dartsim · jslee02 · Mar 22, 2018 · Mar 22, 2018 · Mar 22, 2018 · Mar 22, 2018
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -14,6 +14,10 @@
 
   * Added World::hasSkeleton(): [#1050](https://github.com/dartsim/dart/pull/1050)
 
+* Build system
+
+  * Added preprocessors for controlling symbol visibility: [#1040](https://github.com/dartsim/dart/pull/1040)
+
 ### [DART 6.4.0 (2018-03-26)](https://github.com/dartsim/dart/milestone/39?closed=1)
 
 * Common

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -59,7 +59,7 @@ set(DART_MINOR_VERSION "5")
 set(DART_PATCH_VERSION "0")
 set(DART_VERSION "${DART_MAJOR_VERSION}.${DART_MINOR_VERSION}.${DART_PATCH_VERSION}")
 set(DART_PKG_DESC "Dynamic Animation and Robotics Toolkit.")
-set(DART_PKG_EXTERNAL_DEPS "eigen, ccd, fcl, assimp, boost")
+set(DART_PKG_EXTERNAL_DEPS "eigen, ccd, fcl, assimp, boost") # TODO: outdated
 
 #===============================================================================
 # Build options
@@ -85,6 +85,9 @@ option(DART_ENABLE_SIMD
 option(DART_BUILD_GUI_OSG "Build osgDart library" ON)
 option(DART_CODECOV "Turn on codecov support" OFF)
 option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" OFF)
+# Option for some bundle-like build system in order not to expose any DART
+# binary symbols in their public ABI
+option(DART_HIDE_ALL_SYMBOLS "Hide all binary symbols" OFF)
 
 #===============================================================================
 # Print intro

diff --git a/cmake/DARTMacros.cmake b/cmake/DARTMacros.cmake
@@ -170,3 +170,82 @@ function(dart_format_add)
     endif()
   endforeach()
 endfunction()
+
+#===============================================================================
+# Macro to check for visibility capability in compiler
+macro(check_compiler_visibility variable)
+  include(CheckCXXCompilerFlag)
+  check_cxx_compiler_flag(-fvisibility=hidden ${variable})
+endmacro()
+
+#===============================================================================
+# Function to create an export header for control of binary symbols visibility.
+#
+# dart_generate_export_header(
+#   <target_name>
+#   [EXPORT_ALL_SYMBOLS_BY_DEFAULT]
+#   [BASE_NAME <base_name>]
+#   [COMPONENT_PATH <component_path>]
+# )
+function(dart_generate_export_header target_name)
+  # Parse boolean, unary, and list arguments from input.
+  # Unparsed arguments can be found in variable ARG_UNPARSED_ARGUMENTS.
+  set(prefix _geh)
+  set(options EXPORT_ALL_SYMBOLS_BY_DEFAULT)
+  set(oneValueArgs BASE_NAME COMPONENT_PATH)
+  set(multiValueArgs "")
+  cmake_parse_arguments(
+    "${prefix}" "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}
+  )
+
+  # Hide symbols by default
+  if(UNIX AND NOT _geh_EXPORT_ALL_SYMBOLS_BY_DEFAULT)
+    check_compiler_visibility(COMPILER_SUPPORTS_VISIBILITY)
+    if(COMPILER_SUPPORTS_VISIBILITY)
+      target_compile_options(${target_name} PRIVATE -fvisibility=hidden)
+    endif()
+  endif()
+
+  include(GNUInstallDirs)
+
+  # Base name
+  set(base_name "${target_name}")
+  string(REPLACE "-" "_" base_name ${base_name})
+  if(_geh_BASE_NAME)
+    set(base_name ${_geh_BASE_NAME})
+  endif()
+  string(TOUPPER ${base_name} base_name_upper)
+
+  # Componenet path
+  set(component_path "dart")
+  if(_geh_COMPONENT_PATH)
+    set(component_path "dart/${_geh_COMPONENT_PATH}")
+  endif()
+  set(component_detail_export_path "${component_path}/detail/export.h")
+
+  # Generate CMake's default export header
+  include(GenerateExportHeader)
+  generate_export_header(${target_name}
+    EXPORT_MACRO_NAME DETAIL_${base_name_upper}_API
+    EXPORT_FILE_NAME detail/export.h
+    DEPRECATED_MACRO_NAME DETAIL_${base_name_upper}_DEPRECATED
+  )
+  install(FILES ${CMAKE_CURRENT_BINARY_DIR}/detail/export.h
+    DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${component_path}/detail
+    COMPONENT headers
+  )
+
+  # Generate final export header
+  set(header_guard_name ${base_name_upper}_EXPORT_HPP_)
+  set(output_path "${CMAKE_CURRENT_BINARY_DIR}/export.hpp")
+  configure_file(
+    "${CMAKE_SOURCE_DIR}/cmake/export.hpp.in"
+    "${output_path}"
+    @ONLY
+  )
+  install(
+    FILES ${output_path}
+    DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${component_path}
+    COMPONENT headers
+  )
+endfunction()
diff --git a/cmake/export.hpp.in b/cmake/export.hpp.in
@@ -0,0 +1,14 @@
+// Automatically generated file by CMake
+
+#ifndef @header_guard_name@
+#define @header_guard_name@
+
+#include "@component_detail_export_path@"
+
+#define @base_name_upper@_API\
+    DETAIL_@base_name_upper@_API
+
+#define @base_name_upper@_DEPRECATED_API(version)\
+    DETAIL_@base_name_upper@_DEPRECATED_EXPORT
+
+#endif // @header_guard_name@
diff --git a/dart/CMakeLists.txt b/dart/CMakeLists.txt
@@ -154,6 +154,10 @@ if(DART_ENABLE_SIMD)
   endif()
 endif()
 
