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conda-forge / libignition-physics-feedstock

A conda-smithy repository for libignition-physics.
BSD 3-Clause "New" or "Revised" License
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Enable compilation of part that depend on sdformat and dartsim on Windows #12

Closed traversaro closed 3 years ago

traversaro commented 3 years ago

This required a bit of tricks to work with the heavily patched DART 6.9.5 to work on Windows, to switch to use VS2019 and to apply locally https://github.com/ignitionrobotics/ign-physics/pull/148 . However, unit tests seems to be working fine now.

Fix https://github.com/conda-forge/libignition-physics-feedstock/issues/7 . Fix https://github.com/conda-forge/libignition-physics-feedstock/issues/8 .

Checklist

conda-forge-linter commented 3 years ago

Hi! This is the friendly automated conda-forge-linting service.

I just wanted to let you know that I linted all conda-recipes in your PR (recipe) and found it was in an excellent condition.

traversaro commented 3 years ago

As a preliminary step, I enabled tests to ensure that we did not had any regression, but there are some failures, it seems due to a missing libode run_export.

conda-forge-linter commented 3 years ago

Hi! This is the friendly automated conda-forge-linting service.

I wanted to let you know that I linted all conda-recipes in your PR (recipe) and found some lint.

Here's what I've got...

For recipe:

conda-forge-linter commented 3 years ago

Hi! This is the friendly automated conda-forge-linting service.

I just wanted to let you know that I linted all conda-recipes in your PR (recipe) and found it was in an excellent condition.

traversaro commented 3 years ago

Some parts of dart are missing on Windows:

Could NOT find DART (missing: collision-ode) (Required is at least version "6.9")
traversaro commented 3 years ago

Blocked by https://github.com/conda-forge/dartsim-feedstock/pull/7 .

Tobias-Fischer commented 3 years ago

It fails with this:

2021-03-25T06:04:26.5626147Z %PREFIX%\Library\include\fcl/narrowphase/detail/traversal/octree/collision/octree_collision_traversal_node.h(42,5): error: invalid token at start of a preprocessor expression
2021-03-25T06:04:26.7525916Z #if not(FCL_HAVE_OCTOMAP)

visual studio doesn't like not, and, or. Replacing with ! should help.

Tobias-Fischer commented 3 years ago

Blocked by https://github.com/conda-forge/fcl-feedstock/pull/7

Tobias-Fischer commented 3 years ago

I wonder if there are other instances ..

traversaro commented 3 years ago

I wonder if there are other instances ..

Related: https://github.com/flexible-collision-library/fcl/pull/530#issuecomment-806541573 .

Tobias-Fischer commented 3 years ago

Seems like there is much more fun to be had @traversaro ..

