w6

dartsim · Apr 2, 2024 · ff71232 · ff71232
1 parent 5d9e816
commit ff71232
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Showing 13 changed files with 34 additions and 30 deletions.
diff --git a/dart/common/LocalResource.hpp b/dart/common/LocalResource.hpp
@@ -40,7 +40,7 @@ namespace dart {
 namespace common {
 
 DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
-class LocalResource : public virtual Resource
+class DART_API LocalResource : public virtual Resource
 {
 public:
   explicit LocalResource(const std::string& _path);

diff --git a/dart/common/LocalResourceRetriever.hpp b/dart/common/LocalResourceRetriever.hpp
@@ -40,7 +40,7 @@ namespace common {
 
 /// LocalResourceRetriever provides access to local resources specified by
 /// file:// URIs by wrapping the standard C and C++ file manipulation routines.
-class LocalResourceRetriever : public virtual ResourceRetriever
+class DART_API LocalResourceRetriever : public virtual ResourceRetriever
 {
 public:
   virtual ~LocalResourceRetriever() = default;

diff --git a/dart/dynamics/detail/EulerJointAspect.hpp b/dart/dynamics/detail/EulerJointAspect.hpp
@@ -53,7 +53,7 @@ enum class AxisOrder : int
 };
 
 //==============================================================================
-struct EulerJointUniqueProperties
+struct DART_API EulerJointUniqueProperties
 {
   /// Euler angle order
   AxisOrder mAxisOrder;
@@ -65,8 +65,8 @@ struct EulerJointUniqueProperties
 };
 
 //==============================================================================
-struct EulerJointProperties : GenericJoint<math::R3Space>::Properties,
-                              EulerJointUniqueProperties
+struct DART_API EulerJointProperties : GenericJoint<math::R3Space>::Properties,
+                                       EulerJointUniqueProperties
 {
   DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(EulerJointProperties)
 

diff --git a/dart/dynamics/detail/JointAspect.hpp b/dart/dynamics/detail/JointAspect.hpp
@@ -112,7 +112,7 @@ enum ActuatorType
 
 const ActuatorType DefaultActuatorType = FORCE;
 
-struct JointProperties
+struct DART_API JointProperties
 {
   /// Joint name
   std::string mName;

diff --git a/dart/dynamics/detail/PlanarJointAspect.hpp b/dart/dynamics/detail/PlanarJointAspect.hpp
@@ -62,7 +62,7 @@ enum class PlaneType : int
 /// it use mTransAxis1 and mTransAxis2. mRotAxis has no authority; it will
 /// always be recomputed from mTransAxis1 and mTransAxis2 when copying it into a
 /// PlanarJoint
-struct PlanarJointUniqueProperties
+struct DART_API PlanarJointUniqueProperties
 {
   /// Plane type
   PlaneType mPlaneType;

diff --git a/dart/dynamics/detail/PrismaticJointAspect.hpp b/dart/dynamics/detail/PrismaticJointAspect.hpp
@@ -47,7 +47,7 @@ class PrismaticJoint;
 namespace detail {
 
 //==============================================================================
-struct PrismaticJointUniqueProperties
+struct DART_API PrismaticJointUniqueProperties
 {
   Eigen::Vector3d mAxis;
 
@@ -58,8 +58,9 @@ struct PrismaticJointUniqueProperties
 };
 
 //==============================================================================
-struct PrismaticJointProperties : GenericJoint<math::R1Space>::Properties,
-                                  PrismaticJointUniqueProperties
+struct DART_API PrismaticJointProperties
+  : GenericJoint<math::R1Space>::Properties,
+    PrismaticJointUniqueProperties
 {
   DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(PrismaticJointProperties)
 

diff --git a/dart/dynamics/detail/RevoluteJointAspect.hpp b/dart/dynamics/detail/RevoluteJointAspect.hpp
@@ -47,7 +47,7 @@ class RevoluteJoint;
 namespace detail {
 
 //==============================================================================
-struct RevoluteJointUniqueProperties
+struct DART_API RevoluteJointUniqueProperties
 {
   Eigen::Vector3d mAxis;
 
@@ -58,8 +58,9 @@ struct RevoluteJointUniqueProperties
 };
 
 //==============================================================================
-struct RevoluteJointProperties : GenericJoint<math::R1Space>::Properties,
-                                 RevoluteJointUniqueProperties
+struct DART_API RevoluteJointProperties
+  : GenericJoint<math::R1Space>::Properties,
+    RevoluteJointUniqueProperties
 {
   DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(RevoluteJointProperties)
 

diff --git a/dart/dynamics/detail/ScrewJointAspect.hpp b/dart/dynamics/detail/ScrewJointAspect.hpp
@@ -47,7 +47,7 @@ class ScrewJoint;
 namespace detail {
 
 //==============================================================================
-struct ScrewJointUniqueProperties
+struct DART_API ScrewJointUniqueProperties
 {
   /// Rotational axis
   Eigen::Vector3d mAxis;
@@ -63,8 +63,8 @@ struct ScrewJointUniqueProperties
 };
 
