4 files changed, 149 insertions, 0 deletions
diff --git a/libraries/libdart/README b/libraries/libdart/README
new file mode 100644
index 000000000000..b7fec1e19109
--- /dev/null
+++ b/libraries/libdart/README
@@ -0,0 +1,18 @@
+DART (Dynamic Animation and Robotics Toolkit) is a collaborative,
+cross-platform, open source library created by the Graphics Lab and
+Humanoid Robotics Lab at Georgia Institute of Technology with ongoing
+contributions from the Personal Robotics Lab at University of
+Washington and Open Source Robotics Foundation. The library provides
+data structures and algorithms for kinematic and dynamic applications
+in robotics and computer animation.
+
+Optional dependencies
+
+nlopt - NLopt Optimization Support
+Ipopt - IPopt Optimization Support
+bullet - Bullet Collision Detector Support
+flann - DART Planning Module
+tinyxml - DART Parsers: SKEL, URDF, SDF, VSK
+tinyxml2 - DART Parsers: SKEL, URDF, SDF, VSK
+urdfdom - DART Parsers: SKEL, URDF, SDF, VSK
+urdfdom_headers - DART Parsers: SKEL, URDF, SDF, VSK
diff --git a/libraries/libdart/libdart.SlackBuild b/libraries/libdart/libdart.SlackBuild
new file mode 100644
index 000000000000..137081da8cdb
--- /dev/null
+++ b/libraries/libdart/libdart.SlackBuild
@@ -0,0 +1,102 @@
+#!/bin/sh
+
+# Slackware build script for libdart (Dynamic Animation and Robotics Toolkit)
+
+# Copyright 2017 Nikolay Nikolov <nikobnikolov[at]gmail[dot]com>
+# All rights reserved.
+#
+# Redistribution and use of this script, with or without modification, is
+# permitted provided that the following conditions are met:
+#
+# 1. Redistributions of this script must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#
+#  THIS SOFTWARE IS PROVIDED BY THE AUTHOR "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 AUTHOR 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.
+
+PRGNAM=libdart
+SRCNAM=dart
+VERSION=${VERSION:-6.2.0}
+BUILD=${BUILD:-1}
+TAG=${TAG:-_SBo}
+
+if [ -z "$ARCH" ]; then
+  case "$( uname -m )" in
+    i?86) ARCH=i586 ;;
+    arm*) ARCH=arm ;;
+       *) ARCH=$( uname -m ) ;;
+  esac
+fi
+
+CWD=$(pwd)
+TMP=${TMP:-/tmp/SBo}
+PKG=$TMP/package-$PRGNAM
+OUTPUT=${OUTPUT:-/tmp}
+
+if [ "$ARCH" = "i586" ]; then
+  SLKCFLAGS="-O2 -march=i586 -mtune=i686"
+  LIBDIRSUFFIX=""
+elif [ "$ARCH" = "i686" ]; then
+  SLKCFLAGS="-O2 -march=i686 -mtune=i686"
+  LIBDIRSUFFIX=""
+elif [ "$ARCH" = "x86_64" ]; then
+  SLKCFLAGS="-O2 -fPIC"
+  LIBDIRSUFFIX="64"
+else
+  SLKCFLAGS="-O2"
+  LIBDIRSUFFIX=""
+fi
+
+set -e
+
+rm -rf $PKG
+mkdir -p $TMP $PKG $OUTPUT
+cd $TMP
+rm -rf $SRCNAM-$VERSION
+tar xvf $CWD/$SRCNAM-$VERSION.tar.gz
+cd $SRCNAM-$VERSION
+chown -R root:root .
