ode: set ODE_WITH_LIBCCD=ON

[scpeters]

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The --enable-libccd configure argument was dropped when converting to a cmake build in #167158, which has impacted some downstream projects:

• [bullet-featherstone] Ignore collision between static objects and objects with world joint gazebosim/gz-physics#611 (comment)
• dartsim/dart@d9af2d2

I've enabled the equivalent cmake option ODE_WITH_LIBCCD=ON and tested locally with the downstream projects and confirm that this fixes them.

[Bo98]

Thanks for catching this!

[Bo98]

Actually, it look like ODE_WITH_LIBCCD_SYSTEM might also be needed to actually use Homebrew libccd?

see above

[Bo98]

Relatedly, might be worth seeing if we can disable ODE_WITH_TESTS. I'm guessing ODE_WITH_DEMOS was enabled before but maybe worth checking too (the demos/drawstuff might not even be installed anyway?).

[scpeters]

ok, I'll take a look at these suggestions, and also at the configuration in conda-forge/libode-feedstock#23

[scpeters]

Actually, it look like ODE_WITH_LIBCCD_SYSTEM might also be needed to actually use Homebrew libccd?

yeah, you're right, setting ODE_WITH_LIBCCD without ODE_WITH_LIBCCD_SYSTEM will use a vendored copy of ccd

unfortunately, there are several cmake errors in the code path for ODE_WITH_LIBCCD_SYSTEM. I will submit some fixes upstream, but in the meantime, I will propose reverting to autotools in a separate pull request

[scpeters]

Actually, it look like ODE_WITH_LIBCCD_SYSTEM might also be needed to actually use Homebrew libccd?

yeah, you're right, setting ODE_WITH_LIBCCD without ODE_WITH_LIBCCD_SYSTEM will use a vendored copy of ccd

unfortunately, there are several cmake errors in the code path for ODE_WITH_LIBCCD_SYSTEM. I will submit some fixes upstream, but in the meantime, I will propose reverting to autotools in a separate pull request

Relatedly, might be worth seeing if we can disable ODE_WITH_TESTS. I'm guessing ODE_WITH_DEMOS was enabled before but maybe worth checking too (the demos/drawstuff might not even be installed anyway?).

reverting to autotools in #167721 and also disabling the demos

[chenrui333]

unfortunately, there are several cmake errors in the code path for ODE_WITH_LIBCCD_SYSTEM. I will submit some fixes upstream, but in the meantime, I will propose reverting to autotools in a separate pull request

can you post the cmake build configuration changes?