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File dart.spec of Package dart
# # spec file for package dart # # Copyright (c) 2017 SUSE LINUX GmbH, Nuernberg, Germany. # # All modifications and additions to the file contributed by third parties # remain the property of their copyright owners, unless otherwise agreed # upon. The license for this file, and modifications and additions to the # file, is the same license as for the pristine package itself (unless the # license for the pristine package is not an Open Source License, in which # case the license is the MIT License). An "Open Source License" is a # license that conforms to the Open Source Definition (Version 1.9) # published by the Open Source Initiative. # Please submit bugfixes or comments via http://bugs.opensuse.org/ # %define sover 6_6 %bcond_without bullet %bcond_with liblz4 %bcond_without nlopt %bcond_without ipopt Name: dart Version: 6.6.2 Release: 0 Summary: Dynamic Animation and Robotics Toolkit License: BSD-2-Clause Group: Productivity/Scientific/Other Url: http://dartsim.github.io/ Source0: https://github.com/dartsim/dart/archive/v%{version}.tar.gz#/%{name}-%{version}.tar.gz # PATCH-FIX-UPSTREAM libdir.patch avvissu@yandex.ru -- Change path to libdir Patch0: dart-6.6.2-libdir.patch # PATCH-FIX-OPENSUSE drop-doc.patch avvissu@yandex.ru -- Drop API Documentation... Patch1: dart-6.6.2-drop-doc.patch # PATCH-FIX-OPENSUSE pkgconfig.patch avvissu@yandex.ru -- Change the required dependencies Patch2: dart-6.6.2-pkgconfig.patch BuildRequires: cmake BuildRequires: freeglut-devel BuildRequires: gcc-c++ BuildRequires: pkgconfig BuildRequires: tinyxml-devel BuildRequires: pkgconfig(assimp) BuildRequires: pkgconfig(ccd) BuildRequires: pkgconfig(eigen3) BuildRequires: pkgconfig(fcl) BuildRequires: pkgconfig(flann) BuildRequires: pkgconfig(openscenegraph) BuildRequires: pkgconfig(openthreads) BuildRequires: pkgconfig(tinyxml2) BuildRequires: pkgconfig(urdfdom) BuildRequires: pkgconfig(xi) BuildRequires: pkgconfig(xmu) BuildRoot: %{_tmppath}/%{name}-%{version}-build BuildRequires: libboost_filesystem-devel BuildRequires: libboost_system-devel BuildRequires: libboost_regex-devel # SECTION optionals %{!?with_bullet:BuildRequires: pkgconfig(bullet)} %{!?with_liblz4:BuildRequires: pkgconfig(liblz4)} %{!?with_nlopt:BuildRequires: pkgconfig(nlopt)} %{!?with_ipopt:BuildRequires: pkgconfig(ipopt)} # /SECTION %description The library provides data structures and algorithms for kinematic and dynamic applications in robotics and computer animation. DART is distinguished by its accuracy and stability due to its use of generalized coordinates to represent articulated rigid body systems and Featherstone's Articulated Body Algorithm to compute the dynamics of motion. %package -n libdart%{sover} Summary: C++ library for %{name} Group: System/Libraries %description -n libdart%{sover} The library provides data structures and algorithms for kinematic and dynamic applications in robotics and computer animation. DART is distinguished by its accuracy and stability due to its use of generalized coordinates to represent articulated rigid body systems and Featherstone's Articulated Body Algorithm to compute the dynamics of motion. This package contains the shared library. %package -n libdart-external-imgui%{sover} Summary: Dear imgui (AKA ImGui) Group: System/Libraries %description -n libdart-external-imgui%{sover} Dynamic Animation and Robotics Toolkit. This package contains the shared library. %package -n libdart-external-lodepng%{sover} Summary: The LodePNG of %{name} Group: System/Libraries %description -n libdart-external-lodepng%{sover} Dynamic Animation and Robotics Toolkit. This package contains the shared library. %package -n libdart-external-odelcpsolver%{sover} Summary: Open Dynamics Engine Group: System/Libraries %description -n libdart-external-odelcpsolver%{sover} Dynamic Animation and Robotics Toolkit. This package contains the shared library. %package -n libdart-planning%{sover} Summary: Planning Component Shared Library Group: System/Libraries %description -n