Refactor world solvers with centralized entity manager

Author: jslee02

CMakeLists.txt

@@ -113,7 +113,7 @@ set(DART_VERSION "${DART_MAJOR_VERSION}.${DART_MINOR_VERSION}.${DART_PATCH_VERSI
 # Already set above
 
 set(DART_PKG_DESC "Dynamic Animation and Robotics Toolkit.")
-set(DART_PKG_EXTERNAL_DEPS "assimp, ccd, eigen3, fcl, octomap")
+set(DART_PKG_EXTERNAL_DEPS "assimp, ccd, eigen3, entt, fcl, octomap")
 set_property(GLOBAL PROPERTY DART_PKG_LINK_LIBS "")
 set_property(GLOBAL PROPERTY DART_PUBLIC_INCLUDE_DIRS "")
 set_property(GLOBAL PROPERTY DART_PUBLIC_SYSTEM_INCLUDE_DIRS "")

cmake/DARTFindDependencies.cmake

@@ -13,6 +13,10 @@ endif()
 dart_find_package(fmt)
 dart_check_required_package(fmt "libfmt")
 
+# EnTT
+dart_find_package(EnTT)
+dart_check_required_package(EnTT "EnTT")
+
 # Eigen
 dart_find_package(Eigen3)
 dart_check_required_package(EIGEN3 "eigen3")

dart/CMakeLists.txt

@@ -125,6 +125,7 @@ target_link_libraries(
   PUBLIC
     ${CMAKE_DL_LIBS}
     Eigen3::Eigen
+    EnTT::EnTT
     fcl
     assimp
 )
@@ -222,7 +223,7 @@ endif()
 # Default component
 add_component_targets(${PROJECT_NAME} dart dart)
 add_component_dependency_packages(${PROJECT_NAME} dart
-  assimp Eigen3 fcl fmt
+  assimp EnTT Eigen3 fcl fmt
 )
 if(TARGET octomap)
   add_component_dependency_packages(${PROJECT_NAME} dart octomap)

dart/simulation/CMakeLists.txt

@@ -3,18 +3,20 @@ file(GLOB hdrs "*.hpp")
 file(GLOB srcs "*.cpp")
 file(GLOB detail_hdrs "detail/*.hpp")
 file(GLOB detail_srcs "detail/*.cpp")
-dart_add_core_headers(${hdrs} ${detail_hdrs})
-dart_add_core_sources(${srcs} ${detail_srcs})
+file(GLOB solver_hdrs "solver/*.hpp")
+file(GLOB solver_srcs "solver/*.cpp")
+dart_add_core_headers(${hdrs} ${detail_hdrs} ${solver_hdrs})
+dart_add_core_sources(${srcs} ${detail_srcs} ${solver_srcs})
 
 # Generate header for this namespace
-dart_get_filename_components(header_names "simulation headers" ${hdrs})
+dart_get_filename_components(header_names "simulation headers" ${hdrs} ${solver_hdrs})
 list(REMOVE_ITEM header_names SmartPointer.hpp)
 dart_generate_component_headers(
   COMPONENT_NAME simulation
   TARGET_DIR "dart/simulation/"
   OUTPUT_DIR "${CMAKE_CURRENT_BINARY_DIR}"
   HEADERS ${header_names}
-  SOURCE_HEADERS ${hdrs} ${detail_hdrs}
+  SOURCE_HEADERS ${hdrs} ${detail_hdrs} ${solver_hdrs}
 )
 
 # Install (includes All.hpp, simulation.hpp for component compatibility,
@@ -29,6 +31,11 @@ install(
   DESTINATION include/dart/simulation/detail
   COMPONENT headers
 )
+install(
+  FILES ${solver_hdrs}
+  DESTINATION include/dart/simulation/solver
+  COMPONENT headers
+)
 # Install generated compatibility headers preserving subdirectory structure
 dart_install_compat_headers(
   COMPAT_HEADERS ${DART_GENERATED_COMPAT_HEADERS}