Issue with building DART example

[hzyjerry]

When building DART example with magnum-integration, I encountered the following issue

CMake Error at /usr/local/Cellar/cmake/3.14.3/share/cmake/Modules/FindPackageHandleStandardArgs.cmake:137 (message): Could NOT find MagnumIntegration (missing: Dart) Call Stack (most recent call first): /usr/local/Cellar/cmake/3.14.3/share/cmake/Modules/FindPackageHandleStandardArgs.cmake:378 (_FPHSA_FAILURE_MESSAGE) /Users/jerryhe/Desktop/Projects/habitat/magnum-examples/modules/FindMagnumIntegration.cmake (find_package_handle_standard_args)

I use magnum-integration installed from brew on MacOS.

I also tried building magnum-integration from source, and got the same issue.

My DART example's cmake file looks like the following:

#   This file is part of Magnum.
#
#   Original authors — credit is appreciated but not required:
#
#       2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018, 2019 —
#           Vladimír Vondruš <mosra@centrum.cz>
#       2019 — Konstantinos Chatzilygeroudis <costashatz@gmail.com>
#
#   This is free and unencumbered software released into the public domain.
#
#   Anyone is free to copy, modify, publish, use, compile, sell, or distribute
#   this software, either in source code form or as a compiled binary, for any
#   purpose, commercial or non-commercial, and by any means.
#
#   In jurisdictions that recognize copyright laws, the author or authors of
#   this software dedicate any and all copyright interest in the software to
#   the public domain. We make this dedication for the benefit of the public
#   at large and to the detriment of our heirs and successors. We intend this
#   dedication to be an overt act of relinquishment in perpetuity of all
#   present and future rights to this software under copyright law.
#
#   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
#   IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
#   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
#   THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
#   IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
#   CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
#

cmake_minimum_required(VERSION 3.1)

project(MagnumDartExample)

# Add module path in case this is project root
if(PROJECT_SOURCE_DIR STREQUAL CMAKE_SOURCE_DIR)
    set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/../../modules/")
endif()

if(CORRADE_TARGET_EMSCRIPTEN OR CORRADE_TARGET_ANDROID)
    set(DARTEXAMPLE_DIR ".")
else()
    set(DARTEXAMPLE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
endif()

# We need the URDF loader of DART for this example
find_package(DART 6.0.0 CONFIG REQUIRED OPTIONAL_COMPONENTS io-urdf utils-urdf)

if(NOT (DART_utils-urdf_FOUND OR DART_io-urdf_FOUND) OR (DART_VERSION STRLESS 6.0.0))
    message(FATAL_ERROR "DART version >= 6 and DART urdf library are required for this example!")
endif()

configure_file(${CMAKE_CURRENT_SOURCE_DIR}/configure.h.cmake
               ${CMAKE_CURRENT_BINARY_DIR}/configure.h)

find_package(Magnum REQUIRED
    GL
    MeshTools
    Primitives
    SceneGraph
    Sdl2Application
    Shaders
    Trade)
find_package(MagnumIntegration REQUIRED Dart)

set_directory_properties(PROPERTIES CORRADE_USE_PEDANTIC_FLAGS ON)

add_executable(magnum-dart DartExample.cpp)
target_include_directories(magnum-dart PUBLIC ${DART_INCLUDE_DIRS} PRIVATE ${CMAKE_CURRENT_BINARY_DIR})
# target_compile_options(magnum-dart PUBLIC -march=native -faligned-new)
target_link_libraries(magnum-dart PRIVATE
    Magnum::Application
    Magnum::MeshTools
    Magnum::Magnum
    Magnum::SceneGraph
    Magnum::Primitives
    Magnum::Shaders
    MagnumIntegration::Dart
    ${DART_LIBRARIES})

install(TARGETS magnum-dart DESTINATION ${MAGNUM_BINARY_INSTALL_DIR})

I wonder if there's anything that I'm missing. Thanks for the help!

[hzyjerry]

The DART example I used is from: https://github.com/costashatz/magnum-examples/tree/dart/src/dart

[mosra]

Uh oh, sorry about that -- when the integration was contributed, the dartsim Homebrew package was not in an usable state so we couldn't depend on it. Now it is, so I enabled the DartIntegration in the package (see 5d556992b99c74a4fdd19ba8a4372dbd51960b8a). All you should need to do now is to run

brew update
brew install --HEAD mosra/magnum/magnum-integration

again. If everything goes well, it will pull in the new DART-related dependencies (there's quite a lot of them) and put MagnumDartIntegration.dylib into /usr/local/lib.

[costashatz]

@hzyjerry you should be able to find a newer (and hopefully) working example in https://github.com/mosra/magnum-examples/pull/63..

[JhasketanYash]

Hi mosra, I am trying to use DartIntegration for windows but could not find the DartIntegraiton files in Magnum.. is it available for window also ?

[mosra]

@JhasketanYash can you elaborate on what's missing? The sources are inside this repository and DartIntegration gets built when you enable the WITH_DARTINTEGRATION CMake option. However, if you use the Vcpkg packages, then unfortunately DART is not available there, and thus neither DartIntegration -- you'd need to build DART, all its dependencies and the integration manually. This might be helpful -- https://dartsim.github.io/install_dart_on_windows.html -- but note they mark Windows support as experimental.

[JhasketanYash]

Thanks for the reply @mosra . I meant by vcpkg. It took me a while to figure out that I need to download compile Dart Integration in the Magnum. _