2021-03-26T02:26:57.1745412Z    Creating library lib\MockDoublePendulum.lib and object lib\MockDoublePendulum.exp
2021-03-26T02:26:57.1747184Z dart.lib(MeshShape.cpp.obj) : error LNK2019: unresolved external symbol "public: __cdecl aiNode::~aiNode(void)" (??1aiNode@@QEAA@XZ) referenced in function "public: __cdecl aiScene::~aiScene(void)" (??1aiScene@@QEAA@XZ)
2021-03-26T02:26:57.1750506Z dart.lib(MeshShape.cpp.obj) : error LNK2019: unresolved external symbol aiImportFileExWithProperties referenced in function "public: static struct aiScene const * __cdecl dart::dynamics::MeshShape::loadMesh(class std::basic_string<char,struct std::char_traits<char>,class std::allocator<char> > const &,class std::shared_ptr<class dart::common::ResourceRetriever> const &)" (?loadMesh@MeshShape@dynamics@dart@@SAPEBUaiScene@@AEBV?$basic_string@DU?$char_traits@D@std@@V?$allocator@D@2@@std@@AEBV?$shared_ptr@VResourceRetriever@common@dart@@@6@@Z)
2021-03-26T02:26:57.1755957Z dart.lib(MeshShape.cpp.obj) : error LNK2019: unresolved external symbol aiApplyPostProcessing referenced in function "public: static struct aiScene const * __cdecl dart::dynamics::MeshShape::loadMesh(class std::basic_string<char,struct std::char_traits<char>,class std::allocator<char> > const &,class std::shared_ptr<class dart::common::ResourceRetriever> const &)" (?loadMesh@MeshShape@dynamics@dart@@SAPEBUaiScene@@AEBV?$basic_string@DU?$char_traits@D@std@@V?$allocator@D@2@@std@@AEBV?$shared_ptr@VResourceRetriever@common@dart@@@6@@Z)
2021-03-26T02:26:57.1758997Z dart.lib(MeshShape.cpp.obj) : error LNK2019: unresolved external symbol aiReleaseImport referenced in function "public: virtual __cdecl dart::dynamics::MeshShape::~MeshShape(void)" (??1MeshShape@dynamics@dart@@UEAA@XZ)
2021-03-26T02:26:57.1762076Z dart.lib(MeshShape.cpp.obj) : error LNK2019: unresolved external symbol aiCreatePropertyStore referenced in function "public: static struct aiScene const * __cdecl dart::dynamics::MeshShape::loadMesh(class std::basic_string<char,struct std::char_traits<char>,class std::allocator<char> > const &,class std::shared_ptr<class dart::common::ResourceRetriever> const &)" (?loadMesh@MeshShape@dynamics@dart@@SAPEBUaiScene@@AEBV?$basic_string@DU?$char_traits@D@std@@V?$allocator@D@2@@std@@AEBV?$shared_ptr@VResourceRetriever@common@dart@@@6@@Z)
2021-03-26T02:26:57.1767599Z dart.lib(MeshShape.cpp.obj) : error LNK2019: unresolved external symbol aiReleasePropertyStore referenced in function "public: static struct aiScene const * __cdecl dart::dynamics::MeshShape::loadMesh(class std::basic_string<char,struct std::char_traits<char>,class std::allocator<char> > const &,class std::shared_ptr<class dart::common::ResourceRetriever> const &)" (?loadMesh@MeshShape@dynamics@dart@@SAPEBUaiScene@@AEBV?$basic_string@DU?$char_traits@D@std@@V?$allocator@D@2@@std@@AEBV?$shared_ptr@VResourceRetriever@common@dart@@@6@@Z)
2021-03-26T02:26:57.1772353Z dart.lib(MeshShape.cpp.obj) : error LNK2019: unresolved external symbol aiSetImportPropertyInteger referenced in function "public: static struct aiScene const * __cdecl dart::dynamics::MeshShape::loadMesh(class std::basic_string<char,struct std::char_traits<char>,class std::allocator<char> > const &,class std::shared_ptr<class dart::common::ResourceRetriever> const &)" (?loadMesh@MeshShape@dynamics@dart@@SAPEBUaiScene@@AEBV?$basic_string@DU?$char_traits@D@std@@V?$allocator@D@2@@std@@AEBV?$shared_ptr@VResourceRetriever@common@dart@@@6@@Z)
2021-03-26T02:26:57.1777420Z dart.lib(AssimpInputResourceAdaptor.cpp.obj) : error LNK2019: unresolved external symbol "public: static void * __cdecl Assimp::Intern::AllocateFromAssimpHeap::operator new(unsigned __int64)" (??2AllocateFromAssimpHeap@Intern@Assimp@@SAPEAX_K@Z) referenced in function "public: virtual class Assimp::IOStream * __cdecl dart::dynamics::AssimpInputResourceRetrieverAdaptor::Open(char const *,char const *)" (?Open@AssimpInputResourceRetrieverAdaptor@dynamics@dart@@UEAAPEAVIOStream@Assimp@@PEBD0@Z)
2021-03-26T02:26:57.1781779Z dart.lib(AssimpInputResourceAdaptor.cpp.obj) : error LNK2019: unresolved external symbol "public: static void __cdecl Assimp::Intern::AllocateFromAssimpHeap::operator delete(void *)" (??3AllocateFromAssimpHeap@Intern@Assimp@@SAXPEAX@Z) referenced in function "public: virtual void * __cdecl dart::dynamics::AssimpInputResourceAdaptor::`scalar deleting destructor'(unsigned int)" (??_GAssimpInputResourceAdaptor@dynamics@dart@@UEAAPEAXI@Z)
2021-03-26T02:26:57.1785530Z dart.lib(AssimpInputResourceAdaptor.cpp.obj) : error LNK2001: unresolved external symbol "public: virtual bool __cdecl Assimp::IOSystem::ComparePaths(char const *,char const *)const " (?ComparePaths@IOSystem@Assimp@@UEBA_NPEBD0@Z)
2021-03-26T02:26:57.1788459Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: __cdecl fcl::Triangle::Triangle(void)" (??0Triangle@fcl@@QEAA@XZ) referenced in function "public: int __cdecl fcl::BVHModel<class fcl::OBBRSS<double> >::addTriangle(class Eigen::Matrix<double,3,1,0,3,1> const &,class Eigen::Matrix<double,3,1,0,3,1> const &,class Eigen::Matrix<double,3,1,0,3,1> const &)" (?addTriangle@?$BVHModel@V?$OBBRSS@N@fcl@@@fcl@@QEAAHAEBV?$Matrix@N$02$00$0A@$02$00@Eigen@@00@Z)
2021-03-26T02:26:57.1793898Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: void __cdecl fcl::Triangle::set(unsigned __int64,unsigned __int64,unsigned __int64)" (?set@Triangle@fcl@@QEAAX_K00@Z) referenced in function "public: int __cdecl fcl::BVHModel<class fcl::OBBRSS<double> >::addTriangle(class Eigen::Matrix<double,3,1,0,3,1> const &,class Eigen::Matrix<double,3,1,0,3,1> const &,class Eigen::Matrix<double,3,1,0,3,1> const &)" (?addTriangle@?$BVHModel@V?$OBBRSS@N@fcl@@@fcl@@QEAAHAEBV?$Matrix@N$02$00$0A@$02$00@Eigen@@00@Z)
2021-03-26T02:26:57.1798323Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: unsigned __int64 __cdecl fcl::Triangle::operator[](int)const " (??ATriangle@fcl@@QEBA_KH@Z) referenced in function "void __cdecl fcl::detail::computeSplitValue_mean<double,class fcl::OBBRSS<double> >(class fcl::OBBRSS<double> const &,class Eigen::Matrix<double,3,1,0,3,1> *,class fcl::Triangle *,unsigned int *,int,enum fcl::BVHModelType,class Eigen::Matrix<double,3,1,0,3,1> const &,double &)" (??$computeSplitValue_mean@NV?$OBBRSS@N@fcl@@@detail@fcl@@YAXAEBV?$OBBRSS@N@1@PEAV?$Matrix@N$02$00$0A@$02$00@Eigen@@PEAVTriangle@1@PEAIHW4BVHModelType@1@AEBV34@AEAN@Z)
2021-03-26T02:26:57.1802427Z dart.lib(FCLCollisionObject.cpp.obj) : error LNK2001: unresolved external symbol "public: unsigned __int64 __cdecl fcl::Triangle::operator[](int)const " (??ATriangle@fcl@@QEBA_KH@Z)
