Update supported platforms (#1678)

* Remove bionic and add jammy * Upgrade VS version to 2022 * Upgrade macOS version to macos-12 * Run codecov on jammy * Upgrade clang-format to 12 * Format code * Update CHANGELOG.md * Test VS 2019 * Upgrade vcpkg prebuild * Revert upgrading vcpkg prebuild * Fix build on Windows
dartsim · Sep 2, 2022 · b64e6fa · b64e6fa
1 parent 95f065b
commit b64e6fa
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Showing 21 changed files with 344 additions and 277 deletions.
diff --git a/.github/workflows/ci_macos.yml b/.github/workflows/ci_macos.yml
@@ -10,7 +10,7 @@ on:
 jobs:
   build:
     name: ${{ matrix.build_type }}
-    runs-on: macos-11
+    runs-on: macos-12
     strategy:
       fail-fast: false
       matrix:

diff --git a/.github/workflows/ci_ubuntu.yml b/.github/workflows/ci_ubuntu.yml
@@ -11,19 +11,19 @@ jobs:
   build:
     if: github.event_name != 'workflow_dispatch'
     name: ${{ matrix.os }}.${{ matrix.build_type }}
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
         # Supported LTS versions
-        os: [ubuntu-bionic, ubuntu-focal]
+        os: [ubuntu-focal, ubuntu-jammy]
         build_type: [Release]
         codecov: [OFF]
         check_format: [OFF]
         build_dartpy: [ON]
         include:
           # For code coverage report to Codecov
-          - os: ubuntu-focal
+          - os: ubuntu-jammy
             build_type: Debug
             codecov: ON
             check_format: ON

diff --git a/.github/workflows/ci_windows.yml b/.github/workflows/ci_windows.yml
@@ -8,7 +8,7 @@ on:
       - "**"
 
 jobs:
-  build:
+  build_2019:
     name: ${{ matrix.build_type }}
     runs-on: windows-2019
     strategy:
@@ -21,7 +21,7 @@ jobs:
     env:
       BUILD_TYPE: ${{ matrix.build_type }}
       VCPKG_ROOT: "C:/dartsim/vcpkg"
-      VCPKG_BUILD_TAG: v6.13-c973b49-1
+      VCPKG_BUILD_TAG: v6.13-2022.07.25-0
     steps:
       - name: Checkout
         uses: actions/checkout@v2
@@ -49,3 +49,44 @@ jobs:
             -DBUILD_SHARED_LIBS=${{ matrix.build_shared_libs }}
           cmake --build . --config %BUILD_TYPE% --target ALL_BUILD --parallel
           ctest --rerun-failed --output-on-failure -C %BUILD_TYPE%
+  build_2022:
+    name: ${{ matrix.build_type }}
+    runs-on: windows-2022
+    strategy:
+      fail-fast: false
+      matrix:
+        toolset: [""]
+        build_type: [Release]
+        # build_shared_libs: [ON, OFF]  # TODO(JS): Enable once shared lib build is resolved
+        build_shared_libs: [OFF]
+    env:
+      BUILD_TYPE: ${{ matrix.build_type }}
+      VCPKG_ROOT: "C:/dartsim/vcpkg"
+      VCPKG_BUILD_TAG: v6.13-2022.07.25-0
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Install Dependencies
+        shell: cmd
+        run: |
+          mkdir -p C:\dartsim
+          choco install -y wget
+          wget -q https://github.com/dartsim/vcpkg-build/releases/download/%VCPKG_BUILD_TAG%/vcpkg-dartsim-dependencies.zip
+          unzip -qq vcpkg-dartsim-dependencies.zip -d C:\dartsim
+      - name: Install Python dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install -U pytest
+      - name: Build
+        shell: cmd
+        run: |
+          mkdir build
+          cd build
+          cmake .. -G "Visual Studio 17 2022" -A x64 -Wno-dev ${{ matrix.toolset }} ^
+            -DCMAKE_BUILD_TYPE=%BUILD_TYPE% ^
+            -DCMAKE_TOOLCHAIN_FILE="%VCPKG_ROOT%/scripts/buildsystems/vcpkg.cmake" ^
+            -DDART_MSVC_DEFAULT_OPTIONS=ON ^
+            -DDART_VERBOSE=ON ^
+            -DBUILD_SHARED_LIBS=${{ matrix.build_shared_libs }}
+          cmake --build . --config %BUILD_TYPE% --target ALL_BUILD --parallel
+          ctest --rerun-failed --output-on-failure -C %BUILD_TYPE%
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -2,6 +2,13 @@
 