+find -L . \
+ \( -perm 777 -o -perm 775 -o -perm 750 -o -perm 711 -o -perm 555 \
+  -o -perm 511 \) -exec chmod 755 {} \; -o \
+ \( -perm 666 -o -perm 664 -o -perm 640 -o -perm 600 -o -perm 444 \
+  -o -perm 440 -o -perm 400 \) -exec chmod 644 {} \;
+
+sed -i \
+  -e "s:set(LIBRARY_INSTALL_DIR \"lib\"):set(LIBRARY_INSTALL_DIR \"lib${LIBDIRSUFFIX}\"):" \
+  -e "s:DESTINATION lib/pkgconfig:DESTINATION lib${LIBDIRSUFFIX}/pkgconfig:" \
+  CMakeLists.txt
+
+mkdir -p build
+cd build
+  cmake \
+    -DCMAKE_C_FLAGS:STRING="$SLKCFLAGS" \
+    -DCMAKE_CXX_FLAGS:STRING="$SLKCFLAGS" \
+    -DCMAKE_INSTALL_PREFIX=/usr \
+    -DCMAKE_BUILD_TYPE=Release ..
+  make
+  make install DESTDIR=$PKG
+cd ..
+
+find $PKG -print0 | xargs -0 file | grep -e "executable" -e "shared object" | grep ELF \
+  | cut -f 1 -d : | xargs strip --strip-unneeded 2> /dev/null || true
+
+mkdir -p $PKG/usr/doc/$PRGNAM-$VERSION
+cp -a README.md LICENSE $PKG/usr/doc/$PRGNAM-$VERSION
+mv $PKG/usr/share/doc/$SRCNAM/* $PKG/usr/doc/$PRGNAM-$VERSION
+rm -rf $PKG/usr/share/doc
+cat $CWD/$PRGNAM.SlackBuild > $PKG/usr/doc/$PRGNAM-$VERSION/$PRGNAM.SlackBuild
+
+mkdir -p $PKG/install
+cat $CWD/slack-desc > $PKG/install/slack-desc
+
+cd $PKG
+/sbin/makepkg -l y -c n $OUTPUT/$PRGNAM-$VERSION-$ARCH-$BUILD$TAG.${PKGTYPE:-tgz}
diff --git a/libraries/libdart/libdart.info b/libraries/libdart/libdart.info
new file mode 100644
index 000000000000..00cbd5d8139b
--- /dev/null
+++ b/libraries/libdart/libdart.info
@@ -0,0 +1,10 @@
+PRGNAM="libdart"
+VERSION="6.2.0"
+HOMEPAGE="http://dartsim.github.io/"
+DOWNLOAD="https://github.com/dartsim/dart/archive/v6.2.0/dart-6.2.0.tar.gz"
+MD5SUM="952636ef8794fe8f867a81546a864d6b"
+DOWNLOAD_x86_64=""
+MD5SUM_x86_64=""
+REQUIRES="assimp libccd fcl OpenSceneGraph ode"
+MAINTAINER="Nikolay Nikolov"
+EMAIL="nikobnikolov[at]gmail[dot]com"
diff --git a/libraries/libdart/slack-desc b/libraries/libdart/slack-desc
new file mode 100644
index 000000000000..b43014c73359
--- /dev/null
+++ b/libraries/libdart/slack-desc
@@ -0,0 +1,19 @@
+# HOW TO EDIT THIS FILE:
+# The "handy ruler" below makes it easier to edit a package description.
+# Line up the first '|' above the ':' following the base package name, and
+# the '|' on the right side marks the last column you can put a character in.
+# You must make exactly 11 lines for the formatting to be correct.  It's also
+# customary to leave one space after the ':' except on otherwise blank lines.
+
+       |-----handy-ruler------------------------------------------------------|
+libdart: libdart (Dynamic Animation and Robotics Toolkit)
+libdart:
+libdart: DART is a collaborative, cross-platform, open source library created
+libdart: by the Graphics Lab and Humanoid Robotics Lab at Georgia Institute of
+libdart: Technology. The library provides data structures and algorithms for
+libdart: kinematic and dynamic applications in robotics and computer animation.
+libdart:
+libdart: Homepage: http://dartsim.github.io/
+libdart:
+libdart:
+libdart: