Fix Aspect/Composite-relate tests on Windows/MSVC by marking every cl…

…ass with virtual base with appropriate pragmas (dartsim#1541)

Co-authored-by: Jeongseok Lee <[email protected]>
Co-authored-by: erwincoumans <[email protected]>

dart/common/Aspect.hpp

@@ -35,6 +35,7 @@
 
 #include <string>
 
+#include "dart/common/ClassWithVirtualBase.hpp"
 #include "dart/common/Cloneable.hpp"
 #include "dart/common/detail/NoOp.hpp"
 

dart/common/ClassWithVirtualBase.hpp

@@ -0,0 +1,47 @@
+/*
+ * Copyright (c) 2011-2021, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/master/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_COMMON_CLASSWITHVIRTUALBASE_HPP_
+#define DART_COMMON_CLASSWITHVIRTUALBASE_HPP_
+
+// This macro is used to mark all the class that inherit
+// virtually from another to avoid problems on MSVC
+// See https://github.com/dartsim/dart/issues/1522
+#if defined(_MSC_VER)
+#  define DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN __pragma(vtordisp(push, 2))
+#  define DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END __pragma(vtordisp(pop))
+#else
+#  define DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
+#  define DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
+#endif
+
+#endif // DART_COMMON_CLASSWITHVIRTUALBASE_HPP_

dart/common/Composite.hpp

@@ -33,6 +33,7 @@
 #ifndef DART_COMMON_COMPOSITE_HPP_
 #define DART_COMMON_COMPOSITE_HPP_
 
+#include "dart/common/ClassWithVirtualBase.hpp"
 #include "dart/common/detail/CompositeData.hpp"
 
 namespace dart {

dart/common/EmbeddedAspect.hpp

@@ -87,6 +87,8 @@ class EmbeddedStateAspect : public detail::EmbeddedStateAspect<
 /// It is possible to customize the way an EmbeddedStateAspect interacts with
 /// your Composite by using the dart::common::detail::EmbeddedStateAspect class
 /// directly instead of inheriting this class.
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
+
 template <class DerivedT, typename StateDataT>
 class EmbedState : public virtual common::RequiresAspect<
     common::EmbeddedStateAspect<DerivedT, StateDataT> >
@@ -120,6 +122,7 @@ class EmbedState : public virtual common::RequiresAspect<
   AspectState mAspectState;
 
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 //==============================================================================
 /// This is an alternative to EmbedState which allows your class to also inherit
@@ -204,6 +207,7 @@ class EmbeddedPropertiesAspect : public detail::EmbeddedPropertiesAspect<
 /// with your Composite by using the
 /// dart::common::detail::EmbeddedPropertiesAspect class directly instead of
 /// inheriting this class.
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 template <class DerivedT, typename PropertiesDataT>
 class EmbedProperties : public virtual common::RequiresAspect<
     common::EmbeddedPropertiesAspect<DerivedT, PropertiesDataT> >
@@ -237,6 +241,7 @@ class EmbedProperties : public virtual common::RequiresAspect<
   AspectProperties mAspectProperties;
 
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 //==============================================================================
 /// This is an alternative to EmbedProperties which allows your class to also
@@ -378,6 +383,7 @@ class EmbeddedStateAndPropertiesAspect :
 /// void setAspectState(const AspectState& state);
 /// void setAspectProperties(const AspectProperties& state);
 /// \endcode
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 template <class DerivedT, typename StateDataT, typename PropertiesDataT>
 class EmbedStateAndProperties : public virtual common::RequiresAspect<
     common::EmbeddedStateAndPropertiesAspect<
@@ -425,6 +431,7 @@ class EmbedStateAndProperties : public virtual common::RequiresAspect<
   AspectProperties mAspectProperties;
 
