Address reviews

Signed-off-by: Silvio Traversaro <[email protected]>

CMakeLists.txt

@@ -37,9 +37,9 @@ message(STATUS "\n\n-- ====== Finding Dependencies ======")
 
 #--------------------------------------
 # Find gz-common
-gz_find_package(gz-common5 REQUIRED
+gz_find_package(gz-common5
   COMPONENTS geospatial graphics profiler
-  )
+  REQUIRED_BY heightmap mesh dartsim tpe tpelib bullet)
 set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
 
 #--------------------------------------

src/CMakeLists.txt

@@ -12,7 +12,6 @@ set_property(
 
 target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
   PUBLIC
-    gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
     gz-math${GZ_MATH_VER}::gz-math${GZ_MATH_VER}
     gz-utils${GZ_UTILS_VER}::gz-utils${GZ_UTILS_VER}
     gz-plugin${GZ_PLUGIN_VER}::register

src/InstallationDirectories.cc

@@ -15,20 +15,135 @@
  *
 */
 
+#include <regex>
+
 #include <gz/physics/config.hh>
 #include <gz/physics/InstallationDirectories.hh>
 
-#include <gz/common/Filesystem.hh>
-
 namespace gz
 {
 namespace physics
 {
 inline namespace GZ_PHYSICS_VERSION_NAMESPACE {
 
+// We locally import the gz::common::joinPaths function
+// See https://github.com/gazebosim/gz-physics/pull/507#discussion_r1186919267
+// for more details
+
+// Function imported from
+// https://github.com/gazebosim/gz-common/blob/ignition-common4_4.6.2/src/FilesystemBoost.cc#L507
+#ifndef WIN32
+static const char preferred_separator = '/';
+#else  // Windows
+static const char preferred_separator = '\\';
+#endif
+const std::string separator(const std::string &_p)
+{
+  return _p + preferred_separator;
+}
+
+// Function imported from
+// https://github.com/gazebosim/gz-common/blob/ignition-common4_4.6.2/src/Filesystem.cc#L227
+std::string checkWindowsPath(const std::string _path)
+{
+  if (_path.empty())
+    return _path;
+
+  // Check if this is a http or https, if so change backslashes generated by
+  // jointPaths to '/'
+  if ((_path.size() > 7 && 0 == _path.compare(0, 7, "http://")) ||
+      (_path.size() > 8 && 0 == _path.compare(0, 8, "https://")))
+  {
+    return std::regex_replace(_path, std::regex(R"(\\)"), "/");
+  }
+
+  // This is a Windows path, convert all '/' into backslashes
+  std::string result = std::regex_replace(_path, std::regex(R"(/)"), "\\");
+  std::string drive_letters;
+
+  // only Windows contains absolute paths starting with drive letters
+  if (result.length() > 3 && 0 == result.compare(1, 2, ":\\"))
+  {
+    drive_letters = result.substr(0, 3);
+    result = result.substr(3);
+  }
+  result = drive_letters + std::regex_replace(
+    result, std::regex("[<>:\"|?*]"), "");
+  return result;
+}
+
+// Function imported from
+// https://github.com/gazebosim/gz-common/blob/ignition-common4_4.6.2/src/Filesystem.cc#L256
+std::string joinPaths(const std::string &_path1,
+                      const std::string &_path2)
+{
+
+  /// This function is used to avoid duplicated path separators at the
+  /// beginning/end of the string, and between the two paths being joined.
+  /// \param[in] _path This is the string to sanitize.
+  /// \param[in] _stripLeading True if the leading separator should be
+  /// removed.
+  auto sanitizeSlashes = [](const std::string &_path,
+                            bool _stripLeading = false)
+  {
+    // Shortcut
+    if (_path.empty())
+      return _path;
+
+    std::string result = _path;
+
+    // Use the appropriate character for each platform.
+#ifndef _WIN32
+    char replacement = '/';
+#else
+    char replacement = '\\';
+#endif
+
+    // Sanitize the start of the path.
+    size_t index = 0;
+    size_t leadingIndex = _stripLeading ? 0 : 1;
+    for (; index < result.length() && result[index] == replacement; ++index)
+    {
+    }
+    if (index > leadingIndex)
+      result.erase(leadingIndex, index-leadingIndex);
+
+    // Sanitize the end of the path.
+    index = result.length()-1;
+    for (; index <  result.length() && result[index] == replacement; --index)
+    {
+    }
+    index += 1;
+    if (index < result.length()-1)
+        result.erase(index+1);
+    return result;
+  };
+
+  std::string path;
+#ifndef _WIN32
+  path = sanitizeSlashes(sanitizeSlashes(separator(_path1)) +
+      sanitizeSlashes(_path2, true));
+#else  // _WIN32
+  std::string path1 = sanitizeSlashes(checkWindowsPath(_path1));
+  std::string path2 = sanitizeSlashes(checkWindowsPath(_path2), true);
+  std::vector<CHAR> combined(path1.length() + path2.length() + 2);
+  if (::PathCombineA(combined.data(), path1.c_str(), path2.c_str()) != NULL)
+  {
+    path = sanitizeSlashes(checkWindowsPath(std::string(combined.data())));
+  }
+  else
+  {
+    path = sanitizeSlashes(checkWindowsPath(separator(path1) + path2));
+  }
+#endif  // _WIN32
+  return path;
+}
+
+
 std::string getEngineInstallDir()
 {
-  return gz::common::joinPaths(getInstallPrefix(), GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR);
+  return gz::physics::joinPaths(
+      getInstallPrefix(), GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR);
 }
 
 }