[imgui] Add options to use system imgui

jslee02 · jslee02 · commit 301390cd5f2d · 2024-03-19T20:51:01.000-07:00
(cherry picked from commit cef093a)
diff --git a/.github/workflows/ci_macos.yml b/.github/workflows/ci_macos.yml
@@ -34,6 +34,7 @@ jobs:
       COMPILER: clang
       BUILD_TYPE: ${{ matrix.build_type }}
       BUILD_DARTPY: ON
+      DART_USE_SYSTEM_IMGUI: OFF
       IN_CI: ON
       ENABLE_SIMD: ${{ matrix.enable_simd }}
     steps:
diff --git a/.github/workflows/ci_ubuntu.yml b/.github/workflows/ci_ubuntu.yml
@@ -55,6 +55,7 @@ jobs:
       CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
       CHECK_FORMAT: ${{ matrix.check_format }}
       ENABLE_SIMD: ${{ matrix.enable_simd }}
+      DART_USE_SYSTEM_IMGUI: OFF
       IN_CI: ON
       IN_DOCKER: ON
     steps:
diff --git a/.github/workflows/ci_windows.yml b/.github/workflows/ci_windows.yml
@@ -62,6 +62,7 @@ jobs:
             -DDART_MSVC_DEFAULT_OPTIONS=ON ^
             -DDART_VERBOSE=ON ^
             -DBUILD_SHARED_LIBS=${{ matrix.build_shared_libs }} ^
+            -DDART_USE_SYSTEM_IMGUI=OFF ^
             || exit /b
           cmake ^
             --build build ^
diff --git a/.github/workflows/publish_dartpy.yml b/.github/workflows/publish_dartpy.yml
@@ -99,7 +99,7 @@ jobs:
         if: ${{ matrix.os == 'windows-latest' && (matrix.release_only == false || github.ref == 'refs/heads/main') }}
         uses: johnwason/vcpkg-action@v6
         with:
-          pkgs: assimp ccd eigen3 fcl fmt spdlog bullet3 coin-or-ipopt freeglut glfw3 nlopt ode opengl osg pagmo2 tinyxml2 urdfdom
+          pkgs: assimp ccd eigen3 fcl fmt spdlog bullet3 coin-or-ipopt freeglut glfw3 imgui nlopt ode opengl osg pagmo2 tinyxml2 urdfdom
           triplet: x64-windows
           revision: "2024.02.14"
           github-binarycache: true
diff --git a/.gitignore b/.gitignore
@@ -70,3 +70,6 @@ dist/
 
 # pixi environments
 .pixi
+
+# ImGui configuration
+imgui.ini
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -102,6 +102,7 @@ dart_option(DART_FAST_DEBUG "Add -O1 option for DEBUG mode build" OFF)
 # See: https://medium.com/@alasher/colored-c-compiler-output-with-ninja-clang-gcc-10bfe7f2b949
 dart_option(DART_FORCE_COLORED_OUTPUT
   "Always produce ANSI-colored output (GNU/Clang only)." OFF)
+dart_option(DART_USE_SYSTEM_IMGUI "Use system ImGui" OFF)
 dart_option(DART_IN_CI "Indicate building DART as part of CI" OFF)
 
 #===============================================================================
diff --git a/cmake/DARTFindimgui.cmake b/cmake/DARTFindimgui.cmake
@@ -0,0 +1,21 @@
+# Copyright (c) 2011-2024, The DART development contributors
+# All rights reserved.
+#
+# The list of contributors can be found at:
+#   https://github.com/dartsim/dart/blob/main/LICENSE
+#
+# This file is provided under the "BSD-style" License
+
+find_package(imgui CONFIG)
+
+if(NOT imgui_FOUND)
+  find_package(imgui REQUIRED MODULE)
+endif()
+
+if(imgui_FOUND AND NOT TARGET imgui::imgui)
+  add_library(imgui::imgui INTERFACE IMPORTED)
+  set_target_properties(imgui::imgui PROPERTIES
+    INTERFACE_INCLUDE_DIRECTORIES "${imgui_INCLUDE_DIRS}"
+    INTERFACE_LINK_LIBRARIES "${imgui_LIBRARIES}"
+  )
+endif()
diff --git a/cmake/Findimgui.cmake b/cmake/Findimgui.cmake
@@ -0,0 +1,46 @@
+# Copyright (c) 2011-2024, The DART development contributors
+# All rights reserved.
+#
+# The list of contributors can be found at:
+#   https://github.com/dartsim/dart/blob/main/LICENSE
+#
+# This file is provided under the "BSD-style" License
+
+# Find imgui
+#
+# This sets the following variables:
+#   imgui_FOUND
+#   imgui_INCLUDE_DIRS
+#   imgui_LIBRARIES
+#   imgui_VERSION
+
+find_package(PkgConfig QUIET)
+
+# Check to see if pkgconfig is installed.
+pkg_check_modules(PC_imgui imgui QUIET)
+
+# Include directories
+find_path(imgui_INCLUDE_DIRS
+  NAMES imgui.h
+  HINTS ${PC_imgui_INCLUDEDIR}
+  PATHS "${CMAKE_INSTALL_PREFIX}/include"
+)
+
+# Library
+find_library(imgui_LIBRARIES
+  NAMES imgui
+  HINTS ${PC_imgui_LIBDIR}
+)
+
+# Version
+if(PC_imgui_VERSION)
+  set(imgui_VERSION ${PC_imgui_VERSION})
+endif()
+
+# Set (NAME)_FOUND if all the variables and the version are satisfied.
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(imgui
+  FAIL_MESSAGE  DEFAULT_MSG
+  REQUIRED_VARS imgui_INCLUDE_DIRS imgui_LIBRARIES
+  VERSION_VAR   imgui_VERSION
+)
diff --git a/dart/config.hpp.in b/dart/config.hpp.in
@@ -83,4 +83,6 @@
 // BULLET_DEFINITIONS or generate a #cmakedefine header.
 #cmakedefine BT_USE_DOUBLE_PRECISION
 
