Enable shared lib build with MSVC

.github/workflows/ci_windows.yml

@@ -12,14 +12,14 @@ on:
 
 jobs:
   build_2022:
-    name: ${{ matrix.build_type }}
+    name: shared=${{ matrix.build_shared_libs }}.${{ matrix.build_type }}
     runs-on: windows-2022
     strategy:
       fail-fast: false
       matrix:
         toolset: [""]
         build_type: [Release]
-        build_shared_libs: [OFF]  # TODO(JS): Add ON once shared lib build is resolved
+        build_shared_libs: [ON, OFF]
         build_dartpy: [OFF]       # Build tests and dartpy exclusively 
                                   # and building dartpy is disabled for now due to the lack of sufficient disk space in the CI
     env:
@@ -50,6 +50,7 @@ jobs:
             -DDART_MSVC_DEFAULT_OPTIONS=ON ^
             -DDART_VERBOSE=ON ^
             -DBUILD_SHARED_LIBS=${{ matrix.build_shared_libs }} ^
+            -DDART_BUILD_COMP_gui=OFF ^
             -DDART_IN_CI=ON
           cmake --build . --config %BUILD_TYPE% --target tests --parallel
           ctest --rerun-failed --output-on-failure -C %BUILD_TYPE%

CMakeLists.txt

@@ -239,13 +239,19 @@ if(MSVC)
   add_compile_options(/wd4267)
   add_compile_options(/wd4305)
   add_compile_options(/wd4334)
+  add_compile_options(/wd4506)
   add_compile_options(/wd4838)
   add_compile_options(/wd4996)
+
   add_compile_options(/bigobj)
 
   # Enable multi-threaded compilation.
   add_compile_options(/MP)
 
+  add_link_options(/OPT:NOREF /FORCE:MULTIPLE)
+
+  set(CMAKE_INSTALL_UCRT_LIBRARIES ON)
+
 elseif(CMAKE_COMPILER_IS_GNUCXX)
 
   add_compile_options(-Wall -Wextra -fPIC)

cmake/DARTMacros.cmake

@@ -152,6 +152,18 @@ function(dart_generate_export_header)
     "#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"
   )
 
@@ -920,6 +932,8 @@ function(dart_build_tests)
       target_link_libraries(${target_name} PRIVATE ${dart_lib})
     endforeach()
 
+    set_target_properties (${target_name} PROPERTIES RUNTIME_OUTPUT_DIRECTORY ${DART_BINARY_DIR}/bin)
+
     if(dart_build_tests_TEST_LIST)
       list(APPEND ${dart_build_tests_TEST_LIST} ${target_name})
     endif()

dart/CMakeLists.txt

@@ -8,6 +8,7 @@
 
 set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${DART_BINARY_DIR}/lib")
 set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${DART_BINARY_DIR}/lib")
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${DART_BINARY_DIR}/bin")
 
 #===============================================================================
 # Components: (dependency component), {external dependency}, [optional external dependency]

dart/collision/Empty.hpp

@@ -0,0 +1,41 @@
+/*
+ * Copyright (c) 2011-2023, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#pragma once
+
+#include <dart/collision/Export.hpp>
+
+namespace dart::collision {
+
+DART_COLLISION_API void empty();
+
+} // namespace dart

dart/collision/empty.cpp

@@ -0,0 +1,41 @@
+/*
+ * Copyright (c) 2011-2023, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "dart/collision/Empty.hpp"
+
+namespace dart::collision {
+
+void empty() {
+  // Do nothing
+}
+
+} // namespace dart

dart/common/Stopwatch.hpp

@@ -44,7 +44,7 @@ namespace dart::common {
 template <
     typename UnitType,
     typename ClockType = std::chrono::high_resolution_clock>
-class DART_COMMON_API Stopwatch final
+class Stopwatch final
 {
 public:
   /// Constructor

dart/common/detail/Cloneable.hpp

@@ -119,6 +119,7 @@ MakeCloneable<Base, Mixin>& MakeCloneable<Base, Mixin>::operator=(
     MakeCloneable&& other)
 {
   static_cast<Mixin&>(*this) = std::move(static_cast<Mixin&&>(other));
+  return *this;
 }
 
 //==============================================================================

dart/dynamics/BalanceConstraint.cpp

@@ -32,6 +32,7 @@
 
 #include "dart/dynamics/BalanceConstraint.hpp"
 
