5 files changed, 134 insertions, 0 deletions
diff --git a/vcpkg/ports/urdfdom/0001_use_math_defines.patch b/vcpkg/ports/urdfdom/0001_use_math_defines.patch
new file mode 100644
index 0000000..5197b56
--- /dev/null
+++ b/vcpkg/ports/urdfdom/0001_use_math_defines.patch
@@ -0,0 +1,15 @@
+diff --git a/urdf_parser/CMakeLists.txt b/urdf_parser/CMakeLists.txt
+index ac7c079..67f175d 100644
+--- a/urdf_parser/CMakeLists.txt
++++ b/urdf_parser/CMakeLists.txt
+@@ -23,6 +23,10 @@ macro(add_urdfdom_library)
+     SOVERSION ${URDF_MAJOR_MINOR_VERSION})
+ endmacro()
+ 
++if(MSVC)
++  add_definitions(-D_USE_MATH_DEFINES)
++endif()
++
+ if(TARGET console_bridge::console_bridge)
+   set(console_bridge_link_libs "console_bridge::console_bridge")
+ else()
diff --git a/vcpkg/ports/urdfdom/0005-fix-config-and-install.patch b/vcpkg/ports/urdfdom/0005-fix-config-and-install.patch
new file mode 100644
index 0000000..902d633
--- /dev/null
+++ b/vcpkg/ports/urdfdom/0005-fix-config-and-install.patch
@@ -0,0 +1,40 @@
+diff --git a/cmake/urdfdom-config.cmake.in b/cmake/urdfdom-config.cmake.in
+index d8eb93d..3e5c42a 100644
+--- a/cmake/urdfdom-config.cmake.in
++++ b/cmake/urdfdom-config.cmake.in
+@@ -3,8 +3,12 @@ if (@PKG_NAME@_CONFIG_INCLUDED)
+ endif()
+ set(@PKG_NAME@_CONFIG_INCLUDED TRUE)
+ 
+-set(@PKG_NAME@_INCLUDE_DIRS "${@PROJECT_NAME@_DIR}/@RELATIVE_PATH_CMAKE_DIR_TO_PREFIX@/@CMAKE_INSTALL_INCLUDEDIR@" "@TinyXML_INCLUDE_DIRS@")
++get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
++get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
++ 
++set(@PKG_NAME@_INCLUDE_DIRS "${_IMPORT_PREFIX}/include" "@TinyXML_INCLUDE_DIRS@")
+ 
++if (0)
+ foreach(lib @PKG_LIBRARIES@)
+   set(onelib "${lib}-NOTFOUND")
+   set(onelibd "${lib}-NOTFOUND")
+@@ -29,10 +33,14 @@ foreach(lib @PKG_LIBRARIES@)
+   endif()
+   list(APPEND @PKG_NAME@_TARGETS @PROJECT_NAME@::${lib})
+ endforeach()
++endif()
++
++include(CMakeFindDependencyMacro)
++find_dependency(console_bridge)
+ 
+ foreach(dep @PKG_DEPENDS@)
+   if(NOT ${dep}_FOUND)
+-    find_package(${dep})
++    find_dependency(${dep})
+   endif()
+   list(APPEND @PKG_NAME@_INCLUDE_DIRS ${${dep}_INCLUDE_DIRS})
+   list(APPEND @PKG_NAME@_LIBRARIES ${${dep}_LIBRARIES})
+@@ -41,3 +49,5 @@ endforeach()
+ foreach(exp @PKG_EXPORTS@)
+   include(${@PROJECT_NAME@_DIR}/${exp}Export.cmake)
+ endforeach()
++
++set(@PKG_NAME@_LIBRARIES urdfdom::urdfdom_model urdfdom::urdfdom_world urdfdom::urdfdom_sensor urdfdom::urdfdom_model_state)
diff --git a/vcpkg/ports/urdfdom/0006-pc_file_for_windows.patch b/vcpkg/ports/urdfdom/0006-pc_file_for_windows.patch
new file mode 100644
index 0000000..83471ee
--- /dev/null
+++ b/vcpkg/ports/urdfdom/0006-pc_file_for_windows.patch
@@ -0,0 +1,17 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -89,11 +89,11 @@
+ # Make the package config file