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 //==============================================================================
 /// This is an alternative to EmbedStateAndProperties which allows your class to

dart/common/LocalResource.hpp

@@ -33,11 +33,13 @@
 #ifndef DART_COMMON_LOCALRESOURCE_HPP_
 #define DART_COMMON_LOCALRESOURCE_HPP_
 
+#include "dart/common/ClassWithVirtualBase.hpp"
 #include "dart/common/Resource.hpp"
 
 namespace dart {
 namespace common {
 
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 class LocalResource : public virtual Resource
 {
 public:
@@ -65,6 +67,7 @@ class LocalResource : public virtual Resource
 private:
   std::FILE* mFile;
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 } // namespace common
 } // namespace dart

dart/common/RequiresAspect.hpp

@@ -33,6 +33,7 @@
 #ifndef DART_COMMON_REQUIRESASPECT_HPP_
 #define DART_COMMON_REQUIRESASPECT_HPP_
 
+#include "dart/common/ClassWithVirtualBase.hpp"
 #include "dart/common/SpecializedForAspect.hpp"
 
 namespace dart {
@@ -48,6 +49,7 @@ template <class... OtherRequiredAspects>
 class RequiresAspect { };
 
 //==============================================================================
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 template <class ReqAspect>
 class RequiresAspect<ReqAspect> : public virtual SpecializedForAspect<ReqAspect>
 {
@@ -58,6 +60,7 @@ class RequiresAspect<ReqAspect> : public virtual SpecializedForAspect<ReqAspect>
   RequiresAspect();
 
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 //==============================================================================
 template <class ReqAspect1, class... OtherReqAspects>

dart/common/SpecializedForAspect.hpp

@@ -51,6 +51,8 @@ class SpecializedForAspect
 //==============================================================================
 /// SpecializedForAspect allows classes that inherit Composite to have
 /// constant-time access to a specific type of Aspect
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
+
 template <class SpecAspect>
 class SpecializedForAspect<SpecAspect> : public virtual Composite
 {
@@ -181,6 +183,7 @@ class SpecializedForAspect<SpecAspect> : public virtual Composite
   Composite::AspectMap::iterator mSpecAspectIterator;
 
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 //==============================================================================
 /// This is the variadic version of the SpecializedForAspect class which

dart/dynamics/BodyNode.hpp

@@ -70,8 +70,9 @@ class Marker;
 ///
 /// BodyNode inherits Frame, and a parent Frame of a BodyNode is the parent
 /// BodyNode of the BodyNode.
-class BodyNode :
-    public detail::BodyNodeCompositeBase,
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
+class BodyNode
+  : public detail::BodyNodeCompositeBase,
     public virtual BodyNodeSpecializedFor<ShapeNode, EndEffector, Marker>,
     public SkeletonRefCountingBase,
     public TemplatedJacobianNode<BodyNode>
@@ -1221,6 +1222,7 @@ class BodyNode :
   std::shared_ptr<NodeDestructor> mSelfDestructor;
 
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 }  // namespace dynamics
 }  // namespace dart

dart/dynamics/DegreeOfFreedom.hpp

@@ -37,6 +37,7 @@
 #include <memory>
 #include <Eigen/Core>
 
+#include "dart/common/ClassWithVirtualBase.hpp"
 #include "dart/common/Subject.hpp"
 #include "dart/dynamics/SmartPointer.hpp"
 
@@ -49,6 +50,7 @@ class BodyNode;
 
 /// DegreeOfFreedom class is a proxy class for accessing single degrees of
 /// freedom (aka generalized coordinates) of the Skeleton.
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 class DegreeOfFreedom : public virtual common::Subject
 {
 public:
@@ -403,6 +405,7 @@ class DegreeOfFreedom : public virtual common::Subject
   // destructed.
 
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 } // namespace dynamics
 } // namespace dart

dart/dynamics/Entity.hpp

@@ -56,6 +56,7 @@ class Frame;
 /// may have different policies about how/if their reference frame or name
 /// can be changed. Use the Detachable class to create an Entity whose reference
 /// Frame can be changed arbitrarily.
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 class Entity : public virtual common::Subject
 {
 public:
@@ -228,9 +229,11 @@ class Entity : public virtual common::Subject
   /// Whether or not this Entity is a Frame
   bool mAmFrame;
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 /// The Detachable class is a special case of the Entity base class. Detachable
 /// allows the Entity's reference Frame to be changed arbitrarily by the user.
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 class Detachable : public virtual Entity
 {
 public:
@@ -246,6 +249,7 @@ class Detachable : public virtual Entity
   Detachable();
 
