From 0662b429b1dbb4c5efa7748b379f7e40e248d4cf Mon Sep 17 00:00:00 2001
From: Jeongseok Lee <jslee02@gmail.com>
Date: Fri, 15 Mar 2024 09:36:23 -0700
Subject: [PATCH] w

---
 cmake/dart_v7_defs.cmake     | 23 ++++++++++++++++++++++-
 dart/v7/CMakeLists.txt       |  1 +
 pixi.toml                    |  2 ++
 python/dartpy/CMakeLists.txt |  9 ++++++---
 4 files changed, 31 insertions(+), 4 deletions(-)

diff --git a/cmake/dart_v7_defs.cmake b/cmake/dart_v7_defs.cmake
index 1cdbc6757e205..ab6ac15f2f0a1 100644
--- a/cmake/dart_v7_defs.cmake
+++ b/cmake/dart_v7_defs.cmake
@@ -38,12 +38,21 @@ function(dart_library)
   set(multiValueArgs
     HEADERS
     SOURCES
+    PUBLIC_LINK_LIBRARIES
+    PRIVATE_LINK_LIBRARIES
   )
   cmake_parse_arguments(
     "${prefix}" "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}
   )
 
-  add_library(${_ARG_NAME} ${_ARG_HEADERS} ${_ARG_SOURCES})
+  # Get the current directory relative to the root of the project
+  # assuming that dart/* is the root of the source tree
+  string(REPLACE "${CMAKE_SOURCE_DIR}/" "" relative_path ${CMAKE_CURRENT_SOURCE_DIR}) 
+
+  add_library(${_ARG_NAME}
+    ${_ARG_HEADERS}
+    ${_ARG_SOURCES}
+  )
 
   target_include_directories(${_ARG_NAME} PUBLIC
     $<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}>
@@ -52,12 +61,24 @@ function(dart_library)
 
   target_compile_features(${_ARG_NAME} PUBLIC cxx_std_17)
 
+  target_link_libraries(${_ARG_NAME}
+    PUBLIC
+      ${_ARG_PUBLIC_LINK_LIBRARIES}
+    PRIVATE
+      ${_ARG_PRIVATE_LINK_LIBRARIES}
+  )
+
   set_target_properties(${_ARG_NAME} PROPERTIES
     OUTPUT_NAME dart-${_ARG_NAME}
   )
 
   include(GNUInstallDirs)
 
+  install(
+    FILES ${_ARG_HEADERS}
+    DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${relative_path}/
+  )
+
   install(
     TARGETS ${_ARG_NAME}
     EXPORT ${_ARG_NAME}Targets
diff --git a/dart/v7/CMakeLists.txt b/dart/v7/CMakeLists.txt
index e13d8b8a1b0db..8313a8f5934fd 100644
--- a/dart/v7/CMakeLists.txt
+++ b/dart/v7/CMakeLists.txt
@@ -32,5 +32,6 @@ include(dart_v7_defs)
 
 dart_library(
   NAME v7
+  HEADERS empty.hpp
   SOURCES empty.cpp
 )
diff --git a/pixi.toml b/pixi.toml
index 6c926a1a0935f..01ca675cdaaba 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -9,6 +9,8 @@ platforms = ["linux-64", "osx-64", "osx-arm64", "win-64"]
 [tasks]
 clean = "rm -rf build"
 build-v7 = { cmd= "cmake --build build --target v7 --parallel", depends_on = ["configure"] }
+configure_local = { cmd= "cmake -G Ninja -S . -B build -DDART_VERBOSE=ON -DDART_BUILD_V7=ON -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX" }
+install_local = { cmd= "cmake --install build --prefix $CONDA_PREFIX", depends_on = ["configure_local", "build"] }
 
 [dependencies]
 assimp = ">=5.3.1,<5.4"
diff --git a/python/dartpy/CMakeLists.txt b/python/dartpy/CMakeLists.txt
index b6dbb23a09405..350b49df23042 100644
--- a/python/dartpy/CMakeLists.txt
+++ b/python/dartpy/CMakeLists.txt
@@ -91,10 +91,13 @@ if(BUILD_SHARED_LIBS)
     "Install the shared libraries to be able to import ${pybind_module}."
   )
 endif()
+
 # Install the pybind module to site-packages directory
-install(TARGETS ${pybind_module}
-  LIBRARY DESTINATION "${PYTHON_SITE_PACKAGES}"
-)
+if(TARGET ${pybind_module})
+  install(TARGETS ${pybind_module}
+    LIBRARY DESTINATION "${PYTHON_SITE_PACKAGES}"
+  )
+endif()
 
 list(REMOVE_ITEM dartpy_headers
   ${CMAKE_CURRENT_LIST_DIR}/eigen_geometry_pybind.h