Fix MSVC linking for assimp and fcl

[traversaro]

This PR fixes the linking of tests that use fcl and assimp on MSVC, hopefully fixing the problems reported in gazebosim/gz-physics#87 (comment) .

As the existing code is working well in CI for non-MSVC platforms, and as support for CMake imported targets can vary depending on the platform (for example, assimp::assimp is basically broken in Ubuntu 20.04 apt packages: https://bugs.launchpad.net/ubuntu/+source/assimp/+bug/1882427 and robotology/idyntree#693), to minimize the possible regressions I just used the imported targets for fcl and assimp when using MSVC.

[traversaro]

cc @scpeters

[traversaro]

@jslee02 I don't know if you prefer this PR to target master or to target release-6.9 . I am currently targeting master as the CI on Windows in master seems to be under a better shape.

[traversaro]

It seems that the vcpkg version on AppVeyor is quite old and does not contain the fcl 0.6 that was updated in March 2020: microsoft/vcpkg#10025 . I can add a fallback to the old logic, but I am afraid it would be broken that as well.

[traversaro]

I just tried with the latest vcpkg and the configuration with fcl and assimp enabled works fine. @jslee02 do you think we can tag a new release in https://github.com/dartsim/vcpkg-build to get a new version of the dependencies?

[scpeters]

I tested this with ignition-physics3, and it fixes most of the linking errors, though it still fails to link to utf8cpp (which I believe comes from assimp gazebosim/gz-physics#87 (comment)). That may be an assimp problem; I'm not sure

[jslee02]

I am currently targeting master as the CI on Windows in master seems to be under a better shape.

master is fine

It seems that the vcpkg version on AppVeyor is quite old and does not contain the fcl 0.6 that was updated in March 2020: microsoft/vcpkg#10025 . I can add a fallback to the old logic, but I am afraid it would be broken that as well.

Please ignore the AppVeyor build for now. It needs to use dartsim/vcpkg-build to be consistent with the GitHub Actions.

@jslee02 do you think we can tag a new release in dartsim/vcpkg-build to get a new version of the dependencies?

A new version is published for vcpkg 2020.07, which is the latest version.

Please change the below line to v0.2.0-2020.07 to use the new version.

dart/.github/workflows/ccpp.yml

Line 186 in 185fbc2

VCPKG_BUILD_TAG: v0.1.1

Let me know if vcpkg 2020.07 is still too old.

[scpeters]

I tested this with ignition-physics3, and it fixes most of the linking errors, though it still fails to link to utf8cpp (which I believe comes from assimp ignitionrobotics/ign-physics#87 (comment)). That may be an assimp problem; I'm not sure

this was fixed by microsoft/vcpkg#14061

[scpeters]

this works for ignition-physics3

[traversaro]

Let me know if vcpkg 2020.07 is still too old.

Unfortunately there were a few bugs in vcpkg ports that were fixed only recently (latest PR: microsoft/vcpkg#14061), so probably generating a new archive against a new commit of vcpkg may be the simpler solution, and then switch to a new release of vcpkg once they do one (unfortunately vcpkg release are not really regular). In robotology/robotology-superbuild-dependencies-vcpkg#32 I am using microsoft/vcpkg@70f192e and it seems to be a good commit without anything strange.

[jslee02]

New build for microsoft/vcpkg@70f192e is released. You could use VCPKG_BUILD_TAG: v0.2.0-70f192e once https://github.com/dartsim/vcpkg-build/runs/1265369776?check_suite_focus=true is done

[traversaro]

New build for microsoft/vcpkg@70f192e is released. You could use VCPKG_BUILD_TAG: v0.2.0-70f192e once https://github.com/dartsim/vcpkg-build/runs/1265369776?check_suite_focus=true is done

Great!

[codecov]

Codecov Report

Merging #1510 into master will decrease coverage by 0.03%.
The diff coverage is 11.11%.

@@            Coverage Diff             @@
##           master    #1510      +/-   ##
==========================================
- Coverage   58.20%   58.17%   -0.04%     
==========================================
  Files         412      414       +2     
  Lines       29913    30008      +95     
==========================================
+ Hits        17412    17456      +44     
- Misses      12501    12552      +51     

Impacted Files	Coverage Δ
dart/collision/CollisionResult.cpp	70.73% <0.00%> (ø)
dart/constraint/BoxedLcpConstraintSolver.cpp	53.00% <0.00%> (ø)
dart/dynamics/PyramidShape.hpp	0.00% <0.00%> (ø)
dart/dynamics/Skeleton.hpp	83.33% <ø> (ø)
dart/collision/fcl/FCLCollisionDetector.cpp	85.62% <2.85%> (-4.01%)	⬇️
dart/dynamics/PyramidShape.cpp	6.25% <6.25%> (ø)
dart/utils/SkelParser.cpp	66.66% <14.28%> (-0.39%)	⬇️
dart/dynamics/Skeleton.cpp	66.22% <100.00%> (+0.05%)	⬆️
dart/dynamics/detail/GenericJoint.hpp	75.47% <100.00%> (+0.03%)	⬆️
... and 6 more