Backport relocatability fixes

recipe/507.patch

@@ -0,0 +1,366 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index f7feeffde..edde87869 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -93,8 +93,11 @@ message(STATUS "-------------------------------------------\n")
+ set(GZ_PHYSICS_RESOURCE_DIR "${CMAKE_SOURCE_DIR}/resources")
+
+ # Plugin install dirs
++set(GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR
++  ${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/engine-plugins
++)
+ set(GZ_PHYSICS_ENGINE_INSTALL_DIR
+-  ${CMAKE_INSTALL_PREFIX}/${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/engine-plugins
++  ${CMAKE_INSTALL_PREFIX}/${GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR}
+ )
+
+ #============================================================================
+diff --git a/dartsim/CMakeLists.txt b/dartsim/CMakeLists.txt
+index 2b328b09d..35b416bb3 100644
+--- a/dartsim/CMakeLists.txt
++++ b/dartsim/CMakeLists.txt
+@@ -90,7 +90,9 @@ gz_build_tests(
+     ${PROJECT_LIBRARY_TARGET_NAME}-sdf
+     ${PROJECT_LIBRARY_TARGET_NAME}-heightmap
+     ${PROJECT_LIBRARY_TARGET_NAME}-mesh
+-  TEST_LIST tests)
++  TEST_LIST tests
++  ENVIRONMENT
++    GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})
+
+ foreach(test ${tests})
+
+diff --git a/include/gz/physics/InstallationDirectories.hh b/include/gz/physics/InstallationDirectories.hh
+new file mode 100644
+index 000000000..a8b975ce9
+--- /dev/null
++++ b/include/gz/physics/InstallationDirectories.hh
+@@ -0,0 +1,43 @@
++/*
++ * Copyright (C) 2023 Open Source Robotics Foundation
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ *     http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *
++ */
++
++#ifndef GZ_PHYSICS_INSTALLATION_DIRECTORIES_HH_
++#define GZ_PHYSICS_INSTALLATION_DIRECTORIES_HH_
++
++#include <string>
++
++#include <gz/physics/config.hh>
++#include <gz/physics/Export.hh>
++
++namespace gz
++{
++  namespace physics
++  {
++    inline namespace GZ_PHYSICS_VERSION_NAMESPACE {
++
++    /// \brief getInstallPrefix return the install prefix of the library
++    /// i.e. CMAKE_INSTALL_PREFIX unless the library has been moved
++    GZ_PHYSICS_VISIBLE std::string getInstallPrefix();
++
++    /// \brief getEngineInstallDir return the install directory of the engines
++    GZ_PHYSICS_VISIBLE std::string getEngineInstallDir();
++
++    }
++  }
++}
++
++#endif
+diff --git a/include/gz/physics/config.hh.in b/include/gz/physics/config.hh.in
+index 75e9338e2..d0c68462d 100644
+--- a/include/gz/physics/config.hh.in
++++ b/include/gz/physics/config.hh.in
+@@ -28,7 +28,7 @@
+ #define GZ_PHYSICS_VERSION "${PROJECT_VERSION}"
+ #define GZ_PHYSICS_VERSION_FULL "${PROJECT_VERSION_FULL}"
+
+-#define GZ_PHYSICS_ENGINE_INSTALL_DIR "${GZ_PHYSICS_ENGINE_INSTALL_DIR}"
++#define GZ_PHYSICS_ENGINE_INSTALL_DIR _Pragma ("GCC warning \"'GZ_PHYSICS_ENGINE_INSTALL_DIR' macro is deprecated, use gz::physics::getEngineInstallDir() function instead. \"") "${GZ_PHYSICS_ENGINE_INSTALL_DIR}"
+
+ #define GZ_PHYSICS_VERSION_HEADER "Gazebo Physics, version ${PROJECT_VERSION_FULL}\nCopyright (C) 2017 Open Source Robotics Foundation.\nReleased under the Apache 2.0 License.\n\n"
+
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+index 14f4f830f..e3a178297 100644
+--- a/src/CMakeLists.txt
++++ b/src/CMakeLists.txt
+@@ -1,6 +1,14 @@
+ gz_get_libsources_and_unittests(sources gtest_sources)
+ gz_create_core_library(SOURCES ${sources} CXX_STANDARD 17)
++gz_add_get_install_prefix_impl(GET_INSTALL_PREFIX_FUNCTION gz::physics::getInstallPrefix
++                               GET_INSTALL_PREFIX_HEADER gz/physics/InstallationDirectories.hh
++                               OVERRIDE_INSTALL_PREFIX_ENV_VARIABLE GZ_PHYSICS_INSTALL_PREFIX)
+
++set_property(
++  SOURCE InstallationDirectories.cc
++  PROPERTY COMPILE_DEFINITIONS
++  GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR="${GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR}"
++)
+
+ target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
+   PUBLIC
+@@ -11,7 +19,9 @@ target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
+
+ gz_build_tests(
+   TYPE UNIT
+-  SOURCES ${gtest_sources})
++  SOURCES ${gtest_sources}
++  ENVIRONMENT
++    GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})
+
+ if(TARGET UNIT_FindFeatures_TEST)
+   target_link_libraries(UNIT_FindFeatures_TEST
+diff --git a/src/InstallationDirectories.cc b/src/InstallationDirectories.cc
+new file mode 100644
+index 000000000..510f710ac
+--- /dev/null
++++ b/src/InstallationDirectories.cc
+@@ -0,0 +1,155 @@
++/*
++ * Copyright (C) 2023 Open Source Robotics Foundation
++ *
++ * Licensed under the Apache License, Version 2.0 (the "License");
++ * you may not use this file except in compliance with the License.
++ * You may obtain a copy of the License at
++ *
++ *     http://www.apache.org/licenses/LICENSE-2.0
++ *
++ * Unless required by applicable law or agreed to in writing, software
++ * distributed under the License is distributed on an "AS IS" BASIS,
++ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
++ * See the License for the specific language governing permissions and
++ * limitations under the License.
++ *
++*/
++
++#include <regex>
++
++#include <gz/physics/config.hh>
++#include <gz/physics/InstallationDirectories.hh>
++
++#ifdef _WIN32
++#include <shlwapi.h>
++#endif
++
++namespace gz
++{
++namespace physics
++{
++inline namespace GZ_PHYSICS_VERSION_NAMESPACE {
++
++// We locally import the gz::common::joinPaths function
++// See https://github.com/gazebosim/gz-physics/pull/507#discussion_r1186919267
++// for more details
++
++// Function imported from
++// https://github.com/gazebosim/gz-common/blob/ignition-common4_4.6.2/src/FilesystemBoost.cc#L507
++#ifndef WIN32
++static const char preferred_separator = '/';
++#else  // Windows
++static const char preferred_separator = '\\';
++#endif
++const std::string separator(const std::string &_p)
++{
++  return _p + preferred_separator;
++}
++
++// Function imported from
