[build] Set up symbol visibility for dart core

.clang-format

@@ -66,23 +66,23 @@ IncludeCategories:
     Priority: 22
   - Regex: '^<dart\/utils\/.*\.h(pp)?>$'
     Priority: 23
-  - Regex: '^<dart\/simulation\/.*\.h(pp)?>$'
+  - Regex: '^<dart\/Export.hpp>$'
     Priority: 24
-  - Regex: '^<dart\/constraint\/.*\.h(pp)?>$'
+  - Regex: '^<dart\/simulation\/.*\.h(pp)?>$'
     Priority: 25
-  - Regex: '^<dart\/collision\/.*\.h(pp)?>$'
+  - Regex: '^<dart\/constraint\/.*\.h(pp)?>$'
     Priority: 26
-  - Regex: '^<dart\/dynamics\/.*\.h(pp)?>$'
+  - Regex: '^<dart\/collision\/.*\.h(pp)?>$'
     Priority: 27
-  - Regex: '^<dart\/optimizer\/.*\.h(pp)?>$'
+  - Regex: '^<dart\/dynamics\/.*\.h(pp)?>$'
     Priority: 28
-  - Regex: '^<dart\/lcpsolver\/.*\.h(pp)?>$'
+  - Regex: '^<dart\/optimizer\/.*\.h(pp)?>$'
     Priority: 29
-  - Regex: '^<dart\/integration\/.*\.h(pp)?>$'
+  - Regex: '^<dart\/lcpsolver\/.*\.h(pp)?>$'
     Priority: 30
-  - Regex: '^<dart\/math\/.*\.h(pp)?>$'
+  - Regex: '^<dart\/integration\/.*\.h(pp)?>$'
     Priority: 31
-  - Regex: '^<dart\/common\/.*\.h(pp)?>$'
+  - Regex: '^<dart\/math\/.*\.h(pp)?>$'
     Priority: 32
   - Regex: '^<dart\/common\/.*\.h(pp)?>$'
     Priority: 33

.github/workflows/ci_downstream.yml

@@ -0,0 +1,57 @@
+# https://help.github.com/en/articles/workflow-syntax-for-github-actions
+
+name: CI Downstream
+
+on:
+  push:
+    branches:
+      - "**"
+    paths-ignore:
+      - ".github/workflows/cache_*.yml"
+      - "docker/dev/**"
+  pull_request:
+    branches:
+      - "**"
+    paths-ignore:
+      - ".github/workflows/cache_*.yml"
+      - "docker/dev/**"
+  schedule:
+    # Cron syntax: [minute hour day_of_the_month month day_of_the_week]
+    - cron: "0 2 * * 0,3" # Run every Sunday and Wednesday at 02:00
+  workflow_dispatch:
+
+jobs:
+  tracy:
+    name: gazebo
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        dart_version: [v6.14]
+        build_min: [ON]
+    env:
+      OS_VERSION: gazebo
+      DART_VERSION: ${{ matrix.dart_version }}
+    steps:
+      # https://github.com/marketplace/actions/docker-setup-qemu
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+      # https://github.com/marketplace/actions/docker-setup-buildx
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+      # https://github.com/marketplace/actions/docker-login
+      - name: Login to DockerHub
+        uses: docker/login-action@v3
+        with:
+          username: ${{ secrets.DOCKER_USERNAME }}
+          password: ${{ secrets.DOCKER_PASSWORD }}
+      # https://github.com/marketplace/actions/build-and-push-docker-images
+      - name: Build and push
+        id: docker_build
+        uses: docker/build-push-action@v5
+        with:
+          file: ./docker/dev/${{ env.DART_VERSION }}/Dockerfile.${{ env.OS_VERSION }}
+          push: true
+          tags: ${{ env.DOCKER_REPO }}:${{ env.OS_VERSION }}-${{ env.DART_VERSION }}
+      - name: Image digest
+        run: echo ${{ steps.docker_build.outputs.digest }}

