Merge pull request opensim-org#3278 from opensim-org/fix_ipopt_with_casadi

Fix IPOPT library install with only OPENSIM_WITH_CASADI flag

Author: carmichaelong

CHANGELOG.md

@@ -11,6 +11,7 @@ v4.4.1
 
 - Made `Component::getSocketNames` a `const` member method (previously: non-const)
 - Modifed the swig interface files to make OpenSim::PathPointSet adopt new PathPoints inserted into it. (Issue #3276)
+- Fixed an issue with IPOPT libraries when building OpenSim with `OPENSIM_WITH_CASADI = ON` but `OPENSIM_WITH_TROPTER = OFF` (Issue #3267).
 
 v4.4
 ====

CMakeLists.txt

@@ -851,6 +851,32 @@ if(OPENSIM_WITH_CASADI)
     endif()
 endif()
 
+# IPOPT
+# -----
+
+# Avoid using pkg-config on Windows as it's not easy to get
+# on Windows. On UNIX, the pkg-config file for Ipopt provides
+# a flag that we must use.
+if(UNIX)
+    find_package(PkgConfig REQUIRED)
+endif()
+
+if (OPENSIM_WITH_CASADI OR OPENSIM_WITH_TROPTER)
+    if(UNIX)
+        pkg_check_modules(IPOPT REQUIRED ipopt IMPORTED_TARGET)
+    else()
+        find_package(Ipopt REQUIRED CONFIG)
+        set_package_properties(IPOPT PROPERTIES
+                URL https://projects.coin-or.org/Ipopt
+                TYPE REQUIRED
+                PURPOSE "Nonlinear optimization")
+        # Flags to use when building a shared library.
+        # TODO move these flags to a specific target.
+        # TODO set(CMAKE_SHARED_LINKER_FLAGS
+        # TODO        "${CMAKE_SHARED_LINKER_FLAGS} ${IPOPT_LINK_FLAGS}")
+        OpenSimCopyDependencyDLLsForWin(DEP_NAME IPOPT DEP_BIN_DIR "${Ipopt_ROOT_DIR}/bin")
+    endif()
+endif()
 
 # Installing dependencies into OpenSim's installation.
 # ----------------------------------------------------

Vendors/tropter/CMakeLists.txt

@@ -63,13 +63,6 @@ set_package_properties(Eigen3 PROPERTIES
         TYPE REQUIRED
         PURPOSE "Matrix library")
 
-# Avoid using pkg-config on Windows as it's not easy to get
-# on Windows. On UNIX, the pkg-config file for Ipopt provides
-# a flag that we must use.
-if(UNIX)
-    find_package(PkgConfig REQUIRED)
-endif()
-
 # ColPack can now use CMake to be built.
 find_package(ColPack 1.0.10 REQUIRED HINTS "${OPENSIM_DEPENDENCIES_DIR}/colpack")
 set_package_properties(ColPack PROPERTIES
@@ -84,21 +77,6 @@ set_package_properties(ADOLC PROPERTIES
         PURPOSE "Computing derivatives for optimization")
 tropter_copy_dlls(DEP_NAME ADOLC DEP_INSTALL_DIR "${ADOLC_DIR}/bin")
 
-if(UNIX)
-    pkg_check_modules(IPOPT REQUIRED ipopt IMPORTED_TARGET)
-else()
-    find_package(Ipopt REQUIRED CONFIG)
-    set_package_properties(IPOPT PROPERTIES
-            URL https://projects.coin-or.org/Ipopt
-            TYPE REQUIRED
-            PURPOSE "Nonlinear optimization")
-    # Flags to use when building a shared library.
-    # TODO move these flags to a specific target.
-    # TODO set(CMAKE_SHARED_LINKER_FLAGS
-    # TODO        "${CMAKE_SHARED_LINKER_FLAGS} ${IPOPT_LINK_FLAGS}")
-    tropter_copy_dlls(DEP_NAME IPOPT DEP_INSTALL_DIR "${Ipopt_ROOT_DIR}/bin")
-endif()
-
 # OpenMP allows parallelization (of evaluating dynamics and path constraints
 # across tropter points) and is usually a feature of a compiler. It's fine if
 # the compiler does not support OpenMP.

Vendors/tropter/cmake/FindIPOPT.cmake renamed to cmake/FindIPOPT.cmake

@@ -83,7 +83,6 @@
 # Additional support to YCM was received from the FP7 EU project
 # WALK-MAN (http://walk-man.eu/)
 
-
 if(NOT WIN32)
   # On non Windows systems we use PkgConfig to find IPOPT
   find_package(PkgConfig QUIET)