From 92784d31c600e9b9eb197cd4154d13985788280e Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio@traversaro.it>
Date: Wed, 4 Sep 2024 12:06:51 +0200
Subject: [PATCH 1/4] Build Python bindings of manifpy on Windows

---
 cmake/Buildbipedal-locomotion-framework.cmake | 5 -----
 cmake/Buildmanif.cmake                        | 9 +--------
 2 files changed, 1 insertion(+), 13 deletions(-)

diff --git a/cmake/Buildbipedal-locomotion-framework.cmake b/cmake/Buildbipedal-locomotion-framework.cmake
index 964219f46..ae419edb8 100644
--- a/cmake/Buildbipedal-locomotion-framework.cmake
+++ b/cmake/Buildbipedal-locomotion-framework.cmake
@@ -44,11 +44,6 @@ if (ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS)
   endif()
 endif()
 
-# For what regards Python installation, the options changes depending
-# on whater we are installing blf in the superbuild, or we are generating a
-# conda package on Windows as in that case the installation location
-# will need to be outside of CMAKE_INSTALL_PREFIX
-# See https://github.com/robotology/robotology-superbuild/issues/641
 set(bipedal-locomotion-framework_OPTIONAL_CMAKE_ARGS "")
 if(ROBOTOLOGY_USES_PYTHON)
   list(APPEND bipedal-locomotion-framework_OPTIONAL_CMAKE_ARGS "-DFRAMEWORK_PYTHON_INSTALL_DIR:PATH=${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR}")
diff --git a/cmake/Buildmanif.cmake b/cmake/Buildmanif.cmake
index 0e7f16f4a..71c0e6f88 100644
--- a/cmake/Buildmanif.cmake
+++ b/cmake/Buildmanif.cmake
@@ -4,13 +4,6 @@
 
 include(YCMEPHelper)
 
-# Workaround for https://github.com/robotology/robotology-superbuild/pull/838#issuecomment-887367047
-if(ROBOTOLOGY_USES_PYTHON AND NOT WIN32)
-  set(BUILD_PYTHON_BINDINGS ON)
-else()
-  set(BUILD_PYTHON_BINDINGS OFF)
-endif()
-
 # We pass CMAKE_CXX_STANDARD=17 as we encountered problems when using -march=native
 # and mixing libraries compiled with C++11 and C++17, see
 # https://github.com/artivis/manif/issues/274
@@ -20,7 +13,7 @@ ycm_ep_helper(manif TYPE GIT
               TAG master
               COMPONENT external
               FOLDER src
-              CMAKE_ARGS -DCMAKE_CXX_STANDARD=17 -DBUILD_TESTING:BOOL=OFF -DBUILD_EXAMPLES:BOOL=OFF -DBUILD_PYTHON_BINDINGS:BOOL=${BUILD_PYTHON_BINDINGS}  -DMANIFPY_PKGDIR:PATH=${YCM_EP_INSTALL_DIR}/${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR})
+              CMAKE_ARGS -DCMAKE_CXX_STANDARD=17 -DBUILD_TESTING:BOOL=OFF -DBUILD_EXAMPLES:BOOL=OFF -DBUILD_PYTHON_BINDINGS:BOOL=${ROBOTOLOGY_USES_PYTHON}  -DMANIFPY_PKGDIR:PATH=${YCM_EP_INSTALL_DIR}/${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR})
 
 set(manif_CONDA_PKG_NAME manif)
 set(manif_CONDA_PKG_CONDA_FORGE_OVERRIDE ON)

From 950214fa4c6a81ff30006e880bd9db822450d86b Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio@traversaro.it>
Date: Wed, 4 Sep 2024 13:08:40 +0200
Subject: [PATCH 2/4] Switch manif to use upstream release 0.0.5

---
 cmake/Buildmanif.cmake           | 6 +-----
 cmake/ProjectsTagsStable.cmake   | 3 +--
 cmake/ProjectsTagsUnstable.cmake | 3 +--
 releases/latest.releases.yaml    | 4 ++--
 4 files changed, 5 insertions(+), 11 deletions(-)

diff --git a/cmake/Buildmanif.cmake b/cmake/Buildmanif.cmake
index 71c0e6f88..099939305 100644
--- a/cmake/Buildmanif.cmake
+++ b/cmake/Buildmanif.cmake
@@ -17,8 +17,4 @@ ycm_ep_helper(manif TYPE GIT
 