+#include "dart/dynamics/BodyNode.hpp"
 #include "dart/dynamics/EndEffector.hpp"
 #include "dart/dynamics/Skeleton.hpp"
 

dart/dynamics/BallJoint.hpp

@@ -49,7 +49,7 @@ class DART_DYNAMICS_API BallJoint : public GenericJoint<math::SO3Space>
 
   using Base = GenericJoint<math::SO3Space>;
 
-  struct Properties : Base::Properties
+  struct DART_DYNAMICS_API Properties : Base::Properties
   {
     DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(Properties)
 

dart/dynamics/Branch.hpp

@@ -45,7 +45,7 @@ namespace dynamics {
 class DART_DYNAMICS_API Branch : public Linkage
 {
 public:
-  struct Criteria
+  struct DART_DYNAMICS_API Criteria
   {
     /// Constructor. Requires a starting BodyNode.
     Criteria(BodyNode* _start);

dart/dynamics/CMakeLists.txt

@@ -28,6 +28,8 @@ dart_add_component(
     assimp octomap
   TARGET_LINK_LIBRARIES_PUBLIC
     assimp octomap
+  TARGET_LINK_LIBRARIES_PRIVATE
+    ${PROJECT_NAME}${DART_MAJOR_VERSION}-external-odelcpsolver
   TARGET_COMPILE_FEATURES_PUBLIC
     cxx_std_17
   SUB_DIRECTORIES

dart/dynamics/CollisionGroup.hpp

@@ -404,6 +404,9 @@ class DART_DYNAMICS_API CollisionGroup
   // (e.g., by world cloning).
 
 private:
+  CollisionGroup& operator=(const CollisionGroup&) = delete;
+  CollisionGroup(const CollisionGroup&) = delete;
+
   /// This class watches when ShapeFrames get deleted so that they can be safely
   /// removes from the CollisionGroup. We cannot have a weak_ptr to a ShapeFrame
   /// because some are managed by std::shared_ptr while others are managed by

dart/dynamics/ConstraintBase.cpp

@@ -32,6 +32,7 @@
 
 #include "dart/dynamics/ConstraintBase.hpp"
 
+#include "dart/dynamics/BodyNode.hpp"
 #include "dart/dynamics/Skeleton.hpp"
 
 namespace dart {

dart/dynamics/DegreeOfFreedom.cpp

@@ -32,6 +32,7 @@
 
 #include "dart/dynamics/DegreeOfFreedom.hpp"
 
+#include "dart/dynamics/BodyNode.hpp"
 #include "dart/dynamics/Joint.hpp"
 #include "dart/dynamics/Skeleton.hpp"
 

dart/dynamics/FixedJacobianNode.hpp

@@ -109,6 +109,8 @@ class DART_DYNAMICS_API FixedJacobianNode
   /// \}
 
 protected:
+  FixedJacobianNode() = default;
+
   /// Constructor
   FixedJacobianNode(BodyNode* parent, const Eigen::Isometry3d& transform);
 

dart/dynamics/FreeJoint.hpp

@@ -51,7 +51,7 @@ class DART_DYNAMICS_API FreeJoint : public GenericJoint<math::SE3Space>
 
   using Base = GenericJoint<math::SE3Space>;
 
-  struct Properties : Base::Properties
+  struct DART_DYNAMICS_API Properties : Base::Properties
   {
     DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(Properties)
 