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 } // namespace dynamics
 } // namespace dart

dart/dynamics/FixedFrame.hpp

@@ -45,8 +45,9 @@ namespace dynamics {
 /// zero relative acceleration. It does not move within its parent Frame after
 /// its relative transform is set. However, classes that inherit the FixedFrame
 /// class may alter its relative transform or change what its parent Frame is.
-class FixedFrame :
-    public virtual Frame,
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
+class FixedFrame
+  : public virtual Frame,
     public virtual common::VersionCounter,
     public common::EmbedProperties<FixedFrame, detail::FixedFrameProperties>
 {
@@ -95,6 +96,7 @@ class FixedFrame :
   // To get byte-aligned Eigen vectors
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 } // namespace dynamics
 } // namespace dart

dart/dynamics/Frame.hpp

@@ -53,6 +53,7 @@ namespace dynamics {
 /// Entity class is inherited by using virtual inheritence to solve the
 /// so-called "diamond problem". Because of that, the Entity's constructor will
 /// be called directly by the most derived class's constructor.
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 class Frame : public virtual Entity
 {
 public:
@@ -371,6 +372,7 @@ class WorldFrame : public Frame
   // To get byte-aligned Eigen vectors
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 } // namespace dynamics
 } // namespace dart

dart/dynamics/JacobianNode.hpp

@@ -50,6 +50,7 @@ class InverseKinematics;
 /// The JacobianNode class serves as a common interface for BodyNodes and
 /// EndEffectors to both be used as references for IK modules. This is a pure
 /// abstract class.
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 class JacobianNode : public virtual Frame, public Node
 {
 public:
@@ -304,6 +305,7 @@ class JacobianNode : public virtual Frame, public Node
   std::unordered_set<JacobianNode*> mChildJacobianNodes;
 
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 } // namespace dart
 } // namespace dynamics

dart/dynamics/Joint.hpp

@@ -53,6 +53,7 @@ class Skeleton;
 class DegreeOfFreedom;
 
 /// class Joint
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
 class Joint : public virtual common::Subject,
               public virtual common::VersionCounter,
               public common::EmbedProperties<Joint, detail::JointProperties>
@@ -1023,6 +1024,7 @@ class Joint : public virtual common::Subject,
   // To get byte-aligned Eigen vectors
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 }  // namespace dynamics
 }  // namespace dart

dart/dynamics/Node.hpp

@@ -78,9 +78,9 @@ class NodeDestructor final
 ///
 /// In most cases, when creating your own custom Node class, you will also want
 /// to inherit from AccessoryNode using CRTP.
-class Node :
-    public virtual common::Subject,
-    public virtual common::VersionCounter
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
+class Node : public virtual common::Subject,
+             public virtual common::VersionCounter
 {
 public:
 
@@ -226,6 +226,7 @@ class Node :
   /// Index of this Node within its tree
   std::size_t mIndexInTree;
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 //==============================================================================
 /// AccessoryNode provides an interface for Nodes to get their index within the

dart/dynamics/Shape.hpp

@@ -37,6 +37,7 @@
 
 #include <Eigen/Dense>
 
+#include "dart/common/ClassWithVirtualBase.hpp"
 #include "dart/common/Deprecated.hpp"
 #include "dart/common/Signal.hpp"
 #include "dart/common/Subject.hpp"
@@ -47,9 +48,15 @@
 namespace dart {
 namespace dynamics {
 
+<<<<<<< HEAD
 class Shape
     : public virtual common::Subject,
       public virtual common::VersionCounter
+=======
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
+class Shape : public virtual common::Subject,
+              public virtual common::VersionCounter
+>>>>>>> 30ed61d25... Fix Aspect/Composite-relate tests on Windows/MSVC by marking every class with virtual base with appropriate pragmas (#1541)
 {
 public:
 
@@ -219,6 +226,7 @@ class Shape
   common::SlotRegister<VersionChangedSignal> onVersionChanged;
 
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 }  // namespace dynamics
 }  // namespace dart

dart/dynamics/ShapeFrame.hpp

@@ -157,10 +157,10 @@ class DynamicsAspect final :
 };
 
 //==============================================================================
-class ShapeFrame :
-    public virtual common::VersionCounter,
-    public detail::ShapeFrameCompositeBase,
-    public virtual Frame
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
+class ShapeFrame : public virtual common::VersionCounter,
+                   public detail::ShapeFrameCompositeBase,
+                   public virtual Frame
 {
 public:
 
@@ -258,6 +258,7 @@ class ShapeFrame :
       onRelativeTransformUpdated;
 
 };
+DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
 } // namespace dynamics
 } // namespace dart