2021-03-26T02:26:57.1806080Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "void __cdecl fcl::eigen_old<double>(class Eigen::Matrix<double,3,3,0,3,3> const &,class Eigen::Matrix<double,3,1,0,3,1> &,class Eigen::Matrix<double,3,3,0,3,3> &)" (??$eigen_old@N@fcl@@YAXAEBV?$Matrix@N$02$02$0A@$02$02@Eigen@@AEAV?$Matrix@N$02$00$0A@$02$00@2@AEAV12@@Z) referenced in function "public: virtual class fcl::OBBRSS<double> __cdecl fcl::detail::BVFitter<class fcl::OBBRSS<double> >::fit(unsigned int *,int)" (?fit@?$BVFitter@V?$OBBRSS@N@fcl@@@detail@fcl@@UEAA?AV?$OBBRSS@N@3@PEAIH@Z)
2021-03-26T02:26:57.1811293Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "void __cdecl fcl::axisFromEigen<double>(class Eigen::Matrix<double,3,3,0,3,3> const &,class Eigen::Matrix<double,3,1,0,3,1> const &,class Eigen::Matrix<double,3,3,0,3,3> &)" (??$axisFromEigen@N@fcl@@YAXAEBV?$Matrix@N$02$02$0A@$02$02@Eigen@@AEBV?$Matrix@N$02$00$0A@$02$00@2@AEAV12@@Z) referenced in function "public: virtual class fcl::OBBRSS<double> __cdecl fcl::detail::BVFitter<class fcl::OBBRSS<double> >::fit(unsigned int *,int)" (?fit@?$BVFitter@V?$OBBRSS@N@fcl@@@detail@fcl@@UEAA?AV?$OBBRSS@N@3@PEAIH@Z)
2021-03-26T02:26:57.1817443Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "void __cdecl fcl::getRadiusAndOriginAndRectangleSize<double>(class Eigen::Matrix<double,3,1,0,3,1> const * const,class Eigen::Matrix<double,3,1,0,3,1> const * const,class fcl::Triangle *,unsigned int *,int,class Eigen::Matrix<double,3,3,0,3,3> const &,class Eigen::Matrix<double,3,1,0,3,1> &,double * const,double &)" (??$getRadiusAndOriginAndRectangleSize@N@fcl@@YAXQEBV?$Matrix@N$02$00$0A@$02$00@Eigen@@0PEAVTriangle@0@PEAIHAEBV?$Matrix@N$02$02$0A@$02$02@2@AEAV12@QEANAEAN@Z) referenced in function "public: virtual class fcl::OBBRSS<double> __cdecl fcl::detail::BVFitter<class fcl::OBBRSS<double> >::fit(unsigned int *,int)" (?fit@?$BVFitter@V?$OBBRSS@N@fcl@@@detail@fcl@@UEAA?AV?$OBBRSS@N@3@PEAIH@Z)
2021-03-26T02:26:57.1827549Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "void __cdecl fcl::getExtentAndCenter<double>(class Eigen::Matrix<double,3,1,0,3,1> const * const,class Eigen::Matrix<double,3,1,0,3,1> const * const,class fcl::Triangle *,unsigned int *,int,class Eigen::Matrix<double,3,3,0,3,3> const &,class Eigen::Matrix<double,3,1,0,3,1> &,class Eigen::Matrix<double,3,1,0,3,1> &)" (??$getExtentAndCenter@N@fcl@@YAXQEBV?$Matrix@N$02$00$0A@$02$00@Eigen@@0PEAVTriangle@0@PEAIHAEBV?$Matrix@N$02$02$0A@$02$02@2@AEAV12@4@Z) referenced in function "public: virtual class fcl::OBBRSS<double> __cdecl fcl::detail::BVFitter<class fcl::OBBRSS<double> >::fit(unsigned int *,int)" (?fit@?$BVFitter@V?$OBBRSS@N@fcl@@@detail@fcl@@UEAA?AV?$OBBRSS@N@3@PEAIH@Z)
2021-03-26T02:26:57.1838663Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "void __cdecl fcl::getCovariance<double>(class Eigen::Matrix<double,3,1,0,3,1> const * const,class Eigen::Matrix<double,3,1,0,3,1> const * const,class fcl::Triangle *,unsigned int *,int,class Eigen::Matrix<double,3,3,0,3,3> &)" (??$getCovariance@N@fcl@@YAXQEBV?$Matrix@N$02$00$0A@$02$00@Eigen@@0PEAVTriangle@0@PEAIHAEAV?$Matrix@N$02$02$0A@$02$02@2@@Z) referenced in function "public: virtual class fcl::OBBRSS<double> __cdecl fcl::detail::BVFitter<class fcl::OBBRSS<double> >::fit(unsigned int *,int)" (?fit@?$BVFitter@V?$OBBRSS@N@fcl@@@detail@fcl@@UEAA?AV?$OBBRSS@N@3@PEAIH@Z)
2021-03-26T02:26:57.1845370Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: __cdecl fcl::OBB<double>::OBB<double>(void)" (??0?$OBB@N@fcl@@QEAA@XZ) referenced in function "public: __cdecl fcl::BVNode<class fcl::OBBRSS<double> >::BVNode<class fcl::OBBRSS<double> >(void)" (??0?$BVNode@V?$OBBRSS@N@fcl@@@fcl@@QEAA@XZ)
2021-03-26T02:26:57.1869689Z dart.lib(FCLCollisionObject.cpp.obj) : error LNK2001: unresolved external symbol "public: __cdecl fcl::OBB<double>::OBB<double>(void)" (??0?$OBB@N@fcl@@QEAA@XZ)
2021-03-26T02:26:57.1872353Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: __cdecl fcl::AABB<double>::AABB<double>(void)" (??0?$AABB@N@fcl@@QEAA@XZ) referenced in function "public: virtual void __cdecl fcl::BVHModel<class fcl::OBBRSS<double> >::computeLocalAABB(void)" (?computeLocalAABB@?$BVHModel@V?$OBBRSS@N@fcl@@@fcl@@UEAAXXZ)
2021-03-26T02:26:57.1877228Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: class fcl::AABB<double> & __cdecl fcl::AABB<double>::operator+=(class Eigen::Matrix<double,3,1,0,3,1> const &)" (??Y?$AABB@N@fcl@@QEAAAEAV01@AEBV?$Matrix@N$02$00$0A@$02$00@Eigen@@@Z) referenced in function "public: virtual void __cdecl fcl::BVHModel<class fcl::OBBRSS<double> >::computeLocalAABB(void)" (?computeLocalAABB@?$BVHModel@V?$OBBRSS@N@fcl@@@fcl@@UEAAXXZ)
2021-03-26T02:26:57.1881585Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: class Eigen::Matrix<double,3,1,0,3,1> __cdecl fcl::AABB<double>::center(void)const " (?center@?$AABB@N@fcl@@QEBA?AV?$Matrix@N$02$00$0A@$02$00@Eigen@@XZ) referenced in function "public: virtual void __cdecl fcl::BVHModel<class fcl::OBBRSS<double> >::computeLocalAABB(void)" (?computeLocalAABB@?$BVHModel@V?$OBBRSS@N@fcl@@@fcl@@UEAAXXZ)
2021-03-26T02:26:57.1885756Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: __cdecl fcl::RSS<double>::RSS<double>(void)" (??0?$RSS@N@fcl@@QEAA@XZ) referenced in function "public: __cdecl fcl::BVNode<class fcl::OBBRSS<double> >::BVNode<class fcl::OBBRSS<double> >(void)" (??0?$BVNode@V?$OBBRSS@N@fcl@@@fcl@@QEAA@XZ)
2021-03-26T02:26:57.1888397Z dart.lib(FCLCollisionObject.cpp.obj) : error LNK2001: unresolved external symbol "public: __cdecl fcl::RSS<double>::RSS<double>(void)" (??0?$RSS@N@fcl@@QEAA@XZ)
2021-03-26T02:26:57.1891212Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: __cdecl fcl::CollisionGeometry<double>::CollisionGeometry<double>(void)" (??0?$CollisionGeometry@N@fcl@@QEAA@XZ) referenced in function "public: __cdecl fcl::BVHModel<class fcl::OBBRSS<double> >::BVHModel<class fcl::OBBRSS<double> >(void)" (??0?$BVHModel@V?$OBBRSS@N@fcl@@@fcl@@QEAA@XZ)
2021-03-26T02:26:57.1895420Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: virtual __cdecl fcl::CollisionGeometry<double>::~CollisionGeometry<double>(void)" (??1?$CollisionGeometry@N@fcl@@UEAA@XZ) referenced in function "int `public: __cdecl fcl::BVHModel<class fcl::OBBRSS<double> >::BVHModel<class fcl::OBBRSS<double> >(void)'::`1'::dtor$0" (?dtor$0@?0???0?$BVHModel@V?$OBBRSS@N@fcl@@@fcl@@QEAA@XZ@4HA)
2021-03-26T02:26:57.1898306Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2001: unresolved external symbol "public: virtual class Eigen::Matrix<double,3,3,0,3,3> __cdecl fcl::CollisionGeometry<double>::computeMomentofInertiaRelatedToCOM(void)const " (?computeMomentofInertiaRelatedToCOM@?$CollisionGeometry@N@fcl@@UEBA?AV?$Matrix@N$02$02$0A@$02$02@Eigen@@XZ)