.github/workflows/ci_windows.yml

@@ -22,14 +22,14 @@ on:
 
 jobs:
   build:
-    name: win-${{ matrix.build_type }}
+    name: win-${{ matrix.build_type }}-shared_libs=${{ matrix.build_shared_libs }}
     runs-on: windows-latest
     strategy:
       fail-fast: false
       matrix:
         toolset: [""]
         build_type: [Release]
-        build_shared_libs: [OFF] # TODO(JS): Add ON once shared lib build is resolved
+        build_shared_libs: [ON, OFF]
 
     steps:
       - name: Checkout
@@ -73,7 +73,6 @@ jobs:
             -G "Visual Studio 17 2022" ^
             -A x64 ^
             -Wno-dev ${{ matrix.toolset }} ^
-            -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ^
             -DCMAKE_TOOLCHAIN_FILE="${{ github.workspace }}/vcpkg/scripts/buildsystems/vcpkg.cmake" ^
             -DDART_MSVC_DEFAULT_OPTIONS=ON ^
             -DDART_VERBOSE=ON ^

cmake/dart_defs.cmake

@@ -125,6 +125,142 @@ function(dart_print_options)
   message(STATUS "")
 endfunction()
 
+# cmake-format: off
+# dart_check_compiler_visibility(<output_variable>)
+#
+# Macro to check for visibility capability in compiler
+# cmake-format: on
+macro(dart_check_compiler_visibility variable)
+  include(CheckCXXCompilerFlag)
+  check_cxx_compiler_flag(-fvisibility=hidden ${variable})
+endmacro()
+
+# dart_generate_export_header(
+#   TARGET_NAME <target_name>
+#   DESTINATION <dir_name>
+#   INCLUDE_DIR <dir_name>
+#   EXPORT_FILE_NAME <file_name>
+#   [BASE_NAME <base_name>]
+#   [EXPORT_ALL_SYMBOLS_BY_DEFAULT]
+# )
+#
+# Function to create an export header for control of binary symbols visibility
+#
+function(dart_generate_export_header)
+  set(prefix _ARG)
+  set(options EXPORT_ALL_SYMBOLS_BY_DEFAULT)
+  set(oneValueArgs
+    TARGET_NAME
+    DESTINATION
+    EXPORT_FILE_NAME
+    BASE_NAME
+    BASE_DIR
+  )
+  set(multiValueArgs)
+  cmake_parse_arguments(
+    "${prefix}"
+    "${options}"
+    "${oneValueArgs}"
+    "${multiValueArgs}"
+    ${ARGN}
+  )
+
+  # Check required argument
+  if(NOT _ARG_TARGET_NAME)
+    message(FATAL_ERROR "DEVELOPER ERROR: You must specify TARGET_NAME!")
+    return()
+  endif()
+  if(NOT _ARG_DESTINATION)
+    message(FATAL_ERROR "DEVELOPER ERROR: You must specify DESTINATION!")
+    return()
+  endif()
+  if(NOT _ARG_EXPORT_FILE_NAME)
+    message(FATAL_ERROR "DEVELOPER ERROR: You must specify EXPORT_FILE_NAME!")
+    return()
+  endif()
+
+  # Check if target is valid
+  if(NOT TARGET ${_ARG_TARGET_NAME})
+    message(
+      FATAL_ERROR
+        "DEVELOPER ERROR: Invalid target "