libdart-planning%{sover} Dynamic Animation and Robotics Toolkit. This package contains the shared library. %package -n libdart-utils%{sover} Summary: Utils Component Shared Library Group: System/Libraries %description -n libdart-utils%{sover} Dynamic Animation and Robotics Toolkit. This package contains the shared library. %package -n libdart-utils-urdf%{sover} Summary: Utils Component Shared Library Group: System/Libraries %description -n libdart-utils-urdf%{sover} Dynamic Animation and Robotics Toolkit. This package contains the shared library. %package -n libdart-gui%{sover} Summary: GUI Component Shared Library Group: System/Libraries %description -n libdart-gui%{sover} Dynamic Animation and Robotics Toolkit. This package contains the shared library. %package -n libdart-gui-osg%{sover} Summary: GUI-osg Component Shared Library Group: System/Libraries %description -n libdart-gui-osg%{sover} Dynamic Animation and Robotics Toolkit. This package contains the shared library. %package devel Summary: Development files for %{name} Group: Development/Libraries/C and C++ Requires: libboost_filesystem-devel Requires: libboost_system-devel Requires: libboost_regex-devel Requires: %{name}-external-ikfast-devel = %{version} Requires: %{name}-external-odelcpsolver-devel = %{version} Requires: libdart%{sover} = %{version} %description devel Dynamic Animation and Robotics Toolkit. This package contains the header files and libraries needed to develop application that use %{name}. %package external-ikfast-devel Summary: Development files for %{name} Group: Development/Libraries/C and C++ %description external-ikfast-devel The ikfast inverse kinematics compiler is part of OpenRAVE. This package contains the header files and libraries needed to develop application that use %{name}. %package external-imgui-devel Summary: Development files for %{name} Group: Development/Libraries/C and C++ Requires: libdart-external-imgui%{sover} = %{version} %description external-imgui-devel The dear imgui (AKA ImGui). This package contains the header files and libraries needed to develop application that use %{name}. %package external-lodepng-devel Summary: Development files for %{name} Group: Development/Libraries/C and C++ Requires: libdart-external-lodepng%{sover} = %{version} %description external-lodepng-devel The LodePNG is a PNG image decoder and encoder. This package contains the header files and libraries needed to develop application that use %{name}. %package external-odelcpsolver-devel Summary: Development files for %{name} Group: Development/Libraries/C and C++ Requires: libdart-external-odelcpsolver%{sover} = %{version} %description external-odelcpsolver-devel Open Dynamics Engine. This package contains the header files and libraries needed to develop application that use %{name}. %package planning-devel Summary: Development files for %{name} Group: Development/Libraries/C and C++ Requires: %{name}-devel = %{version} Requires: libdart-planning%{sover} = %{version} Requires: pkgconfig(flann) %description planning-devel Planning Component Shared Library. This package contains the header files and libraries needed to develop application that use %{name}. %package utils-devel Summary: Development files for %{name} Group: Development/Libraries/C and C++ Requires: %{name}-devel = %{version} Requires: libdart-utils%{sover} = %{version} Requires: tinyxml-devel Requires: pkgconfig(tinyxml2) %description utils-devel Utils Component Shared Library. This package contains the header files and libraries needed to develop application that use %{name}. %package utils-urdf-devel Summary: Development files for %{name} Group: Development/Libraries/C and C++ Requires: %{name}-devel = %{version} Requires: %{name}-utils-devel = %{version} Requires: libdart-utils-urdf%{sover} = %{version} Requires: pkgconfig(urdfdom) %description utils-urdf-devel Utils Component Shared Library. This package contains the header files and libraries needed to develop application that use %{name}. %package gui-devel Summary: Development files for %{name} Group: