4 files changed, 105 insertions, 0 deletions
diff --git a/vcpkg/scripts/test_ports/vcpkg-ci-dartsim/portfile.cmake b/vcpkg/scripts/test_ports/vcpkg-ci-dartsim/portfile.cmake
new file mode 100644
index 0000000..dd25706
--- /dev/null
+++ b/vcpkg/scripts/test_ports/vcpkg-ci-dartsim/portfile.cmake
@@ -0,0 +1,10 @@
+set(VCPKG_POLICY_EMPTY_PACKAGE enabled)
+
+vcpkg_find_acquire_program(PKGCONFIG)
+
+vcpkg_cmake_configure(
+    SOURCE_PATH "${CURRENT_PORT_DIR}/project"
+    OPTIONS
+        "-DPKG_CONFIG_EXECUTABLE=${PKGCONFIG}"
+)
+vcpkg_cmake_build()
diff --git a/vcpkg/scripts/test_ports/vcpkg-ci-dartsim/project/CMakeLists.txt b/vcpkg/scripts/test_ports/vcpkg-ci-dartsim/project/CMakeLists.txt
new file mode 100644
index 0000000..253dd11
--- /dev/null
+++ b/vcpkg/scripts/test_ports/vcpkg-ci-dartsim/project/CMakeLists.txt
@@ -0,0 +1,35 @@
+cmake_minimum_required(VERSION 3.30)
+project(dartsim-test CXX)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED TRUE)
+
+# https://github.com/dartsim/dart/issues/753#issuecomment-264694898
+# https://github.com/dartsim/dart/pull/956/files
+if(MSVC)
+    add_compile_options("/permissive-")
+endif()
+
+block(SCOPE_FOR VARIABLES)
+    find_package(DART CONFIG REQUIRED)
+    add_library(target::dart ALIAS dart)
+
+    add_executable(main-dart main.cpp)
+    target_link_libraries(main-dart PRIVATE target::dart)
+
+    # check link libs from all components
+    file(GLOB components RELATIVE "${DART_DIR}" "${DART_DIR}/dart_*Component.cmake")
+    list(TRANSFORM components REPLACE "^dart_(.*)Component.cmake\$" "\\1")
+    find_package(DART CONFIG COMPONENTS ${components})
+
+    add_executable(main-all main.cpp)
+    target_link_libraries(main-all PRIVATE ${DART_LIBRARIES})
+endblock()
+
+block(SCOPE_FOR VARIABLES)
+    find_package(PkgConfig REQUIRED)
+    pkg_check_modules(dartsim_pc dart REQUIRED IMPORTED_TARGET)
+
+    add_executable(main-pkconfig main.cpp)
+    target_link_libraries(main-pkconfig PRIVATE PkgConfig::dartsim_pc)
+endblock()
diff --git a/vcpkg/scripts/test_ports/vcpkg-ci-dartsim/project/main.cpp b/vcpkg/scripts/test_ports/vcpkg-ci-dartsim/project/main.cpp
new file mode 100644
index 0000000..61bbe04
--- /dev/null
+++ b/vcpkg/scripts/test_ports/vcpkg-ci-dartsim/project/main.cpp
@@ -0,0 +1,6 @@
+#include <dart/dart.hpp>
+
+int main()
+{
+    dart::simulation::WorldPtr world(new dart::simulation::World);
+}
diff --git a/vcpkg/scripts/test_ports/vcpkg-ci-dartsim/vcpkg.json b/vcpkg/scripts/test_ports/vcpkg-ci-dartsim/vcpkg.json
new file mode 100644
index 0000000..8579597
--- /dev/null
+++ b/vcpkg/scripts/test_ports/vcpkg-ci-dartsim/vcpkg.json
@@ -0,0 +1,54 @@
+{
+  "name": "vcpkg-ci-dartsim",
+  "version-string": "ci",
+  "description": "Validates dartsim within CI",
+  "homepage": "https://github.com/microsoft/vcpkg",
+  "license": "MIT",
+  "dependencies": [
+    {
+      "name": "dartsim",
+      "default-features": false
+    },
+    {
+      "name": "vcpkg-cmake",
+      "host": true
+    }
+  ],
+  "default-features": [
+    "all"
+  ],
+  "features": {
+    "all": {
+      "description": "Test all features",
+      "dependencies": [
+        {
+          "name": "dartsim",
+          "default-features": false,
+          "features": [
+            "collision-bullet",
+            "collision-ode",
+            "spdlog",
+            "utils"
+          ]
+        },
+        {
+          "name": "dartsim",
+          "default-features": false,
+          "features": [
+            "utils-urdf"
+          ],
+          "platform": "!staticcrt"
+        },
+        {
+          "name": "dartsim",
+          "default-features": false,
+          "features": [
+            "gui",
+            "gui-osg"
+          ],
+          "platform": "!arm & !android"
+        }
+      ]
+    }
+  }
+}