Refactor mesh loading and keep Gazebo compatibility

Author: jslee02

cmake/dart_defs.cmake

@@ -872,21 +872,26 @@ function(add_component_targets package_name component)
       PROPERTY TYPE
     )
     if(NOT ("${dependency_type}" STREQUAL STATIC_LIBRARY
-          OR "${dependency_type}" STREQUAL SHARED_LIBRARY))
+          OR "${dependency_type}" STREQUAL SHARED_LIBRARY
+          OR "${dependency_type}" STREQUAL INTERFACE_LIBRARY))
       message(
         FATAL_ERROR
         "Target '${dependency_target}' has unsupported type"
         " '${dependency_type}'. Only 'STATIC_LIBRARY' and 'SHARED_LIBRARY'"
-        " are supported."
+        " and 'INTERFACE_LIBRARY' are supported."
       )
     endif()
 
-    install(
-      TARGETS "${dependency_target}"
-      EXPORT "${target}"
-      ARCHIVE DESTINATION "${LIBRARY_INSTALL_DIR}"
-      LIBRARY DESTINATION "${LIBRARY_INSTALL_DIR}"
-    )
+    if("${dependency_type}" STREQUAL INTERFACE_LIBRARY)
+      install(TARGETS "${dependency_target}" EXPORT "${target}")
+    else()
+      install(
+        TARGETS "${dependency_target}"
+        EXPORT "${target}"
+        ARCHIVE DESTINATION "${LIBRARY_INSTALL_DIR}"
+        LIBRARY DESTINATION "${LIBRARY_INSTALL_DIR}"
+      )
+    endif()
   endforeach()
 
   set_property(

dart/CMakeLists.txt

@@ -244,6 +244,24 @@ if(spdlog_FOUND)
   add_component_dependency_packages(${PROJECT_NAME} dart spdlog)
 endif()
 
+if(DART_BUILD_COLLISION_BULLET)
+  add_library(dart-collision-bullet INTERFACE)
+  target_link_libraries(dart-collision-bullet INTERFACE dart)
+
+  add_component(${PROJECT_NAME} collision-bullet)
+  add_component_targets(${PROJECT_NAME} collision-bullet dart-collision-bullet)
+  add_component_dependencies(${PROJECT_NAME} collision-bullet dart)
+endif()
+
+if(DART_BUILD_COLLISION_ODE)
+  add_library(dart-collision-ode INTERFACE)
+  target_link_libraries(dart-collision-ode INTERFACE dart)
+
+  add_component(${PROJECT_NAME} collision-ode)
+  add_component_targets(${PROJECT_NAME} collision-ode dart-collision-ode)
+  add_component_dependencies(${PROJECT_NAME} collision-ode dart)
+endif()
+
 if(MSVC)
   set_target_properties(
     dart PROPERTIES

dart/collision/fcl/FCLCollisionDetector.cpp

@@ -56,10 +56,11 @@
 #include "dart/dynamics/VoxelGridShape.hpp"
 
 #include <algorithm>
-#include <cstdint>
 #include <limits>
 #include <string>
 
+#include <cstdint>
+
 namespace dart {
 namespace collision {
 

dart/dynamics/AssimpInputResourceAdaptor.hpp

@@ -37,4 +37,3 @@
 #include <dart/dynamics/detail/AssimpInputResourceAdaptor.hpp>
 
 #endif // DART_DYNAMICS_ASSIMPINPUTRESOURCEADAPTOR_PUBLIC_HPP_
-