dart/dynamics/InverseKinematics.hpp

@@ -488,7 +488,7 @@ typedef InverseKinematics IK;
 /// InverseKinematics module that it belongs to gets cloned. Any Function
 /// classes in the Problem that do not inherit InverseKinematics::Function
 /// will just be copied over by reference.
-class InverseKinematics::Function
+class DART_DYNAMICS_API InverseKinematics::Function
 {
 public:
   /// Enable this function to be cloned to a new IK module.
@@ -501,7 +501,7 @@ class InverseKinematics::Function
 //==============================================================================
 /// ErrorMethod is a base class for different ways of computing the error of
 /// an InverseKinematics module.
-class InverseKinematics::ErrorMethod : public common::Subject
+class DART_DYNAMICS_API InverseKinematics::ErrorMethod : public common::Subject
 {
 public:
   typedef std::pair<Eigen::Vector6d, Eigen::Vector6d> Bounds;
@@ -766,10 +766,10 @@ class InverseKinematics::TaskSpaceRegion : public ErrorMethod
 //==============================================================================
 /// GradientMethod is a base class for different ways of computing the
 /// gradient of an InverseKinematics module.
-class InverseKinematics::GradientMethod : public common::Subject
+class DART_DYNAMICS_API InverseKinematics::GradientMethod : public common::Subject
 {
 public:
-  struct Properties
+  struct DART_DYNAMICS_API Properties
   {
     /// The component-wise clamp for this GradientMethod
     double mComponentWiseClamp;
@@ -904,10 +904,10 @@ class InverseKinematics::GradientMethod : public common::Subject
 /// damping helps with this), and each cycle might take more time to compute
 /// than the JacobianTranspose method (although the JacobianDLS method will
 /// usually converge in fewer cycles than JacobianTranspose).
-class InverseKinematics::JacobianDLS : public GradientMethod
+class DART_DYNAMICS_API InverseKinematics::JacobianDLS : public GradientMethod
 {
 public:
-  struct UniqueProperties
+  struct DART_DYNAMICS_API UniqueProperties
   {
     /// Damping coefficient
     double mDamping;
@@ -916,7 +916,7 @@ class InverseKinematics::JacobianDLS : public GradientMethod
     UniqueProperties(double damping = DefaultIKDLSCoefficient);
   };
 
-  struct Properties : GradientMethod::Properties, UniqueProperties
+  struct DART_DYNAMICS_API Properties : GradientMethod::Properties, UniqueProperties
   {
     /// Default constructor
     Properties(
@@ -962,7 +962,7 @@ class InverseKinematics::JacobianDLS : public GradientMethod
 /// very smooth but imprecise, requiring more iterations before converging
 /// and being less precise in general. This method is suitable for animations
 /// where smoothness is prefered over precision.
-class InverseKinematics::JacobianTranspose : public GradientMethod
+class DART_DYNAMICS_API InverseKinematics::JacobianTranspose : public GradientMethod
 {
 public:
   /// Constructor
@@ -995,7 +995,7 @@ class InverseKinematics::JacobianTranspose : public GradientMethod
 /// counter-productive for analytical methods which do not typically rely on
 /// convergence; analytical methods can usually solve the entire error vector
 /// directly.
-class InverseKinematics::Analytical : public GradientMethod
+class DART_DYNAMICS_API InverseKinematics::Analytical : public GradientMethod
 {
 public:
   /// Bitwise enumerations that are used to describe some properties of each
@@ -1036,7 +1036,7 @@ class InverseKinematics::Analytical : public GradientMethod
   };
   // TODO(JS): Change to enum class?
 
-  struct Solution
+  struct DART_DYNAMICS_API Solution
   {
     /// Default constructor
     Solution(
@@ -1058,7 +1058,7 @@ class InverseKinematics::Analytical : public GradientMethod
       const InverseKinematics* _ik)>
       QualityComparison;
 
-  struct UniqueProperties
+  struct DART_DYNAMICS_API UniqueProperties
   {
     /// Flag for how to use the extra DOFs in the IK module.
     ExtraDofUtilization mExtraDofUtilization;
@@ -1084,7 +1084,7 @@ class InverseKinematics::Analytical : public GradientMethod
     void resetQualityComparisonFunction();
   };
 
-  struct Properties : GradientMethod::Properties, UniqueProperties
+  struct DART_DYNAMICS_API Properties : GradientMethod::Properties, UniqueProperties
   {
     // Default constructor
     Properties(
@@ -1314,7 +1314,7 @@ class InverseKinematics::Objective final : public Function,
 /// instantiated by a user. Call InverseKinematics::resetProblem() to set the
 /// first equality constraint of the module's Problem to an
 /// InverseKinematics::Constraint.
-class InverseKinematics::Constraint final : public Function,
+class DART_DYNAMICS_API InverseKinematics::Constraint final : public Function,
                                             public optimization::Function
 {
 public:

dart/dynamics/JacobianNode.hpp

@@ -273,6 +273,8 @@ class DART_DYNAMICS_API JacobianNode : public virtual Frame, public Node
   void dirtyJacobianDeriv();
 
 protected:
+  JacobianNode() = default;
+
   /// Constructor
   JacobianNode(BodyNode* bn);