[gazebo] new port (#22466)

* Add gazebo11 port

* [sdformat9] Use external tinyxml on Windows

* Update versions

* Use newer vcpkg functions

* Fix sdformat9

* Update versions

* Try fixing gazebo

* Copy extra ogre dlls

* Update gazebo ref

* Update versions

* Fix ogre dll dir

* Update version date

* Update versions

* Update versions

* Add licenses

* Update versions

* Rename to gazebo

* Update versions

* Update versions

* Apply suggestions from code review

Co-authored-by: Robert Schumacher <roschuma@microsoft.com>

* Update ports/gazebo/portfile.cmake

Co-authored-by: Robert Schumacher <roschuma@microsoft.com>

* Make pkgconf a host dependency

* Update versions

* Copy PDBs

* Update versions

* Change to normal installed directory

* Update versions

Co-authored-by: Robert Schumacher <roschuma@microsoft.com>

ports/gazebo/0001-Fix-deps.patch

@@ -0,0 +1,102 @@
+diff --git a/cmake/SearchForStuff.cmake b/cmake/SearchForStuff.cmake
+index 4085b5aaeb..f89ac88333 100644
+--- a/cmake/SearchForStuff.cmake
++++ b/cmake/SearchForStuff.cmake
+@@ -179,7 +179,7 @@ if (PKG_CONFIG_FOUND)
+ # (needed, at least, for MacOS)
+
+ # 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)
+ elseif(WIN32)
+@@ -225,7 +225,7 @@ if (PKG_CONFIG_FOUND)
+ # (needed, at least, for MacOS)
+
+ # 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)
+ elseif(WIN32)
+@@ -513,7 +513,7 @@ if (PKG_CONFIG_FOUND)
+ endif ()
+
+ if (libavutil_FOUND AND libavformat_FOUND AND libavcodec_FOUND AND
+- libswscale_FOUND)
++ libswscale_FOUND AND FFMPEG_FEATURE)
+ set (HAVE_FFMPEG TRUE)
+ else ()
+ set (HAVE_FFMPEG FALSE)
+@@ -538,7 +538,7 @@ if (PKG_CONFIG_FOUND)
+ ########################################
+ # Find GNU Triangulation Surface Library
+ pkg_check_modules(gts gts)
+- if (gts_FOUND)
++ if (GTS_FEATURE)
+ message (STATUS "Looking for GTS - found")
+ set (HAVE_GTS TRUE)
+ else ()
+@@ -551,13 +551,14 @@ 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
+- pkg_check_modules(BULLET bullet>=2.82)
++ find_package(BULLET CONFIG 2.82)
+ if (NOT BULLET_FOUND)
+ pkg_check_modules(BULLET bullet2.82>=2.82)
+ endif()
+
+ if (BULLET_FOUND)
+ set (HAVE_BULLET TRUE)
++ set(BULLET_VERSION ${BULLET_VERSION_STRING})
+ add_definitions( -DLIBBULLET_VERSION=${BULLET_VERSION} )
+ else()
+ set (HAVE_BULLET FALSE)
+@@ -572,7 +573,7 @@ if (PKG_CONFIG_FOUND)
+ ########################################
+ # Find libusb
+ pkg_check_modules(libusb-1.0 libusb-1.0)
+- if (NOT libusb-1.0_FOUND)
++ if (NO_LIBUSB_FEATURE)
+ 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 ()
+ ########################################
+ # Find gdal
+ include (FindGDAL)
+-if (NOT GDAL_FOUND)
++if (NO_GDAL_FEATURE)
+ 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()
+ ########################################
+ # Find graphviz
+ include (${gazebo_cmake_dir}/FindGraphviz.cmake)
+-if (NOT GRAPHVIZ_FOUND)
++if (NO_GRAPHVIZ_FEATURE)
+ message (STATUS "Looking for libgraphviz-dev - not found")
+ BUILD_WARNING ("Graphviz not found, Model editor's schematic view will be disabled.")
+ set (HAVE_GRAPHVIZ OFF CACHE BOOL "HAVE GRAPHVIZ" FORCE)
+diff --git a/cmake/gazebo-config.cmake.in b/cmake/gazebo-config.cmake.in
+index b57a90dd76..63ce97095e 100644
+--- a/cmake/gazebo-config.cmake.in
++++ b/cmake/gazebo-config.cmake.in
+@@ -99,12 +99,13 @@ list(APPEND @PKG_NAME@_CFLAGS -I${GAZEBO_INSTALL_INCLUDE_DIR}/gazebo-@GAZEBO_MAJ
+
+ if (GAZEBO_HAS_BULLET)
+ if (PKG_CONFIG_FOUND)
+- pkg_check_modules(BULLET bullet>=2.82)
++ find_package(BULLET CONFIG 2.82)
+ if (NOT BULLET_FOUND)
+ pkg_check_modules(BULLET bullet2.82>=2.82)
+ endif()
+
+ if (BULLET_FOUND)
++ set(BULLET_VERSION ${BULLET_VERSION_STRING})
+ add_definitions(-DLIBBULLET_VERSION=${BULLET_VERSION})
+ else()
+ message(FATAL_ERROR "Error: Bullet > 2.82 not found, please install libbullet2.82-dev.")

