3 files changed, 97 insertions, 0 deletions
diff --git a/vcpkg/ports/idyntree/portfile.cmake b/vcpkg/ports/idyntree/portfile.cmake
new file mode 100644
index 0000000..da86209
--- /dev/null
+++ b/vcpkg/ports/idyntree/portfile.cmake
@@ -0,0 +1,54 @@
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO robotology/idyntree
+    REF "v${VERSION}"
+    SHA512 b0cd7937048f0ad6a6cf66369d558733f352cc33247b111b6fb74a1da4e907de2d572f0b1d1316176fac0b8bc9b3de2fb06f4df118766de90156aaf4c621d1d2
+    HEAD_REF master
+)
+
+vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
+    FEATURES
+        "assimp" IDYNTREE_USES_ASSIMP
+        "irrlicht" IDYNTREE_USES_IRRLICHT
+)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        ${FEATURE_OPTIONS}
+        -DIDYNTREE_USES_IPOPT:BOOL=OFF
+        -DIDYNTREE_USES_OSQPEIGEN:BOOL=OFF
+        -DIDYNTREE_USES_MATLAB:BOOL=OFF
+        -DIDYNTREE_USES_PYTHON:BOOL=OFF
+        -DIDYNTREE_USES_OCTAVE:BOOL=OFF
+        -DIDYNTREE_USES_LUA:BOOL=OFF
+        -DIDYNTREE_USES_YARP:BOOL=OFF
+        -DIDYNTREE_USES_ICUB_MAIN:BOOL=OFF
+        -DIDYNTREE_USES_ALGLIB:BOOL=OFF
+        -DIDYNTREE_USES_WORHP:BOOL=OFF
+)
+
+vcpkg_cmake_install()
+vcpkg_cmake_config_fixup(
+    PACKAGE_NAME iDynTree
+    CONFIG_PATH lib/cmake/iDynTree)
+vcpkg_copy_pdbs()
+
+set(TOOL_NAMES_LIST idyntree-model-info)
+if ("assimp" IN_LIST FEATURES)
+    list(APPEND TOOL_NAMES_LIST idyntree-model-simplify-shapes)
+endif()
+if ("irrlicht" IN_LIST FEATURES)
+    list(APPEND TOOL_NAMES_LIST idyntree-model-view)
+endif()
+vcpkg_copy_tools(
+    TOOL_NAMES ${TOOL_NAMES_LIST}
+    AUTO_CLEAN
+)
+
+file(REMOVE_RECURSE
+    "${CURRENT_PACKAGES_DIR}/debug/include"
+)
+
+vcpkg_install_copyright(FILE_LIST "${SOURCE_PATH}/LICENSE")
+file(INSTALL "${CMAKE_CURRENT_LIST_DIR}/usage" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}")
diff --git a/vcpkg/ports/idyntree/usage b/vcpkg/ports/idyntree/usage
new file mode 100644
index 0000000..402e64f
--- /dev/null
+++ b/vcpkg/ports/idyntree/usage
@@ -0,0 +1,4 @@
+The package idyntree provides CMake targets:
+
+    find_package(iDynTree CONFIG REQUIRED)
+    target_link_libraries(main PRIVATE iDynTree::idyntree-core iDynTree::idyntree-model iDynTree::idyntree-modelio iDynTree::idyntree-modelio iDynTree::idyntree-high-level iDynTree::idyntree-estimation)
diff --git a/vcpkg/ports/idyntree/vcpkg.json b/vcpkg/ports/idyntree/vcpkg.json
new file mode 100644
index 0000000..bd5c2d6
--- /dev/null
+++ b/vcpkg/ports/idyntree/vcpkg.json
@@ -0,0 +1,39 @@
+{
+  "name": "idyntree",
+  "version": "14.0.0",
+  "description": "Multibody Dynamics Library designed for Free Floating Robots.",
+  "homepage": "https://github.com/robotology/idyntree",
+  "license": "BSD-3-Clause",
+  "supports": "!xbox",
+  "dependencies": [
+    "eigen3",
+    "libxml2",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ],
+  "default-features": [
+    "assimp"
+  ],
+  "features": {
+    "assimp": {
+      "description": "Add support for loading meshes",
+      "dependencies": [
+        "assimp"
+      ]
+    },
+    "irrlicht": {
+      "description": "Add support for irrlicht-based visualizer",
+      "supports": "!windows & !osx",
+      "dependencies": [
+        "glfw3",
+        "irrlicht"
+      ]
+    }
+  }
+}