 ### [DART 6.13.0 (TBD)](https://github.com/dartsim/dart/milestone/69?closed=1)
 
+* Supported Platforms
+
+  * Ubuntu Focal on amd64 / GCC 9.3 / amd64
+  * Ubuntu Jammy on amd64 / GCC 11.2 / amd64
+  * macOS 12 (Monterey) / Clang 13 / amd64
+  * Windows / Microsoft Visual Studio 2019 / amd64
+
 * Dependency
 
   * Added required dependencies: fmt

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -511,7 +511,7 @@ endif()
 
 find_program(
   CLANG_FORMAT_EXECUTABLE
-  NAMES clang-format-9
+  NAMES clang-format-12
 )
 
 get_property(formatting_files GLOBAL PROPERTY DART_FORMAT_FILES)

diff --git a/dart/collision/CollisionGroup.cpp b/dart/collision/CollisionGroup.cpp
@@ -383,11 +383,12 @@ auto CollisionGroup::addShapeFrameImpl(
     // PRIMITIVE_MAGIC_NUMBER (defined as 1000 in Shape.cpp). Version is not
     // likely to be 0 because the Shape class starts its version counter at 1,
     // and the version count should monotonically increase.
-    mObjectInfoList.emplace_back(new ObjectInfo{shapeFrame,
-                                                collObj,
-                                                shape ? shape->getID() : 0,
-                                                shape ? shape->getVersion() : 0,
-                                                {}});
+    mObjectInfoList.emplace_back(new ObjectInfo{
+        shapeFrame,
+        collObj,
+        shape ? shape->getID() : 0,
+        shape ? shape->getVersion() : 0,
+        {}});
     mObserver.addShapeFrame(shapeFrame);
 
     it = --mObjectInfoList.end();