+#cmakedefine01 DART_USE_SYSTEM_IMGUI
+
 #endif // #ifndef DART_CONFIG_HPP_
diff --git a/dart/external/CMakeLists.txt b/dart/external/CMakeLists.txt
@@ -1,5 +1,7 @@
 add_subdirectory(convhull_3d)
-add_subdirectory(imgui)
+if(NOT DART_USE_SYSTEM_IMGUI)
+  add_subdirectory(imgui)
+endif()
 add_subdirectory(ikfast)
 add_subdirectory(lodepng)
 add_subdirectory(odelcpsolver)
diff --git a/dart/gui/CMakeLists.txt b/dart/gui/CMakeLists.txt
@@ -49,7 +49,6 @@ target_link_libraries(${target_name}
     OpenGL::GLU
     GLUT::GLUT
     ${PROJECT_NAME}-external-lodepng
-    ${PROJECT_NAME}-external-imgui
 )
 if(APPLE)
   # Suppress "deprecated-declarations" until we abandon glut.
@@ -67,7 +66,6 @@ add_component_dependencies(
   ${component_name}
   utils
   external-lodepng
-  external-imgui
 )
 add_component_dependency_packages(${PROJECT_NAME} ${component_name} OpenGL)
 if(NOT WIN32 OR CYGWIN)
diff --git a/dart/gui/osg/CMakeLists.txt b/dart/gui/osg/CMakeLists.txt
@@ -20,7 +20,15 @@ endif()
 # OpenSceneGraph
 if(DART_BUILD_GUI_OSG)
   dart_find_package(OpenSceneGraph)
-  dart_check_optional_package(OpenSceneGraph "dart-gui-osg" "OpenSceneGraph" "3.0")
+  dart_check_required_package(OpenSceneGraph "dart-gui-osg" "OpenSceneGraph" "3.0")
+
+  # ImGui
+  if(DART_USE_SYSTEM_IMGUI)
+    dart_find_package(imgui)
+    dart_check_required_package(imgui "imgui")
+  else()
+    #
+  endif()
 else()
   message(STATUS "Skipping OpenSceneGraph (DART_BUILD_GUI_OSG == ${DART_BUILD_GUI_OSG})")
   return()
@@ -38,13 +46,21 @@ set(dart_gui_osg_srcs ${srcs} ${detail_srcs})
 add_subdirectory(render)
 
 # Add target
+if(DART_USE_SYSTEM_IMGUI)
+  set(link_libraries imgui::imgui)
+else()
+  set(link_libraries ${PROJECT_NAME}-external-imgui)
+endif()
 dart_add_library(${target_name} ${hdrs} ${srcs} ${dart_gui_osg_hdrs} ${dart_gui_osg_srcs})
-target_link_libraries(${target_name} dart-gui osg::osg)
+target_link_libraries(${target_name} dart-gui osg::osg ${link_libraries})
 
 # Component
+if(NOT DART_USE_SYSTEM_IMGUI)
+  set(component_dependencies external-imgui)
+endif()
 add_component(${PROJECT_NAME} ${component_name})
 add_component_targets(${PROJECT_NAME} ${component_name} ${target_name})
-add_component_dependencies(${PROJECT_NAME} ${component_name} gui)
+add_component_dependencies(${PROJECT_NAME} ${component_name} gui ${component_dependencies})
 add_component_dependency_packages(${PROJECT_NAME} ${component_name} OpenSceneGraph)
 