++// https://github.com/gazebosim/gz-common/blob/ignition-common4_4.6.2/src/Filesystem.cc#L227
++std::string checkWindowsPath(const std::string _path)
++{
++  if (_path.empty())
++    return _path;
++
++  // Check if this is a http or https, if so change backslashes generated by
++  // jointPaths to '/'
++  if ((_path.size() > 7 && 0 == _path.compare(0, 7, "http://")) ||
++      (_path.size() > 8 && 0 == _path.compare(0, 8, "https://")))
++  {
++    return std::regex_replace(_path, std::regex(R"(\\)"), "/");
++  }
++
++  // This is a Windows path, convert all '/' into backslashes
++  std::string result = std::regex_replace(_path, std::regex(R"(/)"), "\\");
++  std::string drive_letters;
++
++  // only Windows contains absolute paths starting with drive letters
++  if (result.length() > 3 && 0 == result.compare(1, 2, ":\\"))
++  {
++    drive_letters = result.substr(0, 3);
++    result = result.substr(3);
++  }
++  result = drive_letters + std::regex_replace(
++    result, std::regex("[<>:\"|?*]"), "");
++  return result;
++}
++
++// Function imported from
++// https://github.com/gazebosim/gz-common/blob/ignition-common4_4.6.2/src/Filesystem.cc#L256
++std::string joinPaths(const std::string &_path1,
++                      const std::string &_path2)
++{
++
++  /// This function is used to avoid duplicated path separators at the
++  /// beginning/end of the string, and between the two paths being joined.
++  /// \param[in] _path This is the string to sanitize.
++  /// \param[in] _stripLeading True if the leading separator should be
++  /// removed.
++  auto sanitizeSlashes = [](const std::string &_path,
++                            bool _stripLeading = false)
++  {
++    // Shortcut
++    if (_path.empty())
++      return _path;
++
++    std::string result = _path;
++
++    // Use the appropriate character for each platform.
++#ifndef _WIN32
++    char replacement = '/';
++#else
++    char replacement = '\\';
++#endif
++
++    // Sanitize the start of the path.
++    size_t index = 0;
++    size_t leadingIndex = _stripLeading ? 0 : 1;
++    for (; index < result.length() && result[index] == replacement; ++index)
++    {
++    }
++    if (index > leadingIndex)
++      result.erase(leadingIndex, index-leadingIndex);
++
++    // Sanitize the end of the path.
++    index = result.length()-1;
++    for (; index <  result.length() && result[index] == replacement; --index)
++    {
++    }
++    index += 1;
++    if (index < result.length()-1)
++        result.erase(index+1);
++    return result;
++  };
++
++  std::string path;
++#ifndef _WIN32
++  path = sanitizeSlashes(sanitizeSlashes(separator(_path1)) +
++      sanitizeSlashes(_path2, true));
++#else  // _WIN32
++  std::string path1 = sanitizeSlashes(checkWindowsPath(_path1));
++  std::string path2 = sanitizeSlashes(checkWindowsPath(_path2), true);
++  std::vector<char> combined(path1.length() + path2.length() + 2);
++  if (::PathCombineA(combined.data(), path1.c_str(), path2.c_str()) != NULL)
++  {
++    path = sanitizeSlashes(checkWindowsPath(std::string(combined.data())));
++  }
++  else
++  {
++    path = sanitizeSlashes(checkWindowsPath(separator(path1) + path2));
++  }
++#endif  // _WIN32
++  return path;
++}
++
++
++std::string getEngineInstallDir()
++{
++  return gz::physics::joinPaths(
++      getInstallPrefix(), GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR);
++}
++
++}
++}
++}
+diff --git a/test/integration/CMakeLists.txt b/test/integration/CMakeLists.txt
+index a7c565c75..6cf8c9eb6 100644
+--- a/test/integration/CMakeLists.txt
++++ b/test/integration/CMakeLists.txt
+@@ -14,7 +14,9 @@ gz_build_tests(
+     gz-plugin${GZ_PLUGIN_VER}::loader
+   INCLUDE_DIRS
+     ${PROJECT_SOURCE_DIR}/src
+-  TEST_LIST list)
++  TEST_LIST list
++  ENVIRONMENT
++    GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})
+
+ if (BUILD_TESTING)
+   foreach(test ${list})
+diff --git a/test/performance/CMakeLists.txt b/test/performance/CMakeLists.txt
+index 1034620fa..6a1627d67 100644
+--- a/test/performance/CMakeLists.txt
++++ b/test/performance/CMakeLists.txt
+@@ -12,4 +12,6 @@ gz_build_tests(
+   SOURCES ${tests}
+   INCLUDE_DIRS     
+     ${PROJECT_SOURCE_DIR}/src
++  ENVIRONMENT
++    GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+ )
+diff --git a/test/regression/CMakeLists.txt b/test/regression/CMakeLists.txt
+index f56c54cd5..b7f08a009 100644
+--- a/test/regression/CMakeLists.txt
++++ b/test/regression/CMakeLists.txt
+@@ -2,4 +2,6 @@ gz_get_sources(tests)
+
+ gz_build_tests(
+   TYPE REGRESSION
+-  SOURCES ${tests})
++  SOURCES ${tests}
++  ENVIRONMENT
++    GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})
+diff --git a/tpe/lib/CMakeLists.txt b/tpe/lib/CMakeLists.txt
+index ef5979fbd..7b18a37f2 100644
+--- a/tpe/lib/CMakeLists.txt
++++ b/tpe/lib/CMakeLists.txt
+@@ -25,4 +25,6 @@ gz_build_tests(
+     ${PROJECT_LIBRARY_TARGET_NAME}-sdf
+     ${PROJECT_LIBRARY_TARGET_NAME}-mesh
+     ${tpelib_target}
+-  TEST_LIST tests)
++  TEST_LIST tests
++  ENVIRONMENT
++    GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})
+diff --git a/tpe/plugin/CMakeLists.txt b/tpe/plugin/CMakeLists.txt
+index f3075af5b..3d73d6828 100644
+--- a/tpe/plugin/CMakeLists.txt
++++ b/tpe/plugin/CMakeLists.txt
+@@ -59,7 +59,9 @@ gz_build_tests(
+     gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
+     ${PROJECT_LIBRARY_TARGET_NAME}-sdf
+     ${PROJECT_LIBRARY_TARGET_NAME}-mesh
+-  TEST_LIST tests)
++  TEST_LIST tests
++  ENVIRONMENT
++    GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})
+
+ foreach(test ${tests})
+
+diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
+index e3a178297..3f57a1355 100644
+--- a/src/CMakeLists.txt
++++ b/src/CMakeLists.txt
+@@ -17,6 +17,11 @@ target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
+     gz-plugin${GZ_PLUGIN_VER}::register
+     Eigen3::Eigen)
+
++if(WIN32)
++  target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
++    PRIVATE shlwapi)
++endif()
++
+ gz_build_tests(
+   TYPE UNIT
+   SOURCES ${gtest_sources}