2021-03-26T02:26:57.1901736Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: class Eigen::Matrix<double,3,1,0,3,1> const __cdecl fcl::OBBRSS<double>::center(void)const " (?center@?$OBBRSS@N@fcl@@QEBA?BV?$Matrix@N$02$00$0A@$02$00@Eigen@@XZ) referenced in function "void __cdecl fcl::detail::computeSplitValue_bvcenter<double,class fcl::OBBRSS<double> >(class fcl::OBBRSS<double> const &,double &)" (??$computeSplitValue_bvcenter@NV?$OBBRSS@N@fcl@@@detail@fcl@@YAXAEBV?$OBBRSS@N@1@AEAN@Z)
2021-03-26T02:26:57.1909581Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: int __cdecl fcl::BVNodeBase::leftChild(void)const " (?leftChild@BVNodeBase@fcl@@QEBAHXZ) referenced in function "private: int __cdecl fcl::BVHModel<class fcl::OBBRSS<double> >::recursiveBuildTree(int,int,int)" (?recursiveBuildTree@?$BVHModel@V?$OBBRSS@N@fcl@@@fcl@@AEAAHHHH@Z)
2021-03-26T02:26:57.1912251Z dart.lib(FCLCollisionObject.cpp.obj) : error LNK2001: unresolved external symbol "public: int __cdecl fcl::BVNodeBase::leftChild(void)const " (?leftChild@BVNodeBase@fcl@@QEBAHXZ)
2021-03-26T02:26:57.1914556Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: int __cdecl fcl::BVNodeBase::rightChild(void)const " (?rightChild@BVNodeBase@fcl@@QEBAHXZ) referenced in function "private: int __cdecl fcl::BVHModel<class fcl::OBBRSS<double> >::recursiveBuildTree(int,int,int)" (?recursiveBuildTree@?$BVHModel@V?$OBBRSS@N@fcl@@@fcl@@AEAAHHHH@Z)
2021-03-26T02:26:57.1916868Z dart.lib(FCLCollisionObject.cpp.obj) : error LNK2001: unresolved external symbol "public: int __cdecl fcl::BVNodeBase::rightChild(void)const " (?rightChild@BVNodeBase@fcl@@QEBAHXZ)
2021-03-26T02:26:57.1922360Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: __cdecl fcl::Box<double>::Box<double>(double,double,double)" (??0?$Box@N@fcl@@QEAA@NNN@Z) referenced in function "private: class std::shared_ptr<class fcl::CollisionGeometry<double> > __cdecl dart::collision::FCLCollisionDetector::createFCLCollisionGeometry(class std::shared_ptr<class dart::dynamics::Shape const > const &,enum dart::collision::FCLCollisionDetector::PrimitiveShape,class dart::collision::FCLCollisionDetector::FCLCollisionGeometryDeleter const &)" (?createFCLCollisionGeometry@FCLCollisionDetector@collision@dart@@AEAA?AV?$shared_ptr@V?$CollisionGeometry@N@fcl@@@std@@AEBV?$shared_ptr@$$CBVShape@dynamics@dart@@@5@W4PrimitiveShape@123@AEBVFCLCollisionGeometryDeleter@123@@Z)
2021-03-26T02:26:57.1928846Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: __cdecl fcl::Ellipsoid<double>::Ellipsoid<double>(class Eigen::Matrix<double,3,1,0,3,1> const &)" (??0?$Ellipsoid@N@fcl@@QEAA@AEBV?$Matrix@N$02$00$0A@$02$00@Eigen@@@Z) referenced in function "private: class std::shared_ptr<class fcl::CollisionGeometry<double> > __cdecl dart::collision::FCLCollisionDetector::createFCLCollisionGeometry(class std::shared_ptr<class dart::dynamics::Shape const > const &,enum dart::collision::FCLCollisionDetector::PrimitiveShape,class dart::collision::FCLCollisionDetector::FCLCollisionGeometryDeleter const &)" (?createFCLCollisionGeometry@FCLCollisionDetector@collision@dart@@AEAA?AV?$shared_ptr@V?$CollisionGeometry@N@fcl@@@std@@AEBV?$shared_ptr@$$CBVShape@dynamics@dart@@@5@W4PrimitiveShape@123@AEBVFCLCollisionGeometryDeleter@123@@Z)
2021-03-26T02:26:57.1937149Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: __cdecl fcl::Halfspace<double>::Halfspace<double>(class Eigen::Matrix<double,3,1,0,3,1> const &,double)" (??0?$Halfspace@N@fcl@@QEAA@AEBV?$Matrix@N$02$00$0A@$02$00@Eigen@@N@Z) referenced in function "private: class std::shared_ptr<class fcl::CollisionGeometry<double> > __cdecl dart::collision::FCLCollisionDetector::createFCLCollisionGeometry(class std::shared_ptr<class dart::dynamics::Shape const > const &,enum dart::collision::FCLCollisionDetector::PrimitiveShape,class dart::collision::FCLCollisionDetector::FCLCollisionGeometryDeleter const &)" (?createFCLCollisionGeometry@FCLCollisionDetector@collision@dart@@AEAA?AV?$shared_ptr@V?$CollisionGeometry@N@fcl@@@std@@AEBV?$shared_ptr@$$CBVShape@dynamics@dart@@@5@W4PrimitiveShape@123@AEBVFCLCollisionGeometryDeleter@123@@Z)
2021-03-26T02:26:57.1944345Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: __cdecl fcl::Sphere<double>::Sphere<double>(double)" (??0?$Sphere@N@fcl@@QEAA@N@Z) referenced in function "private: class std::shared_ptr<class fcl::CollisionGeometry<double> > __cdecl dart::collision::FCLCollisionDetector::createFCLCollisionGeometry(class std::shared_ptr<class dart::dynamics::Shape const > const &,enum dart::collision::FCLCollisionDetector::PrimitiveShape,class dart::collision::FCLCollisionDetector::FCLCollisionGeometryDeleter const &)" (?createFCLCollisionGeometry@FCLCollisionDetector@collision@dart@@AEAA?AV?$shared_ptr@V?$CollisionGeometry@N@fcl@@@std@@AEBV?$shared_ptr@$$CBVShape@dynamics@dart@@@5@W4PrimitiveShape@123@AEBVFCLCollisionGeometryDeleter@123@@Z)
2021-03-26T02:26:57.1949328Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: __cdecl fcl::CollisionObject<double>::CollisionObject<double>(class std::shared_ptr<class fcl::CollisionGeometry<double> > const &)" (??0?$CollisionObject@N@fcl@@QEAA@AEBV?$shared_ptr@V?$CollisionGeometry@N@fcl@@@std@@@Z) referenced in function "protected: virtual void __cdecl dart::collision::FCLCollisionDetector::refreshCollisionObject(class dart::collision::CollisionObject *)" (?refreshCollisionObject@FCLCollisionDetector@collision@dart@@MEAAXPEAVCollisionObject@23@@Z)
2021-03-26T02:26:57.1953286Z dart.lib(FCLCollisionObject.cpp.obj) : error LNK2001: unresolved external symbol "public: __cdecl fcl::CollisionObject<double>::CollisionObject<double>(class std::shared_ptr<class fcl::CollisionGeometry<double> > const &)" (??0?$CollisionObject@N@fcl@@QEAA@AEBV?$shared_ptr@V?$CollisionGeometry@N@fcl@@@std@@@Z)
2021-03-26T02:26:57.1956811Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: __cdecl fcl::CollisionObject<double>::~CollisionObject<double>(void)" (??1?$CollisionObject@N@fcl@@QEAA@XZ) referenced in function "public: __cdecl std::unique_ptr<class fcl::CollisionObject<double>,struct std::default_delete<class fcl::CollisionObject<double> > >::~unique_ptr<class fcl::CollisionObject<double>,struct std::default_delete<class fcl::CollisionObject<double> > >(void)" (??1?$unique_ptr@V?$CollisionObject@N@fcl@@U?$default_delete@V?$CollisionObject@N@fcl@@@std@@@std@@QEAA@XZ)
2021-03-26T02:26:57.1960096Z dart.lib(FCLCollisionObject.cpp.obj) : error LNK2001: unresolved external symbol "public: __cdecl fcl::CollisionObject<double>::~CollisionObject<double>(void)" (??1?$CollisionObject@N@fcl@@QEAA@XZ)