 # Generate header for this namespace
diff --git a/dart/gui/osg/ImGuiHandler.cpp b/dart/gui/osg/ImGuiHandler.cpp
@@ -39,9 +39,8 @@
 #include "dart/gui/osg/ImGuiHandler.hpp"
 
 #include "dart/common/Console.hpp"
-#include "dart/external/imgui/imgui.h"
-#include "dart/external/imgui/imgui_impl_opengl2.h"
 #include "dart/gui/osg/ImGuiWidget.hpp"
+#include "dart/gui/osg/IncludeImGui.hpp"
 
 #include <osg/Camera>
 #include <osg/RenderInfo>
diff --git a/dart/gui/osg/ImGuiWidget.cpp b/dart/gui/osg/ImGuiWidget.cpp
@@ -38,7 +38,7 @@
 
 #include "dart/gui/osg/ImGuiWidget.hpp"
 
-#include "dart/external/imgui/imgui.h"
+#include "dart/gui/osg/IncludeImGui.hpp"
 
 namespace dart {
 namespace gui {
diff --git a/dart/gui/osg/IncludeImGui.hpp b/dart/gui/osg/IncludeImGui.hpp
@@ -0,0 +1,46 @@
+/*
+ * Copyright (c) 2011-2024, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/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.
+ */
+
+#ifndef DART_GUI_OSG_INCLUDEIMGUI_HPP_
+#define DART_GUI_OSG_INCLUDEIMGUI_HPP_
+
+#include <dart/config.hpp>
+
+#if DART_USE_SYSTEM_IMGUI
+  #include <imgui.h>
+  #include <imgui_impl_opengl2.h>
+#else
+  #include <dart/external/imgui/imgui.h>
+  #include <dart/external/imgui/imgui_impl_opengl2.h>
+#endif
+
+#endif // DART_GUI_OSG_INCLUDEIMGUI_HPP_
diff --git a/examples/atlas_simbicon/AtlasSimbiconWidget.cpp b/examples/atlas_simbicon/AtlasSimbiconWidget.cpp
@@ -39,7 +39,6 @@
 #include "AtlasSimbiconWidget.hpp"
 
 #include "AtlasSimbiconWorldNode.hpp"
-#include "dart/external/imgui/imgui.h"
 
 //==============================================================================
 AtlasSimbiconWidget::AtlasSimbiconWidget(
diff --git a/examples/box_stacking/main.cpp b/examples/box_stacking/main.cpp
@@ -35,7 +35,6 @@
 #include <dart/utils/utils.hpp>
 
 #include <dart/dart.hpp>
-#include <dart/external/imgui/imgui.h>
 
 #include <iostream>
 
diff --git a/examples/fetch/main.cpp b/examples/fetch/main.cpp
@@ -37,7 +37,6 @@
 #include <dart/collision/bullet/bullet.hpp>
 
 #include <dart/dart.hpp>
-#include <dart/external/imgui/imgui.h>
 
 using namespace dart;
 
diff --git a/examples/heightmap/main.cpp b/examples/heightmap/main.cpp
@@ -36,7 +36,6 @@
 #include <dart/utils/utils.hpp>
 
 #include <dart/dart.hpp>
-#include <dart/external/imgui/imgui.h>
 
 #include <cmath>
 
diff --git a/examples/imgui/main.cpp b/examples/imgui/main.cpp
@@ -33,7 +33,6 @@
 #include <dart/gui/osg/osg.hpp>
 
 #include <dart/dart.hpp>
-#include <dart/external/imgui/imgui.h>
 
 //==============================================================================
 class CustomWorldNode : public dart::gui::osg::WorldNode
diff --git a/examples/point_cloud/main.cpp b/examples/point_cloud/main.cpp
@@ -36,7 +36,6 @@
 #include <dart/utils/utils.hpp>
 
 #include <dart/dart.hpp>
-#include <dart/external/imgui/imgui.h>
 
 #include <cmath>
 
diff --git a/examples/tinkertoy/TinkertoyWidget.cpp b/examples/tinkertoy/TinkertoyWidget.cpp
@@ -39,7 +39,6 @@
 #include "TinkertoyWidget.hpp"
 
 #include "TinkertoyWorldNode.hpp"
-#include "dart/external/imgui/imgui.h"
 
 //==============================================================================
 TinkertoyWidget::TinkertoyWidget(
diff --git a/pixi.lock b/pixi.lock
diff --git a/pixi.toml b/pixi.toml
diff --git a/scripts/build.sh b/scripts/build.sh
diff --git a/scripts/docker/env.list b/scripts/docker/env.list
diff --git a/setup.py b/setup.py