 //==============================================================================
-struct ScrewJointProperties : GenericJoint<math::R1Space>::Properties,
-                              ScrewJointUniqueProperties
+struct DART_API ScrewJointProperties : GenericJoint<math::R1Space>::Properties,
+                                       ScrewJointUniqueProperties
 {
   DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(ScrewJointProperties)
 

diff --git a/dart/dynamics/detail/ShapeFrameAspect.hpp b/dart/dynamics/detail/ShapeFrameAspect.hpp
@@ -75,7 +75,7 @@ struct DART_API VisualAspectProperties
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
 
-struct CollisionAspectProperties
+struct DART_API CollisionAspectProperties
 {
   /// This object is collidable if true
   bool mCollidable;
@@ -87,7 +87,7 @@ struct CollisionAspectProperties
   virtual ~CollisionAspectProperties() = default;
 };
 
-struct DynamicsAspectProperties
+struct DART_API DynamicsAspectProperties
 {
   /// Primary coefficient of friction
   double mFrictionCoeff;
@@ -144,7 +144,7 @@ struct DynamicsAspectProperties
   virtual ~DynamicsAspectProperties() = default;
 };
 
-struct ShapeFrameProperties
+struct DART_API ShapeFrameProperties
 {
   /// Pointer to a shape
   ShapePtr mShape;

diff --git a/dart/dynamics/detail/SkeletonAspect.hpp b/dart/dynamics/detail/SkeletonAspect.hpp
@@ -51,7 +51,7 @@ namespace detail {
 /// The Properties of this Skeleton which are independent of the components
 /// within the Skeleton, such as its BodyNodes and Joints. This does not
 /// include any Properties of the Skeleton's Aspects.
-struct SkeletonAspectProperties
+struct DART_API SkeletonAspectProperties
 {
   /// Name of the Skeleton
   std::string mName;

diff --git a/dart/dynamics/detail/SoftBodyNodeAspect.hpp b/dart/dynamics/detail/SoftBodyNodeAspect.hpp
@@ -54,7 +54,7 @@ namespace detail {
 class SoftBodyAspect;
 
 //==============================================================================
-struct SoftBodyNodeUniqueState
+struct DART_API SoftBodyNodeUniqueState
 {
   /// Array of States for PointMasses
   std::vector<PointMass::State> mPointStates;
@@ -63,7 +63,7 @@ struct SoftBodyNodeUniqueState
 };
 
 //==============================================================================
-struct SoftBodyNodeUniqueProperties
+struct DART_API SoftBodyNodeUniqueProperties
 {
   /// Spring stiffness for vertex deformation restoring spring force of the
   /// point masses
@@ -105,8 +105,8 @@ struct SoftBodyNodeUniqueProperties
 };
 
 //==============================================================================
-struct SoftBodyNodeProperties : BodyNode::Properties,
-                                SoftBodyNodeUniqueProperties
+struct DART_API SoftBodyNodeProperties : BodyNode::Properties,
+                                         SoftBodyNodeUniqueProperties
 {
   DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(SoftBodyNodeProperties)
 

diff --git a/dart/dynamics/detail/TranslationalJoint2DAspect.hpp b/dart/dynamics/detail/TranslationalJoint2DAspect.hpp
@@ -48,7 +48,7 @@ class TranslationalJoint2D;
 namespace detail {
 
 //==============================================================================
-class TranslationalJoint2DUniqueProperties
+class DART_API TranslationalJoint2DUniqueProperties
 {
 public:
   /// Constructor for pre-defined plane types. Defaults to the XY plane if
@@ -113,8 +113,9 @@ class TranslationalJoint2DUniqueProperties
 };
 
 //==============================================================================
-struct TranslationalJoint2DProperties : GenericJoint<math::R2Space>::Properties,
-                                        TranslationalJoint2DUniqueProperties
+struct DART_API TranslationalJoint2DProperties
+  : GenericJoint<math::R2Space>::Properties,
+    TranslationalJoint2DUniqueProperties
 {
   DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(TranslationalJoint2DProperties)
 

diff --git a/dart/dynamics/detail/UniversalJointAspect.hpp b/dart/dynamics/detail/UniversalJointAspect.hpp
@@ -47,7 +47,7 @@ class UniversalJoint;
 namespace detail {
 
 //==============================================================================
-struct UniversalJointUniqueProperties
+struct DART_API UniversalJointUniqueProperties
 {
   std::array<Eigen::Vector3d, 2> mAxis;
 
@@ -59,8 +59,9 @@ struct UniversalJointUniqueProperties
 };
 
 //==============================================================================
-struct UniversalJointProperties : GenericJoint<math::R2Space>::Properties,
-                                  UniversalJointUniqueProperties
+struct DART_API UniversalJointProperties
+  : GenericJoint<math::R2Space>::Properties,
+    UniversalJointUniqueProperties
 {
   DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(UniversalJointProperties)