2021-03-26T02:26:57.1963613Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: void * __cdecl fcl::CollisionObject<double>::getUserData(void)const " (?getUserData@?$CollisionObject@N@fcl@@QEBAPEAXXZ) referenced in function "bool __cdecl dart::collision::`anonymous namespace'::collisionCallback(class fcl::CollisionObject<double> *,class fcl::CollisionObject<double> *,void *)" (?collisionCallback@?A0x4e73b9cc@collision@dart@@YA_NPEAV?$CollisionObject@N@fcl@@0PEAX@Z)
2021-03-26T02:26:57.1968929Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: __cdecl fcl::CollisionResult<double>::CollisionResult<double>(void)" (??0?$CollisionResult@N@fcl@@QEAA@XZ) referenced in function "public: __cdecl dart::collision::`anonymous namespace'::FCLCollisionCallbackData::FCLCollisionCallbackData(struct dart::collision::CollisionOption const &,class dart::collision::CollisionResult *,enum dart::collision::FCLCollisionDetector::PrimitiveShape,enum dart::collision::FCLCollisionDetector::ContactPointComputationMethod)" (??0FCLCollisionCallbackData@?A0x4e73b9cc@collision@dart@@QEAA@AEBUCollisionOption@23@PEAVCollisionResult@23@W4PrimitiveShape@FCLCollisionDetector@23@W4ContactPointComputationMethod@723@@Z)
2021-03-26T02:26:57.1974478Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: bool __cdecl fcl::CollisionResult<double>::isCollision(void)const " (?isCollision@?$CollisionResult@N@fcl@@QEBA_NXZ) referenced in function "bool __cdecl dart::collision::`anonymous namespace'::collisionCallback(class fcl::CollisionObject<double> *,class fcl::CollisionObject<double> *,void *)" (?collisionCallback@?A0x4e73b9cc@collision@dart@@YA_NPEAV?$CollisionObject@N@fcl@@0PEAX@Z)
2021-03-26T02:26:57.1979062Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: unsigned __int64 __cdecl fcl::CollisionResult<double>::numContacts(void)const " (?numContacts@?$CollisionResult@N@fcl@@QEBA_KXZ) referenced in function "void __cdecl dart::collision::`anonymous namespace'::postProcessDART(struct fcl::CollisionResult<double> const &,class fcl::CollisionObject<double> *,class fcl::CollisionObject<double> *,struct dart::collision::CollisionOption const &,class dart::collision::CollisionResult &)" (?postProcessDART@?A0x4e73b9cc@collision@dart@@YAXAEBU?$CollisionResult@N@fcl@@PEAV?$CollisionObject@N@5@1AEBUCollisionOption@23@AEAVCollisionResult@23@@Z)
2021-03-26T02:26:57.1984869Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: struct fcl::Contact<double> const & __cdecl fcl::CollisionResult<double>::getContact(unsigned __int64)const " (?getContact@?$CollisionResult@N@fcl@@QEBAAEBU?$Contact@N@2@_K@Z) referenced in function "void __cdecl dart::collision::`anonymous namespace'::markColinearPoints<struct fcl::CollisionResult<double>,struct fcl::Contact<double>,&public: struct fcl::Contact<double> const & __cdecl fcl::CollisionResult<double>::getContact(unsigned __int64)const >(class std::vector<bool,class std::allocator<bool> > &,struct fcl::CollisionResult<double> const &,double)" (??$markColinearPoints@U?$CollisionResult@N@fcl@@U?$Contact@N@2@$1?getContact@12@QEBAAEBU32@_K@Z@?A0x4e73b9cc@collision@dart@@YAXAEAV?$vector@_NV?$allocator@_N@std@@@std@@AEBU?$CollisionResult@N@fcl@@N@Z)
2021-03-26T02:26:57.1990089Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: void __cdecl fcl::CollisionResult<double>::clear(void)" (?clear@?$CollisionResult@N@fcl@@QEAAXXZ) referenced in function "bool __cdecl dart::collision::`anonymous namespace'::collisionCallback(class fcl::CollisionObject<double> *,class fcl::CollisionObject<double> *,void *)" (?collisionCallback@?A0x4e73b9cc@collision@dart@@YA_NPEAV?$CollisionObject@N@fcl@@0PEAX@Z)
2021-03-26T02:26:57.2004908Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: __cdecl fcl::CollisionRequest<double>::CollisionRequest<double>(unsigned __int64,bool,unsigned __int64,bool,bool,enum fcl::GJKSolverType,double)" (??0?$CollisionRequest@N@fcl@@QEAA@_K_N011W4GJKSolverType@1@N@Z) referenced in function "public: __cdecl dart::collision::`anonymous namespace'::FCLCollisionCallbackData::FCLCollisionCallbackData(struct dart::collision::CollisionOption const &,class dart::collision::CollisionResult *,enum dart::collision::FCLCollisionDetector::PrimitiveShape,enum dart::collision::FCLCollisionDetector::ContactPointComputationMethod)" (??0FCLCollisionCallbackData@?A0x4e73b9cc@collision@dart@@QEAA@AEBUCollisionOption@23@PEAVCollisionResult@23@W4PrimitiveShape@FCLCollisionDetector@23@W4ContactPointComputationMethod@723@@Z)
2021-03-26T02:26:57.2012501Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: __cdecl fcl::DistanceResult<double>::DistanceResult<double>(double)" (??0?$DistanceResult@N@fcl@@QEAA@N@Z) referenced in function "public: __cdecl dart::collision::`anonymous namespace'::FCLDistanceCallbackData::FCLDistanceCallbackData(struct dart::collision::DistanceOption const &,struct dart::collision::DistanceResult *)" (??0FCLDistanceCallbackData@?A0x4e73b9cc@collision@dart@@QEAA@AEBUDistanceOption@23@PEAUDistanceResult@23@@Z)
2021-03-26T02:26:57.2017172Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: void __cdecl fcl::DistanceResult<double>::clear(void)" (?clear@?$DistanceResult@N@fcl@@QEAAXXZ) referenced in function "bool __cdecl dart::collision::`anonymous namespace'::distanceCallback(class fcl::CollisionObject<double> *,class fcl::CollisionObject<double> *,void *,double &)" (?distanceCallback@?A0x4e73b9cc@collision@dart@@YA_NPEAV?$CollisionObject@N@fcl@@0PEAXAEAN@Z)
2021-03-26T02:26:57.2021645Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "public: __cdecl fcl::DistanceRequest<double>::DistanceRequest<double>(bool,bool,double,double,double,enum fcl::GJKSolverType)" (??0?$DistanceRequest@N@fcl@@QEAA@_N0NNNW4GJKSolverType@1@@Z) referenced in function "public: __cdecl dart::collision::`anonymous namespace'::FCLDistanceCallbackData::FCLDistanceCallbackData(struct dart::collision::DistanceOption const &,struct dart::collision::DistanceResult *)" (??0FCLDistanceCallbackData@?A0x4e73b9cc@collision@dart@@QEAA@AEBUDistanceOption@23@PEAUDistanceResult@23@@Z)
2021-03-26T02:26:57.2029162Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "unsigned __int64 __cdecl fcl::collide<double>(class fcl::CollisionObject<double> const *,class fcl::CollisionObject<double> const *,struct fcl::CollisionRequest<double> const &,struct fcl::CollisionResult<double> &)" (??$collide@N@fcl@@YA_KPEBV?$CollisionObject@N@0@0AEBU?$CollisionRequest@N@0@AEAU?$CollisionResult@N@0@@Z) referenced in function "bool __cdecl dart::collision::`anonymous namespace'::collisionCallback(class fcl::CollisionObject<double> *,class fcl::CollisionObject<double> *,void *)" (?collisionCallback@?A0x4e73b9cc@collision@dart@@YA_NPEAV?$CollisionObject@N@fcl@@0PEAX@Z)