ports/gazebo/portfile.cmake

@@ -0,0 +1,52 @@
+vcpkg_from_github(
+ OUT_SOURCE_PATH SOURCE_PATH
+ REPO osrf/gazebo
+ REF 382dcc3f36095a8d79b5bc9c8b8ad346e867c51d
+ SHA512 57638cd0b23b5f2bfd32fdc159d6cd77ca34e3bd695c225591979aef4b7271eac93d3706fa1ffa2340f90013267a4171bebe1e4c142f19ad2bf67963dfed627e
+ HEAD_REF gazebo11
+ PATCHES
+ 0001-Fix-deps.patch
+)
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+ FEATURES
+ openal HAVE_OPENAL
+ ffmpeg FFMPEG_FEATURE
+ gts GTS_FEATURE
+ INVERTED_FEATURES
+ simbody CMAKE_DISABLE_FIND_PACKAGE_Simbody
+ dart CMAKE_DISABLE_FIND_PACKAGE_DART
+ bullet CMAKE_DISABLE_FIND_PACKAGE_BULLET
+ libusb NO_LIBUSB_FEATURE
+ gdal NO_GDAL_FEATURE
+ graphviz NO_GRAPHVIZ_FEATURE
+)
+
+vcpkg_add_to_path("${CURRENT_INSTALLED_DIR}/debug/bin")
+vcpkg_add_to_path("${CURRENT_INSTALLED_DIR}/bin")
+vcpkg_cmake_configure(
+ SOURCE_PATH "${SOURCE_PATH}"
+ OPTIONS
+ -DUSE_EXTERNAL_TINY_PROCESS_LIBRARY=ON
+ -DPKG_CONFIG_EXECUTABLE=${CURRENT_HOST_INSTALLED_DIR}/tools/pkgconf/pkgconf.exe
+ ${FEATURE_OPTIONS}
+)
+
+vcpkg_cmake_install()
+vcpkg_cmake_config_fixup(CONFIG_PATH "lib/cmake/gazebo")
+vcpkg_copy_pdbs()
+
+vcpkg_copy_tools(
+ TOOL_NAMES gazebo gz gzclient gzserver
+ AUTO_CLEAN
+)
+set(EXTRA_OGRE_LIBS Codec_EXR Codec_FreeImage Codec_STBI OgreBites OgreMain OgreMeshLodGenerator OgreOverlay OgrePaging OgreProperty OgreRTShaderSystem OgreTerrain OgreVolume Plugin_BSPSceneManager Plugin_DotScene Plugin_OctreeSceneManager Plugin_OctreeZone Plugin_ParticleFX Plugin_PCZSceneManager RenderSystem_Direct3D11 RenderSystem_GL RenderSystem_GL3Plus)
+foreach(LIB IN LISTS EXTRA_OGRE_LIBS)
+ set(FILE_NAME "${CMAKE_SHARED_LIBRARY_PREFIX}${LIB}${CMAKE_SHARED_LIBRARY_SUFFIX}")
+ file(COPY "${CURRENT_INSTALLED_DIR}/bin/${FILE_NAME}" DESTINATION "${CURRENT_PACKAGES_DIR}/tools/${PORT}")
+endforeach()
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include" "${CURRENT_PACKAGES_DIR}/debug/share")
+
+# Handle copyright
+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

ports/gazebo/vcpkg.json

@@ -0,0 +1,125 @@
+{
+ "name": "gazebo",
+ "version-date": "2022-01-20",
+ "description": "Open source robotics simulator.",
+ "homepage": "http://gazebosim.org",
+ "license": "Apache-2.0",
+ "dependencies": [
+ "boost-asio",
+ "boost-date-time",
+ "boost-filesystem",
+ "boost-format",
+ "boost-interprocess",
+ "boost-iostreams",
+ "boost-program-options",
+ "boost-property-tree",
+ "boost-regex",
+ "boost-system",
+ "boost-thread",
+ "boost-uuid",
+ "ccd",
+ {
+ "name": "hdf5",
+ "features": [
+ "cpp"
+ ]
+ },
+ "ignition-common3",
+ "ignition-fuel-tools4",
+ "ignition-math6",
+ "ignition-msgs5",
+ "ignition-transport8",
+ "ogre",
+ {
+ "name": "pkgconf",
+ "host": true
+ },
+ "protobuf",
+ "qwt",
+ "sdformat9",
+ "tbb",
+ "tiny-process-library",
+ {
+ "name": "vcpkg-cmake",
+ "host": true
+ },
+ {
+ "name": "vcpkg-cmake-config",
+ "host": true
+ }
+ ],
+ "default-features": [
+ "bullet",
+ "dart",
+ "ffmpeg",
+ "gdal",
+ "graphviz",
+ "gts",
+ "libusb",
+ "openal",
+ "simbody"
+ ],
+ "features": {
+ "bullet": {
+ "description": "Use the bullet physics engine",
+ "dependencies": [
+ "bullet3"
+ ]
+ },
+ "dart": {
+ "description": "Use the dart physics engine",
+ "dependencies": [
+ "dartsim"
+ ]
+ },
+ "ffmpeg": {
+ "description": "Enable audio-video capabilities",
+ "dependencies": [
+ {
+ "name": "ffmpeg",
+ "features": [
+ "avcodec",
+ "avformat",
+ "swscale"
+ ]
+ }
+ ]
+ },
+ "gdal": {
+ "description": "Enable digital elevation terrains support",
+ "dependencies": [
+ "gdal"
+ ]
+ },
+ "graphviz": {
+ "description": "Enable model editor's schematic view",
+ "dependencies": [
+ "graphviz"
+ ]
+ },
+ "gts": {
+ "description": "Enable CSG support",
+ "dependencies": [
+ "gts"
+ ]
+ },
+ "libusb": {
+ "description": "Enable USB peripheral support",
+ "dependencies": [
+ "libusb"
+ ]
+ },
+ "openal": {
+ "description": "Enable audio support",
+ "dependencies": [
+ "openal-soft"
+ ]
+ },
+ "simbody": {
+ "description": "Use the simbody physics engine",
+ "dependencies": [
+ "simbody"
+ ]
+ }
+ }
+}