Development/Libraries/C and C++ Requires: %{name}-external-imgui-devel = %{version} Requires: %{name}-external-lodepng-devel = %{version} Requires: %{name}-utils-devel = %{version} Requires: freeglut-devel Requires: libdart-gui%{sover} = %{version} Requires: pkgconfig(xi) Requires: pkgconfig(xmu) %description gui-devel GUI Component Shared Library. This package contains the header files and libraries needed to develop application that use %{name}. %package gui-osg-devel Summary: Development files for %{name} Group: Development/Libraries/C and C++ Requires: %{name}-gui-devel = %{version} Requires: %{name}-utils-devel = %{version} Requires: libdart-gui-osg%{sover} = %{version} Requires: pkgconfig(openscenegraph) Requires: pkgconfig(openthreads) %description gui-osg-devel GUI-osgr Component Shared Library. This package contains the header files and libraries needed to develop application that use %{name}. # SECTION optionals ########################################################################### %if !%{with nlopt} %package -n libdart-optimizer-nlopt%{sover} Summary: Optimizer-nlopt Component Shared Library Group: System/Libraries %description -n libdart-optimizer-nlopt%{sover} Dynamic Animation and Robotics Toolkit. This package contains the shared library. %endif %if !%{with ipopt} %package -n libdart-optimizer-ipopt%{sover} Summary: Optimizer-ipopt Component Shared Library Group: System/Libraries %description -n libdart-optimizer-ipopt%{sover} Dynamic Animation and Robotics Toolkit. This package contains the shared library. %endif %if !%{with bullet} %package -n libdart-collision-bullet%{sover} Summary: Utils Component Shared Library Group: System/Libraries %description -n libdart-collision-bullet%{sover} Dynamic Animation and Robotics Toolkit. This package contains the shared library. %endif %if !%{with nlopt} %package optimizer-nlopt-devel Summary: Development files for %{name} Group: Development/Libraries/C and C++ Requires: %{name}-devel = %{version} Requires: libdart-optimizer-nlopt%{sover} = %{version} Requires: pkgconfig(nlopt) %description optimizer-nlopt-devel Dynamic Animation and Robotics Toolkit. This package contains the header files and libraries needed to develop application that use %{name}. %endif %if !%{with ipopt} %package optimizer-ipopt-devel Summary: Development files for %{name} Group: Development/Libraries/C and C++ Requires: %{name}-devel = %{version} Requires: libdart-optimizer-ipopt%{sover} = %{version} Requires: pkgconfig(ipopt) %description optimizer-ipopt-devel Optimizer-ipopt Component Shared Library. This package contains the header files and libraries needed to develop application that use %{name}. %endif %if !%{with bullet} %package collision-bullet-devel Summary: Development files for %{name} Group: Development/Libraries/C and C++ Requires: %{name}-devel = %{version} Requires: libdart-collision-bullet%{sover} = %{version} Requires: pkgconfig(bullet) %description collision-bullet-devel Utils Component Shared Library. This package contains the header files and libraries needed to develop application that use %{name}. %endif ########################################################################### # /SECTION %prep %setup -q %patch0 -p1 %patch1 -p1 %patch2 -p1 # Change cflags ! sed -e '/^Cflags/s|[^:]\+$|\ -I\$\{includedir\}|;/\$.includedir/q1' \ -i cmake/%{name}.pc.in || exit 1 %build %cmake \ -DDART_COVERALLS=OFF \ -DDART_COVERALLS_UPLOAD=OFF \ -DCMAKE_BUILD_TYPE=RelWithDebInfo \ -DCMAKE_CXX_FLAGS_RELWITHDEBINFO="%{optflags}" \ -LA # Out of memory: remove %%{?