2021-03-26T02:26:57.2052245Z dart.lib(FCLCollisionDetector.cpp.obj) : error LNK2019: unresolved external symbol "double __cdecl fcl::distance<double>(class fcl::CollisionObject<double> const *,class fcl::CollisionObject<double> const *,struct fcl::DistanceRequest<double> const &,struct fcl::DistanceResult<double> &)" (??$distance@N@fcl@@YANPEBV?$CollisionObject@N@0@0AEBU?$DistanceRequest@N@0@AEAU?$DistanceResult@N@0@@Z) referenced in function "bool __cdecl dart::collision::`anonymous namespace'::distanceCallback(class fcl::CollisionObject<double> *,class fcl::CollisionObject<double> *,void *,double &)" (?distanceCallback@?A0x4e73b9cc@collision@dart@@YA_NPEAV?$CollisionObject@N@fcl@@0PEAXAEAN@Z)
2021-03-26T02:26:57.2057588Z dart.lib(FCLCollisionObject.cpp.obj) : error LNK2019: unresolved external symbol "public: class fcl::OBBRSS<double> __cdecl fcl::OBBRSS<double>::operator+(class fcl::OBBRSS<double> const &)const " (??H?$OBBRSS@N@fcl@@QEBA?AV01@AEBV01@@Z) referenced in function "private: int __cdecl fcl::BVHModel<class fcl::OBBRSS<double> >::recursiveRefitTree_bottomup(int)" (?recursiveRefitTree_bottomup@?$BVHModel@V?$OBBRSS@N@fcl@@@fcl@@AEAAHH@Z)
2021-03-26T02:26:57.2061168Z dart.lib(FCLCollisionObject.cpp.obj) : error LNK2019: unresolved external symbol "public: bool __cdecl fcl::BVNodeBase::isLeaf(void)const " (?isLeaf@BVNodeBase@fcl@@QEBA_NXZ) referenced in function "private: int __cdecl fcl::BVHModel<class fcl::OBBRSS<double> >::recursiveRefitTree_bottomup(int)" (?recursiveRefitTree_bottomup@?$BVHModel@V?$OBBRSS@N@fcl@@@fcl@@AEAAHH@Z)
2021-03-26T02:26:57.2066815Z dart.lib(FCLCollisionObject.cpp.obj) : error LNK2019: unresolved external symbol "void __cdecl fcl::detail::OBBRSS_fit_functions::fit1<double>(class Eigen::Matrix<double,3,1,0,3,1> const * const,class fcl::OBBRSS<double> &)" (??$fit1@N@OBBRSS_fit_functions@detail@fcl@@YAXQEBV?$Matrix@N$02$00$0A@$02$00@Eigen@@AEAV?$OBBRSS@N@2@@Z) referenced in function "void __cdecl fcl::fit<class fcl::OBBRSS<double> >(class Eigen::Matrix<double,3,1,0,3,1> const * const,int,class fcl::OBBRSS<double> &)" (??$fit@V?$OBBRSS@N@fcl@@@fcl@@YAXQEBV?$Matrix@N$02$00$0A@$02$00@Eigen@@HAEAV?$OBBRSS@N@0@@Z)
2021-03-26T02:26:57.2072548Z dart.lib(FCLCollisionObject.cpp.obj) : error LNK2019: unresolved external symbol "void __cdecl fcl::detail::OBBRSS_fit_functions::fit2<double>(class Eigen::Matrix<double,3,1,0,3,1> const * const,class fcl::OBBRSS<double> &)" (??$fit2@N@OBBRSS_fit_functions@detail@fcl@@YAXQEBV?$Matrix@N$02$00$0A@$02$00@Eigen@@AEAV?$OBBRSS@N@2@@Z) referenced in function "void __cdecl fcl::fit<class fcl::OBBRSS<double> >(class Eigen::Matrix<double,3,1,0,3,1> const * const,int,class fcl::OBBRSS<double> &)" (??$fit@V?$OBBRSS@N@fcl@@@fcl@@YAXQEBV?$Matrix@N$02$00$0A@$02$00@Eigen@@HAEAV?$OBBRSS@N@0@@Z)
2021-03-26T02:26:57.2079565Z dart.lib(FCLCollisionObject.cpp.obj) : error LNK2019: unresolved external symbol "void __cdecl fcl::detail::OBBRSS_fit_functions::fit3<double>(class Eigen::Matrix<double,3,1,0,3,1> const * const,class fcl::OBBRSS<double> &)" (??$fit3@N@OBBRSS_fit_functions@detail@fcl@@YAXQEBV?$Matrix@N$02$00$0A@$02$00@Eigen@@AEAV?$OBBRSS@N@2@@Z) referenced in function "void __cdecl fcl::fit<class fcl::OBBRSS<double> >(class Eigen::Matrix<double,3,1,0,3,1> const * const,int,class fcl::OBBRSS<double> &)" (??$fit@V?$OBBRSS@N@fcl@@@fcl@@YAXQEBV?$Matrix@N$02$00$0A@$02$00@Eigen@@HAEAV?$OBBRSS@N@0@@Z)
2021-03-26T02:26:57.2084571Z dart.lib(FCLCollisionObject.cpp.obj) : error LNK2019: unresolved external symbol "void __cdecl fcl::detail::OBBRSS_fit_functions::fitn<double>(class Eigen::Matrix<double,3,1,0,3,1> const * const,int,class fcl::OBBRSS<double> &)" (??$fitn@N@OBBRSS_fit_functions@detail@fcl@@YAXQEBV?$Matrix@N$02$00$0A@$02$00@Eigen@@HAEAV?$OBBRSS@N@2@@Z) referenced in function "void __cdecl fcl::fit<class fcl::OBBRSS<double> >(class Eigen::Matrix<double,3,1,0,3,1> const * const,int,class fcl::OBBRSS<double> &)" (??$fit@V?$OBBRSS@N@fcl@@@fcl@@YAXQEBV?$Matrix@N$02$00$0A@$02$00@Eigen@@HAEAV?$OBBRSS@N@0@@Z)
2021-03-26T02:26:57.2088593Z dart.lib(FCLCollisionObject.cpp.obj) : error LNK2019: unresolved external symbol "public: void __cdecl fcl::CollisionObject<double>::computeAABB(void)" (?computeAABB@?$CollisionObject@N@fcl@@QEAAXXZ) referenced in function "protected: virtual void __cdecl dart::collision::FCLCollisionObject::updateEngineData(void)" (?updateEngineData@FCLCollisionObject@collision@dart@@MEAAXXZ)
2021-03-26T02:26:57.2092849Z dart.lib(FCLCollisionObject.cpp.obj) : error LNK2019: unresolved external symbol "public: void __cdecl fcl::CollisionObject<double>::setUserData(void *)" (?setUserData@?$CollisionObject@N@fcl@@QEAAXPEAX@Z) referenced in function "protected: __cdecl dart::collision::FCLCollisionObject::FCLCollisionObject(class dart::collision::CollisionDetector *,class dart::dynamics::ShapeFrame const *,class std::shared_ptr<class fcl::CollisionGeometry<double> > const &)" (??0FCLCollisionObject@collision@dart@@IEAA@PEAVCollisionDetector@12@PEBVShapeFrame@dynamics@2@AEBV?$shared_ptr@V?$CollisionGeometry@N@fcl@@@std@@@Z)
2021-03-26T02:26:57.2097363Z dart.lib(FCLCollisionObject.cpp.obj) : error LNK2019: unresolved external symbol "public: void __cdecl fcl::CollisionObject<double>::setTransform(class Eigen::Transform<double,3,1,0> const &)" (?setTransform@?$CollisionObject@N@fcl@@QEAAXAEBV?$Transform@N$02$00$0A@@Eigen@@@Z) referenced in function "protected: virtual void __cdecl dart::collision::FCLCollisionObject::updateEngineData(void)" (?updateEngineData@FCLCollisionObject@collision@dart@@MEAAXXZ)
2021-03-26T02:26:57.2101709Z dart.lib(FCLCollisionObject.cpp.obj) : error LNK2019: unresolved external symbol "public: class std::shared_ptr<class fcl::CollisionGeometry<double> const > const & __cdecl fcl::CollisionObject<double>::collisionGeometry(void)const " (?collisionGeometry@?$CollisionObject@N@fcl@@QEBAAEBV?$shared_ptr@$$CBV?$CollisionGeometry@N@fcl@@@std@@XZ) referenced in function "protected: virtual void __cdecl dart::collision::FCLCollisionObject::updateEngineData(void)" (?updateEngineData@FCLCollisionObject@collision@dart@@MEAAXXZ)
2021-03-26T02:26:57.2105819Z dart.lib(FCLCollisionGroup.cpp.obj) : error LNK2019: unresolved external symbol "public: __cdecl fcl::DynamicAABBTreeCollisionManager<double>::DynamicAABBTreeCollisionManager<double>(void)" (??0?$DynamicAABBTreeCollisionManager@N@fcl@@QEAA@XZ) referenced in function "public: __cdecl dart::collision::FCLCollisionGroup::FCLCollisionGroup(class std::shared_ptr<class dart::collision::CollisionDetector> const &)" (??0FCLCollisionGroup@collision@dart@@QEAA@AEBV?$shared_ptr@VCollisionDetector@collision@dart@@@std@@@Z)
2021-03-26T02:26:57.2108599Z bin\MockDoublePendulum.dll : fatal error LNK1120: 58 unresolved externals
traversaro commented 3 years ago