 set(manif_CONDA_PKG_NAME manif)
 set(manif_CONDA_PKG_CONDA_FORGE_OVERRIDE ON)
-# This is a small hack. To avoid incompatibilities between the version tagged in the ami-iit fork
-# (something like 0.0.4.x) and the version available in conda-forge when generating conda metapackages
-# such as robotology-distro and robotology-distro-all, we override the conda package version of manif
-# here. This needs to be removed as soon as we stop using our fork in the superbuild 
-set(manif_CONDA_VERSION 0.0.4)
+
diff --git a/cmake/ProjectsTagsStable.cmake b/cmake/ProjectsTagsStable.cmake
index a835291d4..5c1b3b930 100644
--- a/cmake/ProjectsTagsStable.cmake
+++ b/cmake/ProjectsTagsStable.cmake
@@ -7,8 +7,7 @@ endmacro()
 # External projects
 set_tag(osqp_REPOSITORY robotology-dependencies/osqp.git)
 set_tag(osqp_TAG v0.6.3.1)
-set_tag(manif_REPOSITORY robotology-dependencies/manif.git)
-set_tag(manif_TAG 0.0.4.103)
+set_tag(manif_TAG 0.0.5)
 set_tag(qhull_TAG 2020.2)
 set_tag(CppAD_TAG 20240000.2)
 set_tag(proxsuite_TAG v0.6.4)
diff --git a/cmake/ProjectsTagsUnstable.cmake b/cmake/ProjectsTagsUnstable.cmake
index 17897286f..e61654d32 100644
--- a/cmake/ProjectsTagsUnstable.cmake
+++ b/cmake/ProjectsTagsUnstable.cmake
@@ -7,8 +7,7 @@ endmacro()
 # External projects
 set_tag(osqp_REPOSITORY robotology-dependencies/osqp.git)
 set_tag(osqp_TAG v0.6.3.1)
-set_tag(manif_REPOSITORY robotology-dependencies/manif.git)
-set_tag(manif_TAG 0.0.4.103)
+set_tag(manif_TAG 0.0.5)
 set_tag(qhull_TAG 2020.2)
 set_tag(CppAD_TAG 20240000.2)
 set_tag(proxsuite_TAG v0.6.4)
diff --git a/releases/latest.releases.yaml b/releases/latest.releases.yaml
index 5a91d2d1b..0448fe230 100644
--- a/releases/latest.releases.yaml
+++ b/releases/latest.releases.yaml
@@ -9,8 +9,8 @@ repositories:
     version: v0.6.3.1
   manif:
     type: git
-    url: https://github.com/robotology-dependencies/manif.git
-    version: 0.0.4.103
+    url: https://github.com/artivis/manif.git
+    version: 0.0.5
   qhull:
     type: git
     url: https://github.com/qhull/qhull.git

From e985b689292cea246cc381ad4a694beb1ebd87da Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio@traversaro.it>
Date: Wed, 4 Sep 2024 23:44:56 +0200
Subject: [PATCH 3/4] Add workaround to always build manif python bindings with
 clang-cl

---
 cmake/Buildmanif.cmake        | 26 +++++++++++++++++++++++++-
 releases/latest.releases.yaml |  2 +-
 2 files changed, 26 insertions(+), 2 deletions(-)

diff --git a/cmake/Buildmanif.cmake b/cmake/Buildmanif.cmake
index 099939305..ac8fd25b6 100644
--- a/cmake/Buildmanif.cmake
+++ b/cmake/Buildmanif.cmake
@@ -4,6 +4,29 @@
 
 include(YCMEPHelper)
 
