[ompl] Fix linking using ${OMPL_LIBRARIES} (#18908)

* Fix _IMPORT_PREFIX

* Export cmake targets file

* Fix config

* Make separate omplapp port

* Run x-add-version for omplapp

* Fix versions

* Fix omplapp static builds

* Run x-add-version

* Update ports/omplapp/portfile.cmake

Co-authored-by: Phoebe <20694052+PhoebeHui@users.noreply.github.com>

* Update ports/omplapp/portfile.cmake

Co-authored-by: Phoebe <20694052+PhoebeHui@users.noreply.github.com>

* Put files in quotes

* Run x-add-version

Co-authored-by: Phoebe <20694052+PhoebeHui@users.noreply.github.com>

4 files changed, 127 insertions, 0 deletions

diff --git a/ports/omplapp/fix_boost_static_link.patch b/ports/omplapp/fix_boost_static_link.patch
new file mode 100644
index 000000000..fd74fb8a7
--- /dev/null
+++ b/ports/omplapp/fix_boost_static_link.patch
@@ -0,0 +1,17 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt

+index f5c3c88..3a4a7d4 100644

+--- a/CMakeLists.txt

++++ b/CMakeLists.txt

+@@ -36,10 +36,10 @@ set(OMPL_DEMO_INSTALL_DIR "${CMAKE_INSTALL_DATAROOTDIR}/ompl/demos"

+ set(OMPL_CMAKE_UTIL_DIR "${CMAKE_CURRENT_SOURCE_DIR}/ompl/CMakeModules"

+     CACHE FILEPATH "Path to directory with auxiliary CMake scripts for OMPL")

+ 

+-if(MSVC)

++if(false)

+     add_definitions(-DBOOST_ALL_NO_LIB)

+     add_definitions(-DBOOST_PROGRAM_OPTIONS_DYN_LINK)

+-endif(MSVC)

++endif(false)

+ # Ensure dynamic linking with boost unit_test_framework

+ add_definitions(-DBOOST_TEST_DYN_LINK)

+ # Avoid valgrind error due to overflow error, cf. https://bitbucket.org/ompl/ompl/issues/543

diff --git a/ports/omplapp/fix_dependency.patch b/ports/omplapp/fix_dependency.patch
new file mode 100644
index 000000000..4a19f81b8
--- /dev/null
+++ b/ports/omplapp/fix_dependency.patch
@@ -0,0 +1,32 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt

+index 4c7e6901..a433b7da 100644

+--- a/CMakeLists.txt

++++ b/CMakeLists.txt

+@@ -136,7 +136,7 @@ find_package(Drawstuff QUIET)

+ set_package_properties(assimp PROPERTIES

+     URL "http://assimp.org"

+     PURPOSE "Used in ompl_app for reading meshes representing robots and environments.")

+-find_package(assimp REQUIRED)

++find_package(assimp CONFIG REQUIRED)

+ set_package_properties(ccd PROPERTIES

+     URL "https://github.com/danfis/libccd"

+     PURPOSE "Collision detection library used by fcl.")

+@@ -178,8 +178,7 @@ include_directories(

+     "${OMPLAPP_INCLUDE_DIRS}"

+     "${OMPL_INCLUDE_DIRS}"

+     "${EIGEN3_INCLUDE_DIR}"

+-    "${FCL_INCLUDE_DIRS}"

+-    "${ASSIMP_INCLUDE_DIRS}")

++    "${FCL_INCLUDE_DIRS}")

+ 

+ # ROS installs fcl in /usr. In /usr/include/fcl/config.h it says octomap was

+ # enabled. Octomap is installed in /opt/ros/${ROS_DISTRO}/include (most

+@@ -195,7 +194,7 @@ set(OMPLAPP_MODULE_LIBRARIES

+     ${FCL_LIBRARIES})

+ set(OMPLAPP_LIBRARIES

+     ${OPENGL_LIBRARIES}

+-    ${ASSIMP_LIBRARIES}

++    assimp::assimp

+     ${FCL_LIBRARIES})

+ link_directories(${ASSIMP_LIBRARY_DIRS} ${CCD_LIBRARY_DIRS} ${OCTOMAP_LIBRARY_DIRS} ${FCL_LIBRARY_DIRS})

