[ompl,omplapp] update to v1.7.0 (#45701)

2026-01-18 01:11:23 +01:00 · 2025-05-28 17:00:47 +09:00
parent c23913dea5
commit 893dc15d9b
17 changed files with 179 additions and 197 deletions
--- a/ports/ompl/0001-disable-pkgconfig.patch
+++ b/ports/ompl/0001-disable-pkgconfig.patch
--- a/ports/ompl/0001_Export_targets.patch
+++ b/ports/ompl/0001_Export_targets.patch
@@ -1,20 +0,0 @@
-diff --git a/src/ompl/CMakeLists.txt b/src/ompl/CMakeLists.txt
-index 8e19b30..df38912 100644
--- a/src/ompl/CMakeLists.txt
-+++ b/src/ompl/CMakeLists.txt
-@@ -84,9 +84,15 @@ else (MSVC)
- endif (MSVC)
- 
- # install the library
-+target_include_directories(ompl PUBLIC $<INSTALL_INTERFACE:include>)
- install(TARGETS ompl
-+    EXPORT ompl
-     DESTINATION ${CMAKE_INSTALL_LIBDIR}
-     COMPONENT ompl)
-+install(EXPORT ompl
-+    DESTINATION "share/ompl"
-+    FILE ompl-targets.cmake
-+)
- if (NOT MSVC)
-     add_custom_command(TARGET ompl POST_BUILD
-         COMMAND "${CMAKE_COMMAND}" -E copy "$<TARGET_FILE:ompl>"
--- a/ports/ompl/0002_Fix_config.patch
+++ b/ports/ompl/0002_Fix_config.patch
@@ -1,54 +0,0 @@
-diff --git a/omplConfig.cmake.in b/omplConfig.cmake.in
-index 2d88251..c987fdc 100644
--- a/omplConfig.cmake.in
-+++ b/omplConfig.cmake.in
-@@ -18,8 +18,16 @@ set(OMPL_MAJOR_VERSION @PROJECT_VERSION_MAJOR@)
- set(OMPL_MINOR_VERSION @PROJECT_VERSION_MINOR@)
- set(OMPL_PATCH_VERSION @PROJECT_VERSION_PATCH@)
- 
-+include(CMakeFindDependencyMacro)
-+find_dependency(Boost COMPONENTS @ALL_BOOST_COMPONENTS@)
-+find_dependency(Eigen3)
-+include("${CMAKE_CURRENT_LIST_DIR}/omplapp-dependencies.cmake" OPTIONAL)
-+
-+include("${CMAKE_CURRENT_LIST_DIR}/ompl-targets.cmake")
-+include("${CMAKE_CURRENT_LIST_DIR}/omplapp-targets.cmake" OPTIONAL)
-+
- set_and_check(OMPL_INCLUDE_DIR "@PACKAGE_INCLUDE_INSTALL_DIR@")
-set(OMPL_INCLUDE_DIRS "${OMPL_INCLUDE_DIR};@Boost_INCLUDE_DIR@;@EIGEN3_INCLUDE_DIR@")
-+set(OMPL_INCLUDE_DIRS "${OMPL_INCLUDE_DIR};${Boost_INCLUDE_DIRS};${EIGEN3_INCLUDE_DIRS}")
- foreach(_dir @FLANN_INCLUDE_DIRS@;@ODE_INCLUDE_DIRS@;@SPOT_INCLUDE_DIRS@;@TRIANGLE_INCLUDE_DIR@;@FCL_INCLUDE_DIRS@;@PQP_INCLUDE_DIR@;@ASSIMP_INCLUDE_DIRS@;@OPENGL_INCLUDE_DIR@)
-     if(_dir)
-         list(APPEND OMPL_INCLUDE_DIRS "${_dir}")
-@@ -29,7 +37,7 @@ list(REMOVE_DUPLICATES OMPL_INCLUDE_DIRS)
- set(OMPL_INCLUDE_DIRS "${OMPL_INCLUDE_DIRS}" CACHE STRING "Include path for OMPL and its dependencies")
- 
- set_and_check(OMPL_LIBRARY_DIR @PACKAGE_LIB_INSTALL_DIR@)
-set(OMPL_LIBRARY_DIRS "${OMPL_LIBRARY_DIR};@Boost_LIBRARY_DIRS@")
-+set(OMPL_LIBRARY_DIRS "${OMPL_LIBRARY_DIR};${Boost_LIBRARY_DIRS}")
- foreach(_dir @FLANN_LIBRARY_DIRS@;@ODE_LIBRARY_DIRS@;@SPOT_LIBRARY_DIRS@;@FCL_LIBRARY_DIRS@;@ASSIMP_LIBRARY_DIRS@)
-     if(_dir)
-         list(APPEND OMPL_LIBRARY_DIRS "${_dir}")
-@@ -40,7 +48,7 @@ set(OMPL_LIBRARY_DIRS "${OMPL_LIBRARY_DIRS}" CACHE STRING "Library path for OMPL
- 
- find_library(OMPL_LIBRARIES NAMES ompl.${OMPL_VERSION} ompl
-     PATHS ${OMPL_LIBRARY_DIR} NO_DEFAULT_PATH)
-foreach(_lib @Boost_SERIALIZATION_LIBRARY@;@Boost_FILESYSTEM_LIBRARY@;@Boost_SYSTEM_LIBRARY@;@ODE_LIBRARIES@;@SPOT_LIBRARIES@)
-+foreach(_lib ${Boost_SERIALIZATION_LIBRARY};${Boost_FILESYSTEM_LIBRARY};${Boost_SYSTEM_LIBRARY};@ODE_LIBRARIES@;@SPOT_LIBRARIES@)
-     if(_lib)
-         list(APPEND OMPL_LIBRARIES "${_lib}")
-     endif()
-diff --git a/src/ompl/CMakeLists.txt b/src/ompl/CMakeLists.txt
-index df38912..5166568 100644
--- a/src/ompl/CMakeLists.txt
-+++ b/src/ompl/CMakeLists.txt
-@@ -60,6 +60,9 @@ target_link_libraries(ompl
-     ${Boost_FILESYSTEM_LIBRARY}
-     ${Boost_SYSTEM_LIBRARY}
-     ${CMAKE_THREAD_LIBS_INIT})
-+set(ALL_BOOST_COMPONENTS "serialization filesystem system" CACHE INTERNAL
-+    "Components for Boost link libs as used above this line"
-+)
- 
- if (OMPL_EXTENSION_ODE)
-     if (NOT CMAKE_VERSION VERSION_LESS 3.13)
--- a/ports/ompl/0004_include_chrono.patch
+++ b/ports/ompl/0004_include_chrono.patch
@@ -1,12 +0,0 @@
-diff --git a/src/ompl/util/src/RandomNumbers.cpp b/src/ompl/util/src/RandomNumbers.cpp
-index fe30070..048b42d 100644
--- a/src/ompl/util/src/RandomNumbers.cpp
-+++ b/src/ompl/util/src/RandomNumbers.cpp
-@@ -37,6 +37,7 @@
- #include "ompl/util/RandomNumbers.h"
- #include "ompl/util/Exception.h"
- #include "ompl/util/Console.h"
-+#include <chrono>
- #include <mutex>
- #include <memory>
- #include <boost/math/constants/constants.hpp>
--- a/ports/ompl/portfile.cmake
+++ b/ports/ompl/portfile.cmake
@@ -1,6 +1,6 @@
 vcpkg_buildpath_length_warning(37)

-# See https://github.com/ompl/ompl/blob/1.6.0/src/ompl/CMakeLists.txt#L52-L56
+# See https://github.com/ompl/ompl/blob/1.7.0/src/ompl/CMakeLists.txt#L37-L41
 if (VCPKG_TARGET_IS_WINDOWS AND NOT VCPKG_TARGET_IS_MINGW)
    vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
 else()
@@ -11,20 +11,18 @@ vcpkg_from_github(
    OUT_SOURCE_PATH SOURCE_PATH
    REPO ompl/ompl
    REF "${VERSION}"
-    SHA512 d1024d7cc8e309a1df94a950be67eefae1e66abaccd6b6b8980939559aee3d73c05c838ab24c818b6b57ce6c4b3181fde7595d3d1dd36d6cd0c6d125338084ac
+    SHA512 359d0cb8d1a1735d608c8e10bbb233d80fdcc7ec0314a0b7bcb6b611592d0c6ebdb9dcd4aaf8da2369754cf50cc38347d2634305bc430abc07d7b981360990cf
    HEAD_REF main
    PATCHES
-        0001_Export_targets.patch
-        0002_Fix_config.patch
-        0003_disable-pkgconfig.patch
-        0004_include_chrono.patch # https://github.com/ompl/ompl/pull/1201
+        0001-disable-pkgconfig.patch
 )
+
+# Remove internal find module files
 file(GLOB find_modules "${SOURCE_PATH}/CMakeModules/Find*.cmake")
-file(REMOVE_RECURSE "${SOURCE_PATH}/src/external" ${find_modules})
-# The ompl/omplapp ports don't support python features.