ports/sdformat9/portfile.cmake

@@ -8,6 +8,7 @@ vcpkg_from_github(
  fix-dependency-urdfdom.patch
  fix-quote.patch
  no-absolute.patch
+ use-external-tinyxml-windows.patch
 )
 
 # Ruby is required by the sdformat build process
@@ -21,7 +22,6 @@ vcpkg_cmake_configure(
  OPTIONS 
  -DBUILD_TESTING=OFF
  -DUSE_INTERNAL_URDF=OFF
- -DUSE_EXTERNAL_TINYXML=ON
 )
 
 vcpkg_cmake_install()

ports/sdformat9/use-external-tinyxml-windows.patch

@@ -0,0 +1,26 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 3dad12e5..e290a3be 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -113,7 +113,7 @@ include (${sdf_cmake_dir}/SDFUtils.cmake)
+
+ message (STATUS "\n\n====== Finding 3rd Party Packages ======")
+ # Use of tinyxml. System installation on UNIX. Internal copy on WIN
+-if (UNIX)
++if (true)
+ message (STATUS "Using system tinyxml")
+ set (USE_EXTERNAL_TINYXML True)
+ elseif(WIN32)
+diff --git a/cmake/SearchForStuff.cmake b/cmake/SearchForStuff.cmake
+index 427e5e7a..655fafc0 100644
+--- a/cmake/SearchForStuff.cmake
++++ b/cmake/SearchForStuff.cmake
+@@ -9,7 +9,7 @@ if (USE_EXTERNAL_TINYXML)
+ #################################################
+ # Find tinyxml. Only debian distributions package tinyxml with a pkg-config
+ # Use pkg_check_modules and fallback to manual detection (needed, at least, for MacOS)
+- pkg_check_modules(tinyxml tinyxml)
++ find_package(tinyxml CONFIG REQUIRED)
+ if (NOT tinyxml_FOUND)
+ find_path (tinyxml_INCLUDE_DIRS tinyxml.h ${tinyxml_INCLUDE_DIRS} ENV CPATH)
+ find_library(tinyxml_LIBRARIES NAMES tinyxml)

ports/sdformat9/vcpkg.json

@@ -1,9 +1,10 @@
 {
  "name": "sdformat9",
  "version": "9.4.0",
- "port-version": 4,
+ "port-version": 5,
  "description": "Simulation Description Format (SDF) parser and description files.",
  "homepage": "http://sdformat.org/",
+ "license": "Apache-2.0",
  "supports": "!(linux | uwp)",
  "dependencies": [
  "ignition-math6",

versions/baseline.json

@@ -2376,6 +2376,10 @@
  "baseline": "2019-08-04",
  "port-version": 1
  },
+ "gazebo": {
+ "baseline": "2022-01-20",
+ "port-version": 0
+ },
  "gcem": {
  "baseline": "1.13.1",
  "port-version": 1
@@ -6286,7 +6290,7 @@
  },
  "sdformat9": {
  "baseline": "9.4.0",
- "port-version": 4
+ "port-version": 5
  },
  "sdl1": {
  "baseline": "1.2.15",

versions/g-/gazebo.json

@@ -0,0 +1,9 @@
+{
+ "versions": [
+ {
+ "git-tree": "983e90284c8c0073e0193750a412eb4df01accdc",
+ "version-date": "2022-01-20",
+ "port-version": 0
+ }
+ ]
+}

versions/s-/sdformat9.json

@@ -1,5 +1,10 @@
 {
  "versions": [
+ {
+ "git-tree": "d050d624faf72f8dcb62fdb7a5378ae5d8e8b5d8",
+ "version": "9.4.0",
+ "port-version": 5
+ },
  {
  "git-tree": "2b064abf9a6849ed5234b03bf5604ccd0169db4a",
  "version": "9.4.0",