It is probably sufficient to backport https://github.com/dartsim/dart/pull/1510 in dartsim (see https://github.com/ignitionrobotics/ign-physics/issues/87#issuecomment-705155086 for a similar error).

traversaro commented 3 years ago

New discovery:

2021-03-26T22:05:58.4925838Z C:\Program Files (x86)\Microsoft Visual Studio\2017\Enterprise\VC\Tools\MSVC\14.16.27023\include\type_traits(1271,2): error: static_assert failed due to requirement '_Always_false<std::_Aligned<192, 16, double, false>>' "You've instantiated std::aligned_storage<Len, Align> with an extended alignment (in other words, Align > alignof(max_align_t)). Before VS 2017 15.8, the member type would non-conformingly have an alignment of only alignof(max_align_t). VS 2017 15.8 was fixed to handle this correctly, but the fix inherently changes layout and breaks binary compatibility (*only* for uses of aligned_storage with extended alignments). Please define either (1) _ENABLE_EXTENDED_ALIGNED_STORAGE to acknowledge that you understand this message and that you actually want a type with an extended alignment, or (2) _DISABLE_EXTENDED_ALIGNED_STORAGE to silence this message and get the old non-conformant behavior."
2021-03-26T22:05:58.4929720Z         static_assert(_Always_false<_Aligned>,

I guess this is something that was never spotted as ignition-physics was never compiled to target VS2017 C++ std library (even if via the clang-cl compiler). However, I think the desired behavior is the proper standard-compliant one, so I will try to define _ENABLE_EXTENDED_ALIGNED_STORAGE. If that does not work, we can simply try to switch to VS2019.

traversaro commented 3 years ago

Still two missing simbols:

2021-03-27T11:06:27.1964055Z EntityManagementFeatures.cc.obj : error LNK2019: unresolved external symbol "protected: __cdecl dart::dynamics::BodyNode::BodyNode(class dart::dynamics::BodyNode *,class dart::dynamics::Joint *,struct dart::common::detail::ComposeData<class dart::common::detail::CompositeData<class std::map<class std::type_index,class std::unique_ptr<class dart::common::Aspect::Properties,struct std::default_delete<class dart::common::Aspect::Properties> >,struct std::less<class std::type_index>,class std::allocator<struct std::pair<class std::type_index const ,class std::unique_ptr<class dart::common::Aspect::Properties,struct std::default_delete<class dart::common::Aspect::Properties> > > > >,struct dart::common::detail::GetProperties>,struct dart::common::detail::GetProperties,class dart::dynamics::BodyNode> const &)" (??0BodyNode@dynamics@dart@@IEAA@PEAV012@PEAVJoint@12@AEBU?$ComposeData@V?$CompositeData@V?$map@Vtype_index@std@@V?$unique_ptr@VProperties@Aspect@common@dart@@U?$default_delete@VProperties@Aspect@common@dart@@@std@@@2@U?$less@Vtype_index@std@@@2@V?$allocator@U?$pair@$$CBVtype_index@std@@V?$unique_ptr@VProperties@Aspect@common@dart@@U?$default_delete@VProperties@Aspect@common@dart@@@std@@@2@@std@@@2@@std@@UGetProperties@detail@common@dart@@@detail@common@dart@@UGetProperties@234@VBodyNode@dynamics@4@@detail@common@2@@Z) referenced in function "public: struct std::pair<class dart::dynamics::FreeJoint *,class dart::dynamics::BodyNode *> __cdecl dart::dynamics::Skeleton::createJointAndBodyNodePair<class dart::dynamics::FreeJoint,class dart::dynamics::BodyNode>(class dart::dynamics::BodyNode *,struct dart::dynamics::FreeJoint::Properties const &,struct dart::common::detail::ComposeData<class dart::common::detail::CompositeData<class std::map<class std::type_index,class std::unique_ptr<class dart::common::Aspect::Properties,struct std::default_delete<class dart::common::Aspect::Properties> >,struct std::less<class std::type_index>,class std::allocator<struct std::pair<class std::type_index const ,class std::unique_ptr<class dart::common::Aspect::Properties,struct std::default_delete<class dart::common::Aspect::Properties> > > > >,struct dart::common::detail::GetProperties>,struct dart::common::detail::GetProperties,class dart::dynamics::BodyNode> const &)" (??$createJointAndBodyNodePair@VFreeJoint@dynamics@dart@@VBodyNode@23@@Skeleton@dynamics@dart@@QEAA?AU?$pair@PEAVFreeJoint@dynamics@dart@@PEAVBodyNode@23@@std@@PEAVBodyNode@12@AEBUProperties@FreeJoint@12@AEBU?$ComposeData@V?$CompositeData@V?$map@Vtype_index@std@@V?$unique_ptr@VProperties@Aspect@common@dart@@U?$default_delete@VProperties@Aspect@common@dart@@@std@@@2@U?$less@Vtype_index@std@@@2@V?$allocator@U?$pair@$$CBVtype_index@std@@V?$unique_ptr@VProperties@Aspect@common@dart@@U?$default_delete@VProperties@Aspect@common@dart@@@std@@@2@@std@@@2@@std@@UGetProperties@detail@common@dart@@@detail@common@dart@@UGetProperties@234@VBodyNode@dynamics@4@@detail@common@2@@Z)
2021-03-27T11:06:27.1979768Z SDFFeatures.cc.obj : error LNK2001: unresolved external symbol "protected: __cdecl dart::dynamics::BodyNode::BodyNode(class dart::dynamics::BodyNode *,class dart::dynamics::Joint *,struct dart::common::detail::ComposeData<class dart::common::detail::CompositeData<class std::map<class std::type_index,class std::unique_ptr<class dart::common::Aspect::Properties,struct std::default_delete<class dart::common::Aspect::Properties> >,struct std::less<class std::type_index>,class std::allocator<struct std::pair<class std::type_index const ,class std::unique_ptr<class dart::common::Aspect::Properties,struct std::default_delete<class dart::common::Aspect::Properties> > > > >,struct dart::common::detail::GetProperties>,struct dart::common::detail::GetProperties,class dart::dynamics::BodyNode> const &)" (??0BodyNode@dynamics@dart@@IEAA@PEAV012@PEAVJoint@12@AEBU?$ComposeData@V?$CompositeData@V?$map@Vtype_index@std@@V?$unique_ptr@VProperties@Aspect@common@dart@@U?$default_delete@VProperties@Aspect@common@dart@@@std@@@2@U?$less@Vtype_index@std@@@2@V?$allocator@U?$pair@$$CBVtype_index@std@@V?$unique_ptr@VProperties@Aspect@common@dart@@U?$default_delete@VProperties@Aspect@common@dart@@@std@@@2@@std@@@2@@std@@UGetProperties@detail@common@dart@@@detail@common@dart@@UGetProperties@234@VBodyNode@dynamics@4@@detail@common@2@@Z)
2021-03-27T11:06:27.1996974Z SDFFeatures.cc.obj : error LNK2019: unresolved external symbol "protected: __cdecl dart::dynamics::ShapeNode::ShapeNode(class dart::dynamics::BodyNode *,struct dart::common::detail::ComposeData<class dart::common::detail::CompositeData<class std::map<class std::type_index,class std::unique_ptr<class dart::common::Aspect::Properties,struct std::default_delete<class dart::common::Aspect::Properties> >,struct std::less<class std::type_index>,class std::allocator<struct std::pair<class std::type_index const ,class std::unique_ptr<class dart::common::Aspect::Properties,struct std::default_delete<class dart::common::Aspect::Properties> > > > >,struct dart::common::detail::GetProperties>,struct dart::common::detail::GetProperties,class dart::common::EmbeddedPropertiesAspect<class dart::dynamics::EntityNode<class dart::dynamics::TemplatedJacobianNode<class dart::dynamics::FixedJacobianNode> >,struct dart::dynamics::detail::EntityNodeProperties>,class dart::dynamics::FixedFrame,class dart::dynamics::ShapeFrame> const &)" (??0ShapeNode@dynamics@dart@@IEAA@PEAVBodyNode@12@AEBU?$ComposeData@V?$CompositeData@V?$map@Vtype_index@std@@V?$unique_ptr@VProperties@Aspect@common@dart@@U?$default_delete@VProperties@Aspect@common@dart@@@std@@@2@U?$less@Vtype_index@std@@@2@V?$allocator@U?$pair@$$CBVtype_index@std@@V?$unique_ptr@VProperties@Aspect@common@dart@@U?$default_delete@VProperties@Aspect@common@dart@@@std@@@2@@std@@@2@@std@@UGetProperties@detail@common@dart@@@detail@common@dart@@UGetProperties@234@V?$EmbeddedPropertiesAspect@V?$EntityNode@V?$TemplatedJacobianNode@VFixedJacobianNode@dynamics@dart@@@dynamics@dart@@@dynamics@dart@@UEntityNodeProperties@detail@23@@34@VFixedFrame@dynamics@4@VShapeFrame@84@@detail@common@2@@Z) referenced in function "public: class dart::dynamics::ShapeNode * __cdecl dart::dynamics::BodyNode::createShapeNode<class dart::dynamics::Shape,class std::basic_string<char,struct std::char_traits<char>,class std::allocator<char> > const &>(class std::shared_ptr<class dart::dynamics::Shape> const &,class std::basic_string<char,struct std::char_traits<char>,class std::allocator<char> > const &)" (??$createShapeNode@VShape@dynamics@dart@@AEBV?$basic_string@DU?$char_traits@D@std@@V?$allocator@D@2@@std@@@BodyNode@dynamics@dart@@QEAAPEAVShapeNode@12@AEBV?$shared_ptr@VShape@dynamics@dart@@@std@@AEBV?$basic_string@DU?$char_traits@D@std@@V?$allocator@D@2@@5@@Z)
2021-03-27T11:06:27.2022786Z ShapeFeatures.cc.obj : error LNK2001: unresolved external symbol "protected: __cdecl dart::dynamics::ShapeNode::ShapeNode(class dart::dynamics::BodyNode *,struct dart::common::detail::ComposeData<class dart::common::detail::CompositeData<class std::map<class std::type_index,class std::unique_ptr<class dart::common::Aspect::Properties,struct std::default_delete<class dart::common::Aspect::Properties> >,struct std::less<class std::type_index>,class std::allocator<struct std::pair<class std::type_index const ,class std::unique_ptr<class dart::common::Aspect::Properties,struct std::default_delete<class dart::common::Aspect::Properties> > > > >,struct dart::common::detail::GetProperties>,struct dart::common::detail::GetProperties,class dart::common::EmbeddedPropertiesAspect<class dart::dynamics::EntityNode<class dart::dynamics::TemplatedJacobianNode<class dart::dynamics::FixedJacobianNode> >,struct dart::dynamics::detail::EntityNodeProperties>,class dart::dynamics::FixedFrame,class dart::dynamics::ShapeFrame> const &)" (??0ShapeNode@dynamics@dart@@IEAA@PEAVBodyNode@12@AEBU?$ComposeData@V?$CompositeData@V?$map@Vtype_index@std@@V?$unique_ptr@VProperties@Aspect@common@dart@@U?$default_delete@VProperties@Aspect@common@dart@@@std@@@2@U?$less@Vtype_index@std@@@2@V?$allocator@U?$pair@$$CBVtype_index@std@@V?$unique_ptr@VProperties@Aspect@common@dart@@U?$default_delete@VProperties@Aspect@common@dart@@@std@@@2@@std@@@2@@std@@UGetProperties@detail@common@dart@@@detail@common@dart@@UGetProperties@234@V?$EmbeddedPropertiesAspect@V?$EntityNode@V?$TemplatedJacobianNode@VFixedJacobianNode@dynamics@dart@@@dynamics@dart@@@dynamics@dart@@UEntityNodeProperties@detail@23@@34@VFixedFrame@dynamics@4@VShapeFrame@84@@detail@common@2@@Z)
2021-03-27T11:06:27.2033744Z bin\ignition-physics3-dartsim-plugin.dll : fatal error LNK1120: 2 unresolved externals
traversaro commented 3 years ago