+file(REMOVE_RECURSE ${find_modules})
+# Copy fake script. The ompl/omplapp ports don't support python features.
 file(COPY "${CURRENT_PORT_DIR}/FindPython.cmake" DESTINATION "${SOURCE_PATH}/CMakeModules")

-set(ENV{PYTHON_EXEC} "PYTHON_EXEC-NOTFOUND")
 vcpkg_cmake_configure(
    SOURCE_PATH "${SOURCE_PATH}"
    DISABLE_PARALLEL_CONFIGURE
@@ -36,12 +34,9 @@ vcpkg_cmake_configure(
        -DOMPL_BUILD_PYBINDINGS=OFF
        -DOMPL_BUILD_PYTESTS=OFF
        -DR_EXEC=R_EXEC-NOTFOUND
-        -DCMAKE_POLICY_DEFAULT_CMP0167=OLD
        -DCMAKE_DISABLE_FIND_PACKAGE_castxml=ON
        -DCMAKE_DISABLE_FIND_PACKAGE_Doxygen=ON
        -DCMAKE_DISABLE_FIND_PACKAGE_flann=ON
-        -DCMAKE_DISABLE_FIND_PACKAGE_MORSE=ON
-        -DCMAKE_DISABLE_FIND_PACKAGE_ODE=ON
        -DCMAKE_DISABLE_FIND_PACKAGE_spot=ON
        -DCMAKE_DISABLE_FIND_PACKAGE_Triangle=ON
 )
@@ -57,7 +52,7 @@ file(REMOVE_RECURSE
    "${CURRENT_PACKAGES_DIR}/share/ompl/demos"
 )

-# Used by port omplapp
+# Install CMake modules (used by port omplapp)
 file(GLOB cmake_modules "${SOURCE_PATH}/CMakeModules/*.cmake")
 file(COPY ${cmake_modules} DESTINATION "${CURRENT_PACKAGES_DIR}/share/ompl/CMakeModules")

--- a/ports/ompl/vcpkg.json
+++ b/ports/ompl/vcpkg.json
@@ -1,30 +1,17 @@
 {
  "name": "ompl",
-  "version": "1.6.0",
-  "port-version": 4,
+  "version": "1.7.0",
  "description": "The Open Motion Planning Library, consists of many state-of-the-art sampling-based motion planning algorithms",
  "homepage": "https://ompl.kavrakilab.org/",
  "supports": "!(static & staticcrt) | (windows & !mingw)",
  "dependencies": [
-    "boost-algorithm",
-    "boost-assert",
-    "boost-concept-check",
-    "boost-config",
-    "boost-container-hash",
-    "boost-dynamic-bitset",
    "boost-filesystem",
-    "boost-foreach",
    "boost-graph",
    "boost-math",
    "boost-odeint",
    "boost-program-options",
-    "boost-property-map",
-    "boost-range",
    "boost-serialization",
-    "boost-smart-ptr",
    "boost-system",
-    "boost-thread",
-    "boost-type-traits",
    "eigen3",
    {
      "name": "vcpkg-cmake",
--- a/ports/omplapp/0001-use-external-libs.patch
+++ b/ports/omplapp/0001-use-external-libs.patch
@@ -0,0 +1,147 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index edca49a..0dd0f51 100644
+--- a/CMakeLists.txt
+++ b/CMakeLists.txt
+@@ -21,7 +21,9 @@ endif()
+ 
+ message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
+ 
+-set(_ompl_cmake_modules_path "${CMAKE_CURRENT_SOURCE_DIR}/ompl/CMakeModules")
+find_package(ompl CONFIG REQUIRED)
+
+set(_ompl_cmake_modules_path "${ompl_DIR}/CMakeModules")
+ if(NOT EXISTS "${_ompl_cmake_modules_path}")
+     message(FATAL_ERROR "Missing ${_ompl_cmake_modules_path}. Did you check out the submodules (\"git submodule update --init --recursive\"?")