diff --git a/dart/collision/bullet/BulletCollisionDetector.cpp b/dart/collision/bullet/BulletCollisionDetector.cpp
@@ -816,65 +816,66 @@ void reportRayHits(
 std::unique_ptr<btCollisionShape> createBulletEllipsoidMesh(
     float sizeX, float sizeY, float sizeZ)
 {
-  float v[59][3] = {{0, 0, 0},
-                    {0.135299, -0.461940, -0.135299},
-                    {0.000000, -0.461940, -0.191342},
-                    {-0.135299, -0.461940, -0.135299},
-                    {-0.191342, -0.461940, 0.000000},
-                    {-0.135299, -0.461940, 0.135299},
-                    {0.000000, -0.461940, 0.191342},
-                    {0.135299, -0.461940, 0.135299},
-                    {0.191342, -0.461940, 0.000000},
-                    {0.250000, -0.353553, -0.250000},
-                    {0.000000, -0.353553, -0.353553},
-                    {-0.250000, -0.353553, -0.250000},
-                    {-0.353553, -0.353553, 0.000000},
-                    {-0.250000, -0.353553, 0.250000},
-                    {0.000000, -0.353553, 0.353553},
-                    {0.250000, -0.353553, 0.250000},
-                    {0.353553, -0.353553, 0.000000},
-                    {0.326641, -0.191342, -0.326641},
-                    {0.000000, -0.191342, -0.461940},
-                    {-0.326641, -0.191342, -0.326641},
-                    {-0.461940, -0.191342, 0.000000},
-                    {-0.326641, -0.191342, 0.326641},
-                    {0.000000, -0.191342, 0.461940},
-                    {0.326641, -0.191342, 0.326641},
-                    {0.461940, -0.191342, 0.000000},
-                    {0.353553, 0.000000, -0.353553},
-                    {0.000000, 0.000000, -0.500000},
-                    {-0.353553, 0.000000, -0.353553},
-                    {-0.500000, 0.000000, 0.000000},
-                    {-0.353553, 0.000000, 0.353553},
-                    {0.000000, 0.000000, 0.500000},
-                    {0.353553, 0.000000, 0.353553},
-                    {0.500000, 0.000000, 0.000000},
-                    {0.326641, 0.191342, -0.326641},
-                    {0.000000, 0.191342, -0.461940},
-                    {-0.326641, 0.191342, -0.326641},
-                    {-0.461940, 0.191342, 0.000000},
-                    {-0.326641, 0.191342, 0.326641},
-                    {0.000000, 0.191342, 0.461940},
-                    {0.326641, 0.191342, 0.326641},
-                    {0.461940, 0.191342, 0.000000},
-                    {0.250000, 0.353553, -0.250000},
-                    {0.000000, 0.353553, -0.353553},
-                    {-0.250000, 0.353553, -0.250000},
-                    {-0.353553, 0.353553, 0.000000},
-                    {-0.250000, 0.353553, 0.250000},
-                    {0.000000, 0.353553, 0.353553},
-                    {0.250000, 0.353553, 0.250000},
-                    {0.353553, 0.353553, 0.000000},
-                    {0.135299, 0.461940, -0.135299},
-                    {0.000000, 0.461940, -0.191342},
-                    {-0.135299, 0.461940, -0.135299},
-                    {-0.191342, 0.461940, 0.000000},
-                    {-0.135299, 0.461940, 0.135299},
-                    {0.000000, 0.461940, 0.191342},
-                    {0.135299, 0.461940, 0.135299},
-                    {0.191342, 0.461940, 0.000000},
-                    {0.000000, -0.500000, 0.000000},
-                    {0.000000, 0.500000, 0.000000}};
+  float v[59][3]
+      = {{0, 0, 0},
+         {0.135299, -0.461940, -0.135299},
+         {0.000000, -0.461940, -0.191342},
+         {-0.135299, -0.461940, -0.135299},
+         {-0.191342, -0.461940, 0.000000},
+         {-0.135299, -0.461940, 0.135299},
+         {0.000000, -0.461940, 0.191342},
+         {0.135299, -0.461940, 0.135299},
+         {0.191342, -0.461940, 0.000000},
+         {0.250000, -0.353553, -0.250000},
+         {0.000000, -0.353553, -0.353553},
+         {-0.250000, -0.353553, -0.250000},
+         {-0.353553, -0.353553, 0.000000},
+         {-0.250000, -0.353553, 0.250000},
+         {0.000000, -0.353553, 0.353553},
+         {0.250000, -0.353553, 0.250000},
+         {0.353553, -0.353553, 0.000000},
+         {0.326641, -0.191342, -0.326641},
+         {0.000000, -0.191342, -0.461940},
+         {-0.326641, -0.191342, -0.326641},
+         {-0.461940, -0.191342, 0.000000},
+         {-0.326641, -0.191342, 0.326641},
+         {0.000000, -0.191342, 0.461940},
+         {0.326641, -0.191342, 0.326641},
+         {0.461940, -0.191342, 0.000000},
+         {0.353553, 0.000000, -0.353553},
+         {0.000000, 0.000000, -0.500000},
+         {-0.353553, 0.000000, -0.353553},
+         {-0.500000, 0.000000, 0.000000},
+         {-0.353553, 0.000000, 0.353553},
+         {0.000000, 0.000000, 0.500000},
+         {0.353553, 0.000000, 0.353553},
+         {0.500000, 0.000000, 0.000000},
+         {0.326641, 0.191342, -0.326641},
+         {0.000000, 0.191342, -0.461940},
+         {-0.326641, 0.191342, -0.326641},
+         {-0.461940, 0.191342, 0.000000},
+         {-0.326641, 0.191342, 0.326641},
+         {0.000000, 0.191342, 0.461940},
+         {0.326641, 0.191342, 0.326641},
+         {0.461940, 0.191342, 0.000000},
+         {0.250000, 0.353553, -0.250000},
+         {0.000000, 0.353553, -0.353553},
+         {-0.250000, 0.353553, -0.250000},
+         {-0.353553, 0.353553, 0.000000},
+         {-0.250000, 0.353553, 0.250000},
+         {0.000000, 0.353553, 0.353553},
+         {0.250000, 0.353553, 0.250000},
+         {0.353553, 0.353553, 0.000000},
+         {0.135299, 0.461940, -0.135299},
+         {0.000000, 0.461940, -0.191342},
+         {-0.135299, 0.461940, -0.135299},
+         {-0.191342, 0.461940, 0.000000},
+         {-0.135299, 0.461940, 0.135299},
+         {0.000000, 0.461940, 0.191342},
+         {0.135299, 0.461940, 0.135299},
+         {0.191342, 0.461940, 0.000000},
+         {0.000000, -0.500000, 0.000000},
+         {0.000000, 0.500000, 0.000000}};
 
