class Dartsim < Formula
  desc "Dynamic Animation and Robotics Toolkit"
  homepage "https://dartsim.github.io/"
  url "https://github.com/dartsim/dart/archive/v6.9.2.tar.gz"
  sha256 "7d46d23c04d74d3b78331f9fa7deb5ab32fd4b0c03b93548cd84a2d67771d816"
  revision 2

  bottle do
    sha256 "1280e9a05942de27ab47f14e17ce4eacbe0fb3de30e6cb5f1e5e39e083a19ddc" => :catalina
    sha256 "cd5a445789d10b562e8afde5ea6edd4dd1b2967ed3a214d8e7c5cb5a210965b7" => :mojave
    sha256 "b2a464c6093bddcff2906fa5d05fbd48971fed7d3f0727a40666cf227fc27e6d" => :high_sierra
  end

  depends_on "cmake" => :build
  depends_on "pkg-config" => :build
  depends_on "assimp"
  depends_on "boost"
  depends_on "bullet"
  depends_on "eigen"
  depends_on "fcl"
  depends_on "flann"
  depends_on "ipopt"
  depends_on "libccd"
  depends_on "nlopt"
  depends_on "ode"
  depends_on "open-scene-graph"
  depends_on "tinyxml2"
  depends_on "urdfdom"

  def install
    ENV.cxx11

    # Force to link to system GLUT (see: https://cmake.org/Bug/view.php?id=16045)
    system "cmake", ".", "-DGLUT_glut_LIBRARY=/System/Library/Frameworks/GLUT.framework",
                         *std_cmake_args
    system "make", "install"
  end

  test do
    (testpath/"test.cpp").write <<~EOS
      #include <dart/dart.hpp>
      int main() {
        auto world = std::make_shared<dart::simulation::World>();
        assert(world != nullptr);
        return 0;
      }
    EOS
    system ENV.cxx, "test.cpp", "-I#{Formula["eigen"].include}/eigen3",
                    "-I#{include}", "-L#{lib}", "-ldart",
                    "-L#{Formula["assimp"].opt_lib}", "-lassimp",
                    "-L#{Formula["boost"].opt_lib}", "-lboost_system",
                    "-std=c++14", "-o", "test"
    system "./test"
  end
end