+ 

diff --git a/ports/omplapp/portfile.cmake b/ports/omplapp/portfile.cmake
new file mode 100644
index 000000000..02da44945
--- /dev/null
+++ b/ports/omplapp/portfile.cmake
@@ -0,0 +1,67 @@
+vcpkg_buildpath_length_warning(37)

+

+set(OMPL_VERSION 1.5.1)

+

+vcpkg_download_distfile(ARCHIVE

+    URLS "https://github.com/ompl/omplapp/releases/download/1.5.1/omplapp-1.5.1-Source.tar.gz"

+    FILENAME "omplapp-${OMPL_VERSION}.tar.gz"

+    SHA512 83b1b09d6be776f7e15a748402f0c2f072459921de61a92731daf5171bd1f91a829fbeb6e10a489b92fba0297f6272e7bb6b8f07830c387bb29ccdbc7b3731f3

+)

+

+if(VCPKG_LIBRARY_LINKAGE STREQUAL static)

+    set(STATIC_PATCH fix_boost_static_link.patch)

+endif()

+

+vcpkg_extract_source_archive_ex(

+    OUT_SOURCE_PATH SOURCE_PATH

+    ARCHIVE ${ARCHIVE}

+    REF ${OMPL_VERSION}

+    PATCHES

+        fix_dependency.patch

+        ${STATIC_PATCH}

+)

+

+# Based on selected features different files get downloaded, so use the following command instead of patch.

+file(READ ${SOURCE_PATH}/CMakeLists.txt _contents)

+string(REPLACE "find_package(Eigen3 REQUIRED)" "find_package(Eigen3 REQUIRED CONFIG)" _contents "${_contents}")

+string(REPLACE "find_package(ccd REQUIRED)" "find_package(ccd REQUIRED CONFIG)" _contents "${_contents}")

+file(WRITE ${SOURCE_PATH}/CMakeLists.txt "${_contents}")

+

+vcpkg_configure_cmake(

+    SOURCE_PATH ${SOURCE_PATH}

+    PREFER_NINJA

+    DISABLE_PARALLEL_CONFIGURE

+    OPTIONS

+        -DOMPL_VERSIONED_INSTALL=OFF

+        -DOMPL_REGISTRATION=OFF

+        -DOMPL_BUILD_DEMOS=OFF

+        -DOMPL_BUILD_TESTS=OFF

+        -DOMPL_BUILD_PYBINDINGS=OFF

+        -DOMPL_BUILD_PYTESTS=OFF

+)

+

+vcpkg_install_cmake()

+

+vcpkg_fixup_cmake_targets(CONFIG_PATH share/ompl/cmake)

+

+# Remove debug distribution and other, move ompl_benchmark to tools/ dir

+vcpkg_copy_tools(TOOL_NAMES ompl_benchmark AUTO_CLEAN)

+file(REMOVE_RECURSE

+    "${CURRENT_PACKAGES_DIR}/include/ompl"

+    "${CURRENT_PACKAGES_DIR}/bin"

+    "${CURRENT_PACKAGES_DIR}/include/omplapp/CMakeFiles"

+    "${CURRENT_PACKAGES_DIR}/lib/ompl.lib"

+    "${CURRENT_PACKAGES_DIR}/share/ompl"

+    "${CURRENT_PACKAGES_DIR}/share/man"

+    "${CURRENT_PACKAGES_DIR}/debug/bin"

+    "${CURRENT_PACKAGES_DIR}/debug/include"

+    "${CURRENT_PACKAGES_DIR}/debug/lib/ompl.lib"

+    "${CURRENT_PACKAGES_DIR}/debug/share"

+)

+

+if(VCPKG_LIBRARY_LINKAGE STREQUAL "static")

+    file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/bin" "${CURRENT_PACKAGES_DIR}/debug/bin")

+endif()

+

+# Handle copyright

+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

diff --git a/ports/omplapp/vcpkg.json b/ports/omplapp/vcpkg.json
new file mode 100644
index 000000000..07ac2ba64
--- /dev/null
+++ b/ports/omplapp/vcpkg.json
@@ -0,0 +1,11 @@
+{
+  "name": "omplapp",
+  "version-string": "1.5.1",
+  "description": "Use OMPL for reading meshes and performing collision checking",
+  "homepage": "https://ompl.kavrakilab.org/",
+  "dependencies": [
+    "assimp",
+    "fcl",
+    "ompl"
+  ]
+}