Still two missing simbols:

The missing symbols are of DART, and come from DART code. So either there are some linking problems in DART itself, or it is some corner case incompatibility between MSVC anc clang-cl ABI handling.

traversaro commented 3 years ago

@conda-forge-admin, please rerender

traversaro commented 3 years ago

With VS2019 there is a template-related compilation error instead:

2021-03-27T11:43:59.2993044Z %PREFIX%\Library\include\dart/dynamics/ShapeFrame.hpp(212): note: see declaration of 'dart::dynamics::ShapeFrame::asShapeFrame'
2021-03-27T11:43:59.2995974Z %PREFIX%\Library\include\dart/common/AspectWithVersion.hpp(80): error C2974: 'dart::common::detail::AspectWithState': invalid template argument for 'CompositeT', type expected
2021-03-27T11:43:59.3009841Z %PREFIX%\Library\include\dart/common/detail/AspectWithVersion.hpp(50): note: see declaration of 'dart::common::detail::AspectWithState'
2021-03-27T11:43:59.3013227Z %PREFIX%\Library\include\dart/dynamics/EndEffector.hpp(58): note: see reference to class template instantiation 'dart::common::AspectWithStateAndVersionedProperties<dart::dynamics::Support,dart::dynamics::detail::SupportStateData,dart::dynamics::detail::SupportPropertiesData,dart::dynamics::EndEffector,&void dart::dynamics::detail::SupportUpdate(dart::dynamics::Support *),&void dart::dynamics::detail::SupportUpdate(dart::dynamics::Support *)>' being compiled
2021-03-27T11:43:59.3017390Z %PREFIX%\Library\include\dart/common/AspectWithVersion.hpp(80): error C2976: 'dart::common::detail::AspectWithState': too few template arguments
2021-03-27T11:43:59.3019464Z %PREFIX%\Library\include\dart/common/detail/AspectWithVersion.hpp(50): note: see declaration of 'dart::common::detail::AspectWithState'
2021-03-27T11:43:59.3022176Z %PREFIX%\Library\include\dart/common/CompositeJoiner.hpp(129): warning C4250: 'dart::common::CompositeJoiner<dart::dynamics::FixedJacobianNode,dart::common::SpecializedForAspect<dart::dynamics::Support>>': inherits 'dart::dynamics::EntityNode<dart::dynamics::TemplatedJacobianNode<dart::dynamics::FixedJacobianNode>>::dart::dynamics::EntityNode<dart::dynamics::TemplatedJacobianNode<dart::dynamics::FixedJacobianNode>>::setName' via dominance
traversaro commented 3 years ago

Finally working @Tobias-Fischer ! Thanks a lot for the help.

traversaro commented 3 years ago

@conda-forge-admin, please rerender

github-actions[bot] commented 3 years ago

Hi! This is the friendly automated conda-forge-webservice. I tried to rerender for you, but it looks like there was nothing to do.

Tobias-Fischer commented 3 years ago

Great work, thanks!