   int f[112][3]
       = {{1, 2, 9},    {9, 2, 10},   {2, 3, 10},   {10, 3, 11},  {3, 4, 11},

diff --git a/dart/collision/dart/DARTCollide.cpp b/dart/collision/dart/DARTCollide.cpp
@@ -1479,15 +1479,17 @@ int collideCylinderPlane(
 
   // four corners c0 = ( -h/2, -r ), c1 = ( +h/2, -r ), c2 = ( +h/2, +r ), c3 =
   // ( -h/2, +r )
-  Eigen::Vector3d c[4] = {Eigen::Vector3d(-half_height, -cyl_rad, 0.0),
-                          Eigen::Vector3d(+half_height, -cyl_rad, 0.0),
-                          Eigen::Vector3d(+half_height, +cyl_rad, 0.0),
-                          Eigen::Vector3d(-half_height, +cyl_rad, 0.0)};
-
-  double depth[4] = {(pn - c[0]).dot(nn),
-                     (pn - c[1]).dot(nn),
-                     (pn - c[2]).dot(nn),
-                     (pn - c[3]).dot(nn)};
+  Eigen::Vector3d c[4]
+      = {Eigen::Vector3d(-half_height, -cyl_rad, 0.0),
+         Eigen::Vector3d(+half_height, -cyl_rad, 0.0),
+         Eigen::Vector3d(+half_height, +cyl_rad, 0.0),
+         Eigen::Vector3d(-half_height, +cyl_rad, 0.0)};
+
+  double depth[4]
+      = {(pn - c[0]).dot(nn),
+         (pn - c[1]).dot(nn),
+         (pn - c[2]).dot(nn),
+         (pn - c[3]).dot(nn)};
 
   double penetration = -1.0;
   int found = -1;

diff --git a/dart/collision/fcl/BackwardCompatibility.hpp b/dart/collision/fcl/BackwardCompatibility.hpp
@@ -53,29 +53,27 @@
 
 #if FCL_VERSION_AT_LEAST(0, 6, 0)
 
-  #include <fcl/math/geometry.h>
-
   #include <fcl/geometry/bvh/BVH_model.h>
   #include <fcl/geometry/geometric_shape_to_BVH_model.h>
   #include <fcl/math/bv/OBBRSS.h>
   #include <fcl/math/bv/utility.h>
+  #include <fcl/math/geometry.h>
   #include <fcl/narrowphase/collision.h>
   #include <fcl/narrowphase/collision_object.h>
   #include <fcl/narrowphase/distance.h>
 
 #else
 
-  #include <fcl/math/matrix_3f.h>
-  #include <fcl/math/transform.h>
-  #include <fcl/math/vec_3f.h>
-
   #include <fcl/BV/OBBRSS.h>
   #include <fcl/BVH/BVH_model.h>
-  #include <fcl/shape/geometric_shape_to_BVH_model.h>
   #include <fcl/collision.h>
   #include <fcl/collision_data.h>
   #include <fcl/collision_object.h>
   #include <fcl/distance.h>
+  #include <fcl/math/matrix_3f.h>
+  #include <fcl/math/transform.h>
+  #include <fcl/math/vec_3f.h>
+  #include <fcl/shape/geometric_shape_to_BVH_model.h>
 
 #endif // FCL_VERSION_AT_LEAST(0,6,0)