+        "\"${_ARG_TARGET_NAME}\" is passed! "
+        "Make sure this function is called after the target is defined by "
+        "add_library(<target> ...).")
+    return()
+  endif()
+
+  # Hide symbols by default
+  if(UNIX AND NOT _ARG_EXPORT_ALL_SYMBOLS_BY_DEFAULT)
+    dart_check_compiler_visibility(compiler_supports_visibility)
+    if(compiler_supports_visibility)
+      target_compile_options(${_ARG_TARGET_NAME} PRIVATE -fvisibility=hidden)
+    endif()
+  endif()
+
+  # Base name
+  if(_ARG_BASE_NAME)
+    set(base_name ${_ARG_BASE_NAME})
+  else()
+    set(base_name "${_ARG_TARGET_NAME}")
+    string(REPLACE "-" "_" base_name ${base_name})
+  endif()
+  string(TOUPPER ${base_name} base_name)
+
+  # Set up paths
+  set(export_file_path "${_ARG_DESTINATION}/${_ARG_EXPORT_FILE_NAME}")
+  set(export_detail_file_path "${_ARG_DESTINATION}/detail/${_ARG_EXPORT_FILE_NAME}")
+
+  # Generate CMake's default export header
+  include(GenerateExportHeader)
+  generate_export_header(
+    ${_ARG_TARGET_NAME}
+    EXPORT_MACRO_NAME DETAIL_${base_name}_API
+    EXPORT_FILE_NAME ${export_detail_file_path}
+    DEPRECATED_MACRO_NAME _DART_DEPRECATED
+  )
+
+  # Generate final export header
+  file(
+    WRITE ${export_file_path}
+    "// This file is automatically generated by ${PROJECT_NAME}.\n"
+    "\n"
+    "#pragma once\n"
+    "\n"
+    "/**\n"
+    " * @brief Apply this macro to classes and functions that will need to be exposed\n"
+    "   to the consumer libraries or programs.\n"
+    " */\n"
+    "#define ${base_name}_API \\\n"
+    "    DETAIL_${base_name}_API\n"
+    "\n"
+    "#ifdef _MSC_VER\n"
+    "  #define ${base_name}_TEMPL_INST_DECL_API\n"
+    "#else\n"
+    "  #define ${base_name}_TEMPL_INST_DECL_API ${base_name}_API\n"
+    "#endif\n"
+    "\n"
+    "#ifdef _MSC_VER\n"
+    "  #define ${base_name}_TEMPL_INST_DEF_API ${base_name}_API\n"
+    "#else\n"
+    "  #define ${base_name}_TEMPL_INST_DEF_API\n"
+    "#endif\n"
+    "\n"
+    "#include \"detail/${_ARG_EXPORT_FILE_NAME}\"\n"
+  )
+
+  # Install generated export files
+  set(include_base_path ${CMAKE_INSTALL_INCLUDEDIR}/${org_name}/${project_name}${project_version_major})
+  set(export_install_path "${include_base_path}/${_ARG_BASE_DIR}")
+  set(detail_export_install_path "${export_install_path}/detail/")
+  install(FILES "${export_file_path}"
+    DESTINATION "${export_install_path}"
+  )
+  install(FILES "${export_detail_file_path}"
+    DESTINATION "${detail_export_install_path}"
+  )
+endfunction()
+
 function(dart_library)
   set(prefix _ARG)
   set(options