+-if (NOT MSVC)
++
+   set(PKG_DESC "Unified Robot Description Format")
+   set(PKG_DEPENDS "urdfdom_headers console_bridge") # make the list separated by spaces instead of ;
+   set(PKG_URDF_LIBS "-lurdfdom_sensor -lurdfdom_model_state -lurdfdom_model -lurdfdom_world")
+   set(pkg_conf_file "cmake/pkgconfig/urdfdom.pc")
+   configure_file("${CMAKE_CURRENT_SOURCE_DIR}/${pkg_conf_file}.in" "${CMAKE_BINARY_DIR}/${pkg_conf_file}" @ONLY)
+   install(FILES ${CMAKE_BINARY_DIR}/${pkg_conf_file}
+     DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig/ COMPONENT pkgconfig)
+-endif()
++
+
diff --git a/vcpkg/ports/urdfdom/portfile.cmake b/vcpkg/ports/urdfdom/portfile.cmake
new file mode 100644
index 0000000..fdafe4f
--- /dev/null
+++ b/vcpkg/ports/urdfdom/portfile.cmake
@@ -0,0 +1,41 @@
+vcpkg_check_linkage(ONLY_DYNAMIC_LIBRARY)
+
+vcpkg_from_github(
+    OUT_SOURCE_PATH SOURCE_PATH
+    REPO ros/urdfdom
+    REF ${VERSION}
+    SHA512 6386954bc7883e82d9db7c785ae074b47ca31efb7cc2686101e7813768824bed5b46a774a1296453c39ff76673a9dc77305bb2ac96b86ecf93fab22062ef2258
+    HEAD_REF master
+    PATCHES
+        0001_use_math_defines.patch
+        0005-fix-config-and-install.patch
+        0006-pc_file_for_windows.patch
+)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${SOURCE_PATH}"
+    OPTIONS
+        -DBUILD_TESTING=OFF
+)
+
+vcpkg_cmake_install()
+vcpkg_copy_pdbs()
+
+vcpkg_copy_tools(TOOL_NAMES check_urdf urdf_mem_test urdf_to_graphiz urdf_to_graphviz AUTO_CLEAN)
+
+if(VCPKG_TARGET_IS_WINDOWS)
+    vcpkg_cmake_config_fixup(CONFIG_PATH CMake)
+else()
+    vcpkg_cmake_config_fixup(CONFIG_PATH lib/urdfdom/cmake)
+    # Empty folders
+    file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/lib/urdfdom")
+    file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/lib/urdfdom")
+endif()
+
+if(NOT VCPKG_TARGET_IS_WINDOWS OR VCPKG_TARGET_IS_MINGW)
+    vcpkg_fixup_pkgconfig()
+endif()
+
+file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/debug/include" "${CURRENT_PACKAGES_DIR}/debug/share")
+
+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)
diff --git a/vcpkg/ports/urdfdom/vcpkg.json b/vcpkg/ports/urdfdom/vcpkg.json
new file mode 100644
index 0000000..f9ef20c
--- /dev/null
+++ b/vcpkg/ports/urdfdom/vcpkg.json
@@ -0,0 +1,21 @@
+{
+  "name": "urdfdom",
+  "version": "3.1.1",
+  "description": "Provides core data structures and a simple XML parsers for populating the class data structures from an URDF file.",
+  "homepage": "https://github.com/ros/urdfdom",
+  "license": "BSD-3-Clause",
+  "supports": "!staticcrt",
+  "dependencies": [
+    "console-bridge",
+    "tinyxml",
+    "urdfdom-headers",
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    },
+    {
+      "name": "vcpkg-cmake-config",
+      "host": true
+    }
+  ]
+}