+ endif()
+@@ -49,7 +51,6 @@ set(OMPL_CMAKE_UTIL_DIR "${CMAKE_CURRENT_SOURCE_DIR}/ompl/CMakeModules"
+ 
+ if(MSVC)
+     add_definitions(-DBOOST_ALL_NO_LIB)
+-    add_definitions(-DBOOST_PROGRAM_OPTIONS_DYN_LINK)
+ endif(MSVC)
+ # Ensure dynamic linking with boost unit_test_framework
+ add_definitions(-DBOOST_TEST_DYN_LINK)
+@@ -157,12 +158,7 @@ find_package(Doxygen)
+ enable_testing()
+ 
+ include_directories(SYSTEM "${Boost_INCLUDE_DIR}")
+-include_directories(
+-    "${OMPLAPP_INCLUDE_DIRS}"
+-    "${OMPL_INCLUDE_DIRS}"
+-    "${EIGEN3_INCLUDE_DIR}"
+-    "${FCL_INCLUDE_DIRS}"
+-    "${ASSIMP_INCLUDE_DIRS}")
+include_directories("${OMPLAPP_INCLUDE_DIRS}")
+ 
+ # ROS installs fcl in /usr. In /usr/include/fcl/config.h it says octomap was
+ # enabled. Octomap is installed in /opt/ros/${ROS_DISTRO}/include (most
+@@ -174,13 +170,19 @@ endif()
+ 
+ set(OMPLAPP_MODULE_LIBRARIES
+     ${OPENGL_LIBRARIES}
+-    ${ASSIMP_LIBRARY}
+-    ${FCL_LIBRARIES})
+    ccd
+    ompl::ompl
+    Eigen3::Eigen
+    assimp::assimp
+    fcl)
+ set(OMPLAPP_LIBRARIES
+     ${OPENGL_LIBRARIES}
+-    ${ASSIMP_LIBRARIES}
+-    ${FCL_LIBRARIES})
+-link_directories(${ASSIMP_LIBRARY_DIRS} ${CCD_LIBRARY_DIRS} ${OCTOMAP_LIBRARY_DIRS} ${FCL_LIBRARY_DIRS})
+    ccd
+    ompl::ompl
+    Eigen3::Eigen
+    assimp::assimp
+    fcl)
+link_directories(${OCTOMAP_LIBRARY_DIRS})
+ 
+ if (OPENGL_INCLUDE_DIR)
+     include_directories("${OPENGL_INCLUDE_DIR}")
+@@ -221,18 +223,15 @@ if(PQP_FOUND)
+     set(OMPLAPP_LIBRARIES ${OMPLAPP_LIBRARIES} ${PQP_LIBRARY})
+ endif()
+ 
+-add_subdirectory(ompl/doc)
+-add_subdirectory(ompl/src)
+-add_subdirectory(ompl/py-bindings)
+-add_subdirectory(ompl/tests)
+-add_subdirectory(ompl/demos)
+-add_subdirectory(ompl/scripts)
+ add_subdirectory(gui)
+ add_subdirectory(doc)
+ add_subdirectory(src)
+ add_subdirectory(demos)
+ add_subdirectory(benchmark)
+-add_subdirectory(py-bindings)
+
+if(OMPL_BUILD_PYBINDINGS)
+    add_subdirectory(py-bindings)
+endif()
+ 
+ install(DIRECTORY resources
+     DESTINATION "${CMAKE_INSTALL_DATAROOTDIR}/ompl"
+@@ -259,6 +258,8 @@ if(OMPL_BUILD_PYBINDINGS)
+     endif()
+ endif()
+ 
+return()
+
+ if(OPENGL_FOUND AND NOT MSVC)
+     target_link_flags(ompl ompl_app_base ompl_app)
+     set(PKG_NAME "ompl")
+diff --git a/benchmark/CMakeLists.txt b/benchmark/CMakeLists.txt
+index 7da2b7f..d7397c4 100644
+--- a/benchmark/CMakeLists.txt
+++ b/benchmark/CMakeLists.txt
+@@ -1,6 +1,6 @@
+ add_executable(ompl_benchmark
+     CFGBenchmark.cpp BenchmarkOptions.cpp BenchmarkTypes.cpp benchmark.cpp)