recipe/bld_cxx.bat

@@ -9,6 +9,7 @@ cmake ^
     -DBUILD_TESTING=ON ^
     -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ^
     -DCMAKE_CXX_FLAGS="/permissive- /D_USE_MATH_DEFINES" ^
+    -DGZ_ENABLE_RELOCATABLE_INSTALL:BOOL=ON ^
     %SRC_DIR%
 if errorlevel 1 exit 1
 

recipe/build_cxx.sh

@@ -11,7 +11,8 @@ cd build
 cmake ${CMAKE_ARGS} .. \
       -G "Ninja" \
       -DCMAKE_BUILD_TYPE=Release \
-      -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True
+      -DCMAKE_INSTALL_SYSTEM_RUNTIME_LIBS_SKIP=True \
+      -DGZ_ENABLE_RELOCATABLE_INSTALL:BOOL=ON
 
 cmake --build . --config Release ${NUM_PARALLEL}
 cmake --build . --config Release --target install ${NUM_PARALLEL}

recipe/meta.yaml

@@ -18,9 +18,10 @@ source:
       - disable_fake_install.patch
       - disable_integration_tests.patch  # [win]
       - workaround_win_base_test.patch  # [win]
+      - 507.patch
 
 build:
-  number: 0
+  number: 1
 
 outputs:
   - name: {{ cxx_name }}