dart/CMakeLists.txt

@@ -114,6 +114,13 @@ get_property(dart_core_sources GLOBAL PROPERTY DART_CORE_SOURCES)
 
 # Add target
 dart_add_library(dart ${dart_core_headers} ${dart_core_sources})
+dart_generate_export_header(
+  TARGET_NAME dart
+  DESTINATION ${CMAKE_CURRENT_BINARY_DIR}
+  EXPORT_FILE_NAME Export.hpp
+  BASE_NAME DART
+  BASE_DIR ${CMAKE_CURRENT_SOURCE_DIR}
+)
 target_include_directories(dart BEFORE
   PUBLIC
     $<BUILD_INTERFACE:${DART_SOURCE_DIR}>

dart/collision/CollisionDetector.hpp

@@ -33,6 +33,8 @@
 #ifndef DART_COLLISION_COLLISIONDETECTOR_HPP_
 #define DART_COLLISION_COLLISIONDETECTOR_HPP_
 
+#include <dart/Export.hpp>
+
 #include <dart/collision/CollisionOption.hpp>
 #include <dart/collision/CollisionResult.hpp>
 #include <dart/collision/Contact.hpp>
@@ -56,7 +58,8 @@ namespace collision {
 
 class CollisionObject;
 
-class CollisionDetector : public std::enable_shared_from_this<CollisionDetector>
+class DART_API CollisionDetector
+  : public std::enable_shared_from_this<CollisionDetector>
 {
 public:
   friend class CollisionObject;

dart/collision/CollisionFilter.hpp

@@ -33,6 +33,8 @@
 #ifndef DART_COLLISION_COLLISIONFILTER_HPP_
 #define DART_COLLISION_COLLISIONFILTER_HPP_
 
+#include <dart/Export.hpp>
+
 #include <dart/collision/detail/UnorderedPairs.hpp>
 
 #include <dart/common/Deprecated.hpp>
@@ -47,7 +49,7 @@ namespace collision {
 
 class CollisionObject;
 
-class CollisionFilter
+class DART_API CollisionFilter
 {
 public:
   /// Destructor.
@@ -68,7 +70,7 @@ class CollisionFilter
       const CollisionObject* object1, const CollisionObject* object2) const = 0;
 };
 
-class CompositeCollisionFilter : public CollisionFilter
+class DART_API CompositeCollisionFilter : public CollisionFilter
 {
 public:
   /// Adds a collision filter to this CompositeCollisionFilter.
@@ -90,7 +92,7 @@ class CompositeCollisionFilter : public CollisionFilter
   std::unordered_set<const CollisionFilter*> mFilters;
 };
 
-class BodyNodeCollisionFilter : public CollisionFilter
+class DART_API BodyNodeCollisionFilter : public CollisionFilter
 {
 public:
   /// Add a BodyNode pair to the blacklist.

dart/collision/CollisionGroup.hpp

@@ -33,6 +33,8 @@
 #ifndef DART_COLLISION_COLLISIONGROUP_HPP_
 #define DART_COLLISION_COLLISIONGROUP_HPP_
 
+#include <dart/Export.hpp>
+
 #include <dart/collision/CollisionOption.hpp>
 #include <dart/collision/CollisionResult.hpp>
 #include <dart/collision/DistanceOption.hpp>
@@ -52,7 +54,7 @@
 namespace dart {
 namespace collision {
 
-class CollisionGroup
+class DART_API CollisionGroup
 {
 public:
   /// Constructor

dart/collision/CollisionObject.hpp

@@ -33,6 +33,8 @@
 #ifndef DART_COLLISION_COLLISIONOBJECT_HPP_
 #define DART_COLLISION_COLLISIONOBJECT_HPP_
 
+#include <dart/Export.hpp>
+
 #include <dart/collision/SmartPointer.hpp>
 
 #include <dart/dynamics/SmartPointer.hpp>
@@ -42,7 +44,7 @@
 namespace dart {
 namespace collision {
 
-class CollisionObject
+class DART_API CollisionObject
 {
 public:
   friend class CollisionGroup;

dart/collision/CollisionOption.hpp

@@ -33,6 +33,8 @@
 #ifndef DART_COLLISION_COLLISIONOPTION_HPP_
 #define DART_COLLISION_COLLISIONOPTION_HPP_
 
+#include <dart/Export.hpp>
+
 #include <memory>
 
 #include <cstddef>
@@ -42,7 +44,7 @@ namespace collision {
 
 class CollisionFilter;
 
-struct CollisionOption
+struct DART_API CollisionOption
 {
   /// Flag whether the collision detector computes contact information (contact
   /// point, normal, and penetration depth). If it is set to false, only the

dart/collision/CollisionResult.hpp

@@ -33,6 +33,8 @@
 #ifndef DART_COLLISION_COLLISIONRESULT_HPP_
 #define DART_COLLISION_COLLISIONRESULT_HPP_
 
+#include <dart/Export.hpp>
+
 #include <dart/collision/Contact.hpp>
 
 #include <unordered_set>
@@ -49,7 +51,7 @@ class ShapeFrame;
 
 namespace collision {
 
-class CollisionResult
+class DART_API CollisionResult
 {
 public:
   /// Add one contact