+if (DART_HIDE_ALL_SYMBOLS)
+  target_compile_definitions(dart PUBLIC DART_STATIC_DEFINE)
+endif()
+
 # Default component
 add_component_targets(
   ${PROJECT_NAME}
@@ -174,3 +178,6 @@ if(MSVC)
 endif()
 
 install(FILES dart.hpp DESTINATION include/dart/ COMPONENT headers)
+
+# Generate export header
+dart_generate_export_header(dart)
diff --git a/dart/collision/CollisionDetector.hpp b/dart/collision/CollisionDetector.hpp
@@ -52,7 +52,7 @@ 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:
 
@@ -184,7 +184,7 @@ class CollisionDetector : public std::enable_shared_from_this<CollisionDetector>
 };
 
 //==============================================================================
-class CollisionDetector::CollisionObjectManager
+class DART_API CollisionDetector::CollisionObjectManager
 {
 public:
 
@@ -206,7 +206,7 @@ class CollisionDetector::CollisionObjectManager
 };
 
 //==============================================================================
-class CollisionDetector::ManagerForUnsharableCollisionObjects final :
+class DART_API CollisionDetector::ManagerForUnsharableCollisionObjects final :
     public CollisionDetector::CollisionObjectManager
 {
 public:
@@ -236,7 +236,7 @@ class CollisionDetector::ManagerForUnsharableCollisionObjects final :
 };
 
 //==============================================================================
-class CollisionDetector::ManagerForSharableCollisionObjects final :
+class DART_API CollisionDetector::ManagerForSharableCollisionObjects final :
     public CollisionDetector::CollisionObjectManager
 {
 public:

diff --git a/dart/collision/CollisionFilter.hpp b/dart/collision/CollisionFilter.hpp
@@ -33,6 +33,7 @@
 #ifndef DART_COLLISION_COLLISIONFILTER_HPP_
 #define DART_COLLISION_COLLISIONFILTER_HPP_
 
+#include "dart/export.hpp"
 #include "dart/common/Deprecated.hpp"
 #include "dart/collision/detail/UnorderedPairs.hpp"
 
@@ -46,7 +47,7 @@ namespace collision {
 
 class CollisionObject;
 
-class CollisionFilter
+class DART_API CollisionFilter
 {
 public:
   /// Returns true if the given two CollisionObjects should be checked by the
@@ -64,7 +65,7 @@ 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.
@@ -86,7 +87,7 @@ 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.

diff --git a/dart/collision/CollisionGroup.hpp b/dart/collision/CollisionGroup.hpp
@@ -45,7 +45,7 @@
 namespace dart {
 namespace collision {
 
-class CollisionGroup
+class DART_API CollisionGroup
 {
 public:
 

diff --git a/dart/collision/CollisionObject.hpp b/dart/collision/CollisionObject.hpp
@@ -41,7 +41,7 @@
 namespace dart {
 namespace collision {
 
-class CollisionObject
+class DART_API CollisionObject
 {
 public:
 

diff --git a/dart/collision/CollisionOption.hpp b/dart/collision/CollisionOption.hpp
@@ -35,13 +35,14 @@
 
 #include <cstddef>
 #include <memory>
+#include "dart/export.hpp"
 
 namespace dart {
 namespace collision {
 
 class CollisionFilter;
 
-struct CollisionOption
+struct DART_API CollisionOption
 {
 
   /// Flag whether the collision detector computes contact information (contact

diff --git a/dart/collision/CollisionResult.hpp b/dart/collision/CollisionResult.hpp
@@ -48,7 +48,7 @@ class ShapeFrame;
 
 namespace collision {
 
-class CollisionResult
+class DART_API CollisionResult
 {
 public:
 

diff --git a/dart/collision/Contact.hpp b/dart/collision/Contact.hpp
@@ -41,7 +41,7 @@ namespace dart {
 namespace collision {
 
 /// Contact information
-struct Contact
+struct DART_API Contact
 {
   /// Default constructor
   Contact();

diff --git a/dart/collision/DistanceFilter.hpp b/dart/collision/DistanceFilter.hpp
@@ -33,6 +33,8 @@
 #ifndef DART_COLLISION_DISTANCEFILTER_HPP_
 #define DART_COLLISION_DISTANCEFILTER_HPP_
 
