w7

dart/constraint/BalanceConstraint.hpp

@@ -42,8 +42,8 @@ namespace constraint {
 /// into a HierarchicalIK module. Adding this constraint to the Problem of a
 /// HierarchicalIK will allow the IK solver to constrain the Skeleton so that it
 /// satisfies a support polygon style balancing constraint.
-class BalanceConstraint : public optimizer::Function,
-                          public dynamics::HierarchicalIK::Function
+class DART_API BalanceConstraint : public optimizer::Function,
+                                   public dynamics::HierarchicalIK::Function
 {
 public:
   /// The ErrorMethod_t determines whether the error should be computed based on

dart/constraint/BallJointConstraint.hpp

@@ -44,7 +44,7 @@ namespace constraint {
 
 /// BallJointConstraint represents ball joint constraint between a body and the
 /// world or between two bodies
-class BallJointConstraint : public DynamicJointConstraint
+class DART_API BallJointConstraint : public DynamicJointConstraint
 {
 public:
   /// Constructor that takes one body and the joint position in the world frame

dart/constraint/BoxedLcpConstraintSolver.hpp

@@ -39,7 +39,7 @@
 namespace dart {
 namespace constraint {
 
-class BoxedLcpConstraintSolver : public ConstraintSolver
+class DART_API BoxedLcpConstraintSolver : public ConstraintSolver
 {
 public:
   /// Constructor

dart/constraint/BoxedLcpSolver.hpp

@@ -44,7 +44,7 @@
 namespace dart {
 namespace constraint {
 
-class BoxedLcpSolver : public common::Castable<BoxedLcpSolver>
+class DART_API BoxedLcpSolver : public common::Castable<BoxedLcpSolver>
 {
 public:
   /// Destructor

dart/constraint/ConstrainedGroup.hpp

@@ -57,7 +57,7 @@ class ConstraintSolver;
 /// ConstrainedGroup is a group of skeletons that interact each other with
 /// constraints
 /// \sa class ConstraintSolver
-class ConstrainedGroup
+class DART_API ConstrainedGroup
 {
 public:
   //----------------------------------------------------------------------------

dart/constraint/ConstraintBase.hpp

@@ -71,7 +71,7 @@ struct ConstraintInfo
 };
 
 /// Constraint is a base class of concrete constraints classes
-class ConstraintBase
+class DART_API ConstraintBase
 {
 public:
   /// Returns a string representing the constraint type

dart/constraint/ConstraintSolver.hpp

@@ -55,7 +55,7 @@ class ShapeNodeCollisionObject;
 namespace constraint {
 
 /// ConstraintSolver manages constraints and computes constraint impulses
-class ConstraintSolver
+class DART_API ConstraintSolver
 {
 public:
   /// Constructor

dart/constraint/ContactConstraint.hpp

@@ -50,7 +50,7 @@ class Skeleton;
 namespace constraint {
 
 /// ContactConstraint represents a contact constraint between two bodies
-class ContactConstraint : public ConstraintBase
+class DART_API ContactConstraint : public ConstraintBase
 {
 public:
   /// Constructor

dart/constraint/DantzigBoxedLcpSolver.hpp

@@ -38,7 +38,7 @@
 namespace dart {
 namespace constraint {
 
-class DantzigBoxedLcpSolver : public BoxedLcpSolver
+class DART_API DantzigBoxedLcpSolver : public BoxedLcpSolver
 {
 public:
   // Documentation inherited.