_smp_mflags} make -j2 %install %cmake_install %post -n libdart%{sover} -p /sbin/ldconfig %postun -n libdart%{sover} -p /sbin/ldconfig %post -n libdart-external-imgui%{sover} -p /sbin/ldconfig %postun -n libdart-external-imgui%{sover} -p /sbin/ldconfig %post -n libdart-external-lodepng%{sover} -p /sbin/ldconfig %postun -n libdart-external-lodepng%{sover} -p /sbin/ldconfig %post -n libdart-external-odelcpsolver%{sover} -p /sbin/ldconfig %postun -n libdart-external-odelcpsolver%{sover} -p /sbin/ldconfig %post -n libdart-planning%{sover} -p /sbin/ldconfig %postun -n libdart-planning%{sover} -p /sbin/ldconfig %post -n libdart-utils%{sover} -p /sbin/ldconfig %postun -n libdart-utils%{sover} -p /sbin/ldconfig %post -n libdart-utils-urdf%{sover} -p /sbin/ldconfig %postun -n libdart-utils-urdf%{sover} -p /sbin/ldconfig %post -n libdart-gui%{sover} -p /sbin/ldconfig %postun -n libdart-gui%{sover} -p /sbin/ldconfig %post -n libdart-gui-osg%{sover} -p /sbin/ldconfig %postun -n libdart-gui-osg%{sover} -p /sbin/ldconfig # SECTION optionals ########################################################################### %if !%{with nlopt} %post -n libdart-optimizer-nlopt%{sover} -p /sbin/ldconfig %postun -n libdart-optimizer-nlopt%{sover} -p /sbin/ldconfig %endif %if !%{with ipopt} %post -n libdart-optimizer-ipopt%{sover} -p /sbin/ldconfig %postun -n libdart-optimizer-ipopt%{sover} -p /sbin/ldconfig %endif %if !%{with bullet} %post -n libdart-collision-bullet%{sover} -p /sbin/ldconfig %postun -n libdart-collision-bullet%{sover} -p /sbin/ldconfig %endif ########################################################################### # /SECTION %files -n libdart%{sover} %defattr(-,root,root) %doc CHANGELOG.md LICENSE README.md %{_libdir}/libdart.so.* %files -n libdart-external-imgui%{sover} %defattr(-,root,root) %{_libdir}/libdart-external-imgui.so.* %files -n libdart-external-lodepng%{sover} %defattr(-,root,root) %{_libdir}/libdart-external-lodepng.so.* %files -n libdart-external-odelcpsolver%{sover} %defattr(-,root,root) %{_libdir}/libdart-external-odelcpsolver.so.* %files -n libdart-planning%{sover} %defattr(-,root,root) %{_libdir}/libdart-planning.so.* %files -n libdart-utils%{sover} %defattr(-,root,root) %{_libdir}/libdart-utils.so.* %files -n libdart-utils-urdf%{sover} %defattr(-,root,root) %{_libdir}/libdart-utils-urdf.so.* %files -n libdart-gui%{sover} %defattr(-,root,root) %{_libdir}/libdart-gui.so.* %files -n libdart-gui-osg%{sover} %defattr(-,root,root) %{_libdir}/libdart-gui-osg.so.* %files devel %defattr(-,root,root) %dir %{_includedir}/%{name} %dir %{_includedir}/%{name}/collision %dir %{_includedir}/%{name}/collision/detail %dir %{_includedir}/%{name}/optimizer %{_includedir}/%{name}/collision/*.* %{_includedir}/%{name}/collision/detail/*.* %{_includedir}/%{name}/collision/%{name}/ %{_includedir}/%{name}/collision/fcl/ %{_includedir}/%{name}/common/ %{_includedir}/%{name}/constraint/ %{_includedir}/%{name}/dynamics/ %{_includedir}/%{name}/integration/ %{_includedir}/%{name}/lcpsolver/ %{_includedir}/%{name}/math/ %{_includedir}/%{name}/optimizer/*.* %{_includedir}/%{name}/simulation/ %{_includedir}/%{name}/config.hpp %{_includedir}/%{name}/%{name}.hpp %{_libdir}/pkgconfig/%{name}.pc %{_libdir}/libdart.so %dir %{_datadir}/%{name} %dir %{_datadir}/%{name}/cmake %{_datadir}/%{name}/cmake/DARTConfig.cmake %{_datadir}/%{name}/cmake/DARTConfigVersion.cmake %{_datadir}/%{name}/cmake/%{name}_%{name}Targets.cmake %{_datadir}/%{name}/cmake/%{name}_%{name}Targets-*.cmake %{_datadir}/%{name}/cmake/%{name}_%{name}Component.cmake #%%{_datadir}/%{name}/cmake/DARTFind*.cmake #%%{_datadir}/%{name}/cmake/Find*.cmake %{_datadir}/%{name}/package.xml %files external-ikfast-devel %defattr(-,root,root) %dir %{_includedir}/%{name}/external %dir %{_includedir}/%{name}/external/ikfast %{_includedir}/dart/external/ikfast/*.* %files external-imgui-devel %defattr(-,root,root) %dir %{_includedir}/%{name}/external %dir %{_includedir}/%{name}/external/imgui %{_includedir}/%{name}/external/imgui/ %{_libdir}/libdart-external-imgui.so %dir %{_datadir}/%{name} %dir %{_datadir}/%{name}/cmake %{_datadir}/%{name}/cmake/%{name}_external-imguiTargets.cmake %{_datadir}/%{name}/cmake/%{name}_external-imguiTargets-*.cmake %{_datadir}/%{name}/cmake/%{name}_external-imguiComponent.cmake %files external-lodepng-devel %defattr(-,root,root) %dir %{_includedir}/%{name}/external %dir %{_includedir}/%{name}/external/lodepng %{_includedir}/%{name}/external/lodepng/ %{_libdir}/libdart-external-lodepng.so %dir %{_datadir}/%{name} %dir %{_datadir}/%{name}/cmake %{_datadir}/%{name}/cmake/%{name}_external-lodepngTargets.cmake %{_datadir}/%{name}/cmake/%{name}_external-lodepngTargets-*.cmake %{_datadir}/%{name}/cmake/%{name}_external-lodepngComponent.cmake %files external-odelcpsolver-devel %defattr(-,root,root) %dir %{_includedir}/%{name}/external %dir %{_includedir}/%{name}/external/odelcpsolver %{_includedir}/%{name}/external/odelcpsolver/ %{_libdir}/libdart-external-odelcpsolver.so %dir %{_datadir}/%{name} %dir %{_datadir}/%{name}/cmake %{_datadir}/%{name}/cmake/%{name}_external-odelcpsolverTargets.cmake %{_datadir}/%{name}/cmake/%{name}_external-odelcpsolverTargets-*.cmake %{_datadir}/%{name}/cmake/%{name}_external-odelcpsolverComponent.cmake %files planning-devel %defattr(-,root,root) %dir %{_includedir}/%{name}/planning %{_includedir}/%{name}/planning/ %{_libdir}/libdart-planning.so %{_datadir}/%{name}/cmake/%{name}_planningTargets.cmake %{_datadir}/%{name}/cmake/%{name}_planningTargets-*.cmake %{_datadir}/%{name}/cmake/%{name}_planningComponent.cmake %files utils-devel %defattr(-,root,root) %dir %{_includedir}/%{name}/utils %dir %{_includedir}/%{name}/utils/sdf %{_includedir}/%{name}/utils/*.* %{_includedir}/%{name}/utils/sdf/*.* %{_libdir}/libdart-utils.so %{_datadir}/%{name}/cmake/%{name}_utilsTargets.cmake %{_datadir}/%{name}/cmake/%{name}_utilsTargets-*.cmake %{_datadir}/%{name}/cmake/%{name}_utilsComponent.cmake %files utils-urdf-devel %defattr(-,root,root) %dir %{_includedir}/%{name}/utils/urdf %{_includedir}/%{name}/utils/urdf/ %{_libdir}/libdart-utils-urdf.so %{_datadir}/%{name}/cmake/%{name}_utils-urdfTargets.cmake %{_datadir}/%{name}/cmake/%{name}_utils-urdfTargets-*.cmake %{_datadir}/%{name}/cmake/%{name}_utils-urdfComponent.cmake %files gui-devel %defattr(-,root,root) %dir %{_includedir}/%{name}/gui %{_includedir}/%{name}/gui/* %{_libdir}/libdart-gui.so %{_datadir}/%{name}/cmake/%{name}_guiTargets.cmake %{_datadir}/%{name}/cmake/%{name}_guiTargets-*.cmake %{_datadir}/%{name}/cmake/%{name}_guiComponent.cmake %exclude %{_includedir}/%{name}/gui/osg %files gui-osg-devel %defattr(-,root,root) %dir %{_includedir}/%{name}/gui/osg %{_includedir}/%{name}/gui/osg/* %{_libdir}/libdart-gui-osg.so %{_datadir}/%{name}/cmake/%{name}_gui-osgTargets.cmake %{_datadir}/%{name}/cmake/%{name}_gui-osgTargets-*.cmake %{_datadir}/%{name}/cmake/%{name}_gui-osgComponent.cmake # SECTION optionals ########################################################################### %if !%{with nlopt} %files -n libdart-optimizer-nlopt%{sover} %defattr(-,root,root) %{_libdir}/libdart-optimizer-nlopt.so.* %endif %if !%{with ipopt} %files -n libdart-optimizer-ipopt%{sover} %defattr(-,root,root) %{_libdir}/libdart-optimizer-ipopt.so.* %endif %if !%{with bullet} %files -n libdart-collision-bullet%{sover} %defattr(-,root,root) %{_libdir}/libdart-collision-bullet.so.* %endif %if !%{with nlopt} %files optimizer-nlopt-devel %defattr(-,root,root) %dir %{_includedir}/%{name}/optimizer/nlopt %{_includedir}/%{name}/optimizer/nlopt/ %{_libdir}/libdart-optimizer-nlopt.so %{_datadir}/%{name}/cmake/%{name}_optimizer-nloptTargets.cmake %{_datadir}/%{name}/cmake/%{name}_optimizer-nloptTargets-*.cmake %{_datadir}/%{name}/cmake/%{name}_optimizer-nloptComponent.cmake %endif %if !%{with ipopt} %files optimizer-ipopt-devel %defattr(-,root,root) %dir %{_includedir}/%{name}/optimizer/ipopt %{_includedir}/%{name}/optimizer/ipopt/ %{_libdir}/libdart-optimizer-ipopt.so %{_datadir}/%{name}/cmake/%{name}_optimizer-ipoptTargets.cmake %{_datadir}/%{name}/cmake/%{name}_optimizer-ipoptTargets-*.cmake %{_datadir}/%{name}/cmake/%{name}_optimizer-ipoptComponent.cmake %endif %if !%{with bullet} %files collision-bullet-devel %defattr(-,root,root) %{_includedir}/%{name}/collision/bullet/ %{_libdir}/libdart-collision-bullet.so %{_datadir}/%{name}/cmake/%{name}_collision-bulletTargets.cmake %{_datadir}/%{name}/cmake/%{name}_collision-bulletTargets-*.cmake %{_datadir}/%{name}/cmake/%{name}_collision-bulletComponent.cmake %endif ########################################################################### # /SECTION %changelog
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