+#include "dart/export.hpp"
+
 namespace dart {
 
 namespace dynamics {
@@ -43,13 +45,13 @@ namespace collision {
 
 class CollisionObject;
 
-struct DistanceFilter
+struct DART_API DistanceFilter
 {
   virtual bool needDistance(const CollisionObject* object1,
                              const CollisionObject* object2) const = 0;
 };
 
-struct BodyNodeDistanceFilter : DistanceFilter
+struct DART_API BodyNodeDistanceFilter : DistanceFilter
 {
   bool needDistance(const CollisionObject* object1,
                     const CollisionObject* object2) const override;

diff --git a/dart/collision/DistanceOption.hpp b/dart/collision/DistanceOption.hpp
@@ -35,13 +35,14 @@
 
 #include <cstddef>
 #include <memory>
+#include "dart/export.hpp"
 
 namespace dart {
 namespace collision {
 
-class DistanceFilter;
+struct DistanceFilter;
 
-struct DistanceOption
+struct DART_API DistanceOption
 {
   /// Whether to calculate the nearest points.
   ///

diff --git a/dart/collision/DistanceResult.hpp b/dart/collision/DistanceResult.hpp
@@ -34,6 +34,7 @@
 #define DART_COLLISION_DISTANCE_RESULT_HPP_
 
 #include <Eigen/Dense>
+#include "dart/export.hpp"
 
 namespace dart {
 
@@ -43,7 +44,7 @@ class ShapeFrame;
 
 namespace collision {
 
-struct DistanceResult
+struct DART_API DistanceResult
 {
   /// Minimum \b singed distance between the checked Shape pairs.
   ///

diff --git a/dart/collision/bullet/BulletCollisionDetector.hpp b/dart/collision/bullet/BulletCollisionDetector.hpp
@@ -39,6 +39,7 @@
 #include <vector>
 #include <assimp/scene.h>
 #include <btBulletCollisionCommon.h>
+#include "dart/collision/bullet/export.hpp"
 #include "dart/collision/CollisionDetector.hpp"
 #include "dart/collision/bullet/BulletCollisionGroup.hpp"
 
@@ -47,7 +48,7 @@ namespace collision {
 
 class BulletCollisionObject;
 
-class BulletCollisionDetector : public CollisionDetector
+class DART_COLLISION_BULLET_API BulletCollisionDetector : public CollisionDetector
 {
 public:
 

diff --git a/dart/collision/bullet/BulletCollisionGroup.hpp b/dart/collision/bullet/BulletCollisionGroup.hpp
@@ -37,13 +37,13 @@
 #include "dart/config.hpp"
 
 #include <btBulletCollisionCommon.h>
-
+#include "dart/collision/bullet/export.hpp"
 #include "dart/collision/CollisionGroup.hpp"
 
 namespace dart {
 namespace collision {
 
-class BulletCollisionGroup : public CollisionGroup
+class DART_COLLISION_BULLET_API BulletCollisionGroup : public CollisionGroup
 {
 public:
 

diff --git a/dart/collision/bullet/BulletCollisionObject.hpp b/dart/collision/bullet/BulletCollisionObject.hpp
@@ -37,15 +37,15 @@
 #include "dart/config.hpp"
 
 #include <btBulletCollisionCommon.h>
-
+#include "dart/collision/bullet/export.hpp"
 #include "dart/collision/CollisionObject.hpp"
 
 namespace dart {
 namespace collision {
 
 class CollisionObject;
 
-class BulletCollisionObject : public CollisionObject
+class DART_COLLISION_BULLET_API BulletCollisionObject : public CollisionObject
 {
 public:
 

diff --git a/dart/collision/bullet/CMakeLists.txt b/dart/collision/bullet/CMakeLists.txt
@@ -69,6 +69,9 @@ add_component(${PROJECT_NAME} ${component_name})
 add_component_targets(${PROJECT_NAME} ${component_name} ${target_name})
 add_component_dependencies(${PROJECT_NAME} ${component_name} dart)
 
+# Generate export header
+dart_generate_export_header(${target_name} COMPONENT_PATH collision/bullet)
+
 # Generate header for this namespace
 dart_get_filename_components(header_names "collision_bullet headers" ${hdrs})
 dart_generate_include_header_list(
@@ -81,8 +84,6 @@ configure_file(
   ${CMAKE_CURRENT_SOURCE_DIR}/bullet.hpp.in
   ${CMAKE_CURRENT_BINARY_DIR}/bullet.hpp
 )
-
-# Install
 install(
   FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/bullet.hpp
   DESTINATION include/dart/collision/bullet
-Original file line number
+Diff line change
@@ Expand Up / @@ -48,7 +48,7 @@ class ShapeFrame; @@
     namespace collision {
-    class CollisionResult
+    class DART_API CollisionResult
     {
     public:
@@ Expand Down @@