dart/constraint/DantzigLCPSolver.hpp

@@ -47,7 +47,7 @@ namespace constraint {
 ///
 /// DantzigLCPSolver is a LCP solver that uses ODE's implementation of Dantzig
 /// algorithm
-class DantzigLCPSolver : public LCPSolver
+class DART_API DantzigLCPSolver : public LCPSolver
 {
 public:
   /// Constructor

dart/constraint/DynamicJointConstraint.hpp

@@ -45,7 +45,7 @@ namespace constraint {
 
 /// Base class for joint constraints that are being created or destructed during
 /// simulation.
-class DynamicJointConstraint : public ConstraintBase
+class DART_API DynamicJointConstraint : public ConstraintBase
 {
 public:
   /// Contructor

dart/constraint/JointConstraint.hpp

@@ -50,7 +50,7 @@ namespace constraint {
 
 /// JointConstraint handles multiple constraints that are defined in the joint
 /// space, such as joint position/velocity limits and servo motor.
-class JointConstraint : public ConstraintBase
+class DART_API JointConstraint : public ConstraintBase
 {
 public:
   /// Constructor

dart/constraint/JointCoulombFrictionConstraint.hpp

@@ -45,7 +45,7 @@ class Joint;
 namespace constraint {
 
 /// Joint Coulomb friction constraint
-class JointCoulombFrictionConstraint : public ConstraintBase
+class DART_API JointCoulombFrictionConstraint : public ConstraintBase
 {
 public:
   /// Constructor

dart/constraint/JointLimitConstraint.hpp

@@ -47,7 +47,7 @@ class Joint;
 namespace constraint {
 
 /// JointLimitConstraint handles joint position and velocity limits
-class JointLimitConstraint : public ConstraintBase
+class DART_API JointLimitConstraint : public ConstraintBase
 {
 public:
   /// Constructor

dart/constraint/LCPSolver.hpp

@@ -41,7 +41,7 @@ class ConstrainedGroup;
 /// \deprecated This header has been deprecated in DART 6.7.
 ///
 /// LCPSolver
-class LCPSolver
+class DART_API LCPSolver
 {
 public:
   /// Solve constriant impulses for a constrained group

dart/constraint/MimicMotorConstraint.hpp

@@ -49,7 +49,7 @@ class Joint;
 namespace constraint {
 
 /// Servo motor constraint
-class MimicMotorConstraint : public ConstraintBase
+class DART_API MimicMotorConstraint : public ConstraintBase
 {
 public:
   /// Constructor that creates a MimicMotorConstraint using the given

dart/constraint/PGSLCPSolver.hpp

@@ -46,7 +46,7 @@ namespace constraint {
 /// PgsBoxedLcpSolver.hpp instead.
 ///
 /// PGSLCPSolver
-class PGSLCPSolver : public LCPSolver
+class DART_API PGSLCPSolver : public LCPSolver
 {
 public:
   /// Constructor

dart/constraint/PgsBoxedLcpSolver.hpp

@@ -41,7 +41,7 @@ namespace dart {
 namespace constraint {
 
 /// Implementation of projected Gauss-Seidel (PGS) LCP solver.
-class PgsBoxedLcpSolver : public BoxedLcpSolver
+class DART_API PgsBoxedLcpSolver : public BoxedLcpSolver
 {
 public:
   struct Option

dart/constraint/ServoMotorConstraint.hpp

@@ -45,7 +45,7 @@ class Joint;
 namespace constraint {
 
 /// Servo motor constraint
-class ServoMotorConstraint : public ConstraintBase
+class DART_API ServoMotorConstraint : public ConstraintBase
 {
 public:
   /// Constructor

dart/constraint/SoftContactConstraint.hpp

@@ -55,7 +55,7 @@ class Skeleton;
 namespace constraint {
 
 /// SoftContactConstraint represents a contact constraint between two bodies
-class SoftContactConstraint : public ConstraintBase
+class DART_API SoftContactConstraint : public ConstraintBase
 {
 public:
   /// Constructor

dart/constraint/WeldJointConstraint.hpp

@@ -44,7 +44,7 @@ namespace constraint {
 
 /// WeldJointConstraint represents weld joint constraint between a body and the
 /// world or between two bodies
-class WeldJointConstraint : public DynamicJointConstraint
+class DART_API WeldJointConstraint : public DynamicJointConstraint
 {
 public:
   /// Constructor that takes one body