTexCoords)

python/dartpy/CMakeLists.txt

@@ -13,22 +13,15 @@ endif()
 # Find pybind11, including PythonInterp and PythonLibs
 # Needs to set PYBIND11_PYTHON_VERSION before finding pybind11
 set(PYBIND11_PYTHON_VERSION ${DARTPY_PYTHON_VERSION})
+if(WIN32)
+  set(PYBIND11_FINDPYTHON TRUE)
+endif()
 find_package(pybind11 2.2.0 QUIET)
 if(NOT pybind11_FOUND)
   message(WARNING "Disabling [dartpy] due to missing pybind11 >= 2.2.0.")
   return()
 endif()
 
-if(NOT PythonInterp_FOUND AND NOT PYTHONINTERP_FOUND)
-  message(WARNING "Disabling [dartpy] due to missing [PythonInterp].")
-  return()
-endif()
-
-if(NOT PythonLibs_FOUND AND NOT PYTHONLIBS_FOUND)
-  message(WARNING "Disabling [dartpy] due to missing [PythonLibs].")
-  return()
-endif()
-
 execute_process(COMMAND ${PYTHON_EXECUTABLE} -c
   "from distutils.sysconfig import get_python_lib;\
   print(get_python_lib(plat_specific=True, prefix=''))"

python/dartpy/gui/osg/GUIEventHandler.cpp

@@ -65,7 +65,7 @@ class PyGUIEventHandler final : public GUIEventHandlerNoRef
 {
 public:
   // Inherit the constructors
-  using GUIEventHandlerNoRef::GUIEventHandler;
+  using GUIEventHandlerNoRef::GUIEventHandlerNoRef;
 
   // Trampoline for virtual function
   bool handle(