+# Workaround for https://github.com/artivis/manif/issues/311, if use use python bindings
+# on Windows with MSVC we need to specify somehow the use of clang-cl
+set(manif_CMAKE_GENERATOR_YCM_ARGS "")
+set(manif_CLANG_CL_CMAKE_ARGS "")
+if(ROBOTOLOGY_USES_PYTHON AND MSVC)
+    if("${CMAKE_GENERATOR}" MATCHES "Visual Studio")
+        # If Visual Studio is used, we specify the use of ClangCL via the CMake Generator Toolset option
+        list(APPEND manif_CMAKE_GENERATOR_YCM_ARGS CMAKE_GENERATOR "${CMAKE_GENERATOR}")
+        list(APPEND manif_CMAKE_GENERATOR_YCM_ARGS CMAKE_GENERATOR_TOOLSET "ClangCL")
+    else()
+        # Otherwise, we specify the use of clang-cl via CMAKE_C_COMPILER and CMAKE_CXX_COMPILER versions
+        if($ENV{VCINSTALLDIR} STREQUAL "")
+            message(FATAL_ERROR "Building robotology-superbuild with CMAKE_GENERATOR=${CMAKE_GENERATOR} and ROBOTOLOGY_USES_PYTHON is enabled, but no VCINSTALLDIR env variable defined.")
+        endif()
+        set(CANDIDATE_CLANG_CL_LOCATION $ENV{VCINSTALLDIR}\\Tools\\Llvm\\x64\\bin\\clang-cl.exe)
+        if(NOT EXISTS ${CANDIDATE_CLANG_CL_LOCATION})
+            message(FATAL_ERROR "Building robotology-superbuild on Windows ROBOTOLOGY_USES_PYTHON is enabled requires the 'C++ Clang Compiler for Windows' and 'C++ Clang-cl for vXYZ build tools' components of Visual Studio, but ${CANDIDATE_CLANG_CL_LOCATION} was not found. Please install the required components and try again.")
+        endif()
+        list(APPEND manif_CLANG_CL_CMAKE_ARGS "-DCMAKE_C_COMPILER=${CANDIDATE_CLANG_CL_LOCATION}")
+        list(APPEND manif_CLANG_CL_CMAKE_ARGS "-DCMAKE_CXX_COMPILER=${CANDIDATE_CLANG_CL_LOCATION}")
+    endif()
+endif()
+
 # We pass CMAKE_CXX_STANDARD=17 as we encountered problems when using -march=native
 # and mixing libraries compiled with C++11 and C++17, see
 # https://github.com/artivis/manif/issues/274
@@ -13,7 +36,8 @@ ycm_ep_helper(manif TYPE GIT
               TAG master
               COMPONENT external
               FOLDER src
-              CMAKE_ARGS -DCMAKE_CXX_STANDARD=17 -DBUILD_TESTING:BOOL=OFF -DBUILD_EXAMPLES:BOOL=OFF -DBUILD_PYTHON_BINDINGS:BOOL=${ROBOTOLOGY_USES_PYTHON}  -DMANIFPY_PKGDIR:PATH=${YCM_EP_INSTALL_DIR}/${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR})
+              ${manif_CMAKE_GENERATOR_YCM_ARGS}
+              CMAKE_ARGS -DCMAKE_CXX_STANDARD=17 -DBUILD_TESTING:BOOL=OFF -DBUILD_EXAMPLES:BOOL=OFF -DBUILD_PYTHON_BINDINGS:BOOL=${ROBOTOLOGY_USES_PYTHON}  -DMANIFPY_PKGDIR:PATH=${YCM_EP_INSTALL_DIR}/${ROBOTOLOGY_SUPERBUILD_PYTHON_INSTALL_DIR} ${manif_CLANG_CL_CMAKE_ARGS})
 
 set(manif_CONDA_PKG_NAME manif)
 set(manif_CONDA_PKG_CONDA_FORGE_OVERRIDE ON)
diff --git a/releases/latest.releases.yaml b/releases/latest.releases.yaml
index 0448fe230..49eb3a23b 100644
--- a/releases/latest.releases.yaml
+++ b/releases/latest.releases.yaml
@@ -26,7 +26,7 @@ repositories:
   YCM:
     type: git
     url: https://github.com/robotology/ycm.git
-    version: v0.16.7
+    version: v0.16.8
   YARP:
     type: git
     url: https://github.com/robotology/yarp.git

From 7625d46439b9d8b03d3365ca8fea2f2dead4d48b Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Thu, 5 Sep 2024 09:32:40 +0200
Subject: [PATCH 4/4] Document how to use the ROBOTOLOGY_USES_PYTHON option on
 Windows

---
 doc/cmake-options.md | 17 +++++++++++++++++
 1 file changed, 17 insertions(+)

diff --git a/doc/cmake-options.md b/doc/cmake-options.md
index ec23984c6..f951a47b5 100644
--- a/doc/cmake-options.md
+++ b/doc/cmake-options.md
@@ -355,11 +355,28 @@ sudo bash ./scripts/install_apt_python_dependencies.sh
 ~~~
 
 #### Conda
+
 To install python and the other required dependencies when using `conda-forge` provided dependencies, use:
 ~~~
 conda install -c conda-forge python numpy swig pybind11 pyqt matplotlib h5py tornado u-msgpack-python pyzmq ipython
 ~~~
 
+##### Windows
+
+On Windows, enabling the  `ROBOTOLOGY_USES_PYTHON` requires some care. If you need to enable both `ROBOTOLOGY_USES_PYTHON` and `ROBOTOLOGY_ENABLE_DYNAMICS_FULL_DEPS`, you need to make sure that
+you have the "C++ Clang Compiler for Windows" and "C++ Clang-cl for vXYZ build tools" components of Visual Studio are installed, you can install them from the Visual Studio Installer:
+
+![clangclinstall](https://github.com/user-attachments/assets/af1e66e3-910e-4b34-b2e2-f1ef3cdd18d5)
+
+Furthermore, due to Python ignoring the directories in `PATH`, before running python code that uses the superbuild dependencies you need to run before:
+
+~~~python
+import os
+os.add_dll_directory(os.path.join(os.environ['ROBOTOLOGY_SUPERBUILD_INSTALL_PREFIX'], bin))
+~~~
+
+see https://github.com/robotology/robotology-superbuild/issues/1268 for more details.
+
 ### Check the installation
 Open a python interpreter and try to import modules, for example verify that `import yarp` works.