+-target_link_libraries(ompl_benchmark ${OMPLAPP_LIBRARIES} ompl ompl_app_base ${Boost_PROGRAM_OPTIONS_LIBRARY})
+target_link_libraries(ompl_benchmark ${OMPLAPP_LIBRARIES} ompl_app_base ${Boost_PROGRAM_OPTIONS_LIBRARY})
+ install(TARGETS ompl_benchmark
+     RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
+     COMPONENT omplapp
+diff --git a/demos/CMakeLists.txt b/demos/CMakeLists.txt
+index 9c50d41..750aaee 100644
+--- a/demos/CMakeLists.txt
+++ b/demos/CMakeLists.txt
+@@ -1,5 +1,5 @@
+ if (OMPL_BUILD_DEMOS)
+-    set(OMPLAPP_DEMO_LIBRARIES ${OMPLAPP_LIBRARIES} ompl ompl_app_base)
+    set(OMPLAPP_DEMO_LIBRARIES ${OMPLAPP_LIBRARIES} ompl_app_base)
+ 
+     macro(add_omplapp_demo demo_name)
+       add_executable(${ARGV})
+diff --git a/src/omplapp/CMakeLists.txt b/src/omplapp/CMakeLists.txt
+index 2d0c8e5..d95567f 100644
+--- a/src/omplapp/CMakeLists.txt
+++ b/src/omplapp/CMakeLists.txt
+@@ -23,7 +23,7 @@ foreach(_target ${OMPLAPP_TARGETS})
+         add_library(${_target} SHARED ${${_target}_SRC})
+     endif(MSVC)
+ 
+-    target_link_libraries(${_target} ompl ${OMPLAPP_LIBRARIES})
+    target_link_libraries(${_target} ${OMPLAPP_LIBRARIES})
+     if(_target STREQUAL ompl_app)
+         target_compile_definitions(ompl_app PRIVATE -DGL_SILENCE_DEPRECATION)
+         target_link_libraries(ompl_app ompl_app_base)
+@@ -39,6 +39,7 @@ foreach(_target ${OMPLAPP_TARGETS})
+     endif(WIN32)
+ 
+     install(TARGETS ${_target}
+        EXPORT omplapp
+         DESTINATION ${CMAKE_INSTALL_LIBDIR}
+         COMPONENT omplapp)
+     if(NOT MSVC)
+@@ -54,3 +55,8 @@ configure_file("${CMAKE_CURRENT_SOURCE_DIR}/config.h.in"
+ install(FILES "${CMAKE_CURRENT_BINARY_DIR}/config.h"
+     DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/omplapp"
+     COMPONENT omplapp)
+
+install(EXPORT omplapp
+    FILE omplapp-targets.cmake
+    DESTINATION "share/ompl"
+)
--- a/ports/omplapp/boost-program-options.diff
+++ b/ports/omplapp/boost-program-options.diff
@@ -1,12 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 34bf0b4..b49b47f 100644
--- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -38,7 +38,6 @@ set(OMPL_CMAKE_UTIL_DIR "${CMAKE_CURRENT_SOURCE_DIR}/ompl/CMakeModules"
- 
- if(MSVC)
-     add_definitions(-DBOOST_ALL_NO_LIB)
-    add_definitions(-DBOOST_PROGRAM_OPTIONS_DYN_LINK)
- endif(MSVC)
- # Ensure dynamic linking with boost unit_test_framework
- add_definitions(-DBOOST_TEST_DYN_LINK)
--- a/ports/omplapp/export-targets.diff
+++ b/ports/omplapp/export-targets.diff
@@ -1,21 +0,0 @@
-diff --git a/src/omplapp/CMakeLists.txt b/src/omplapp/CMakeLists.txt
-index 2d0c8e5..9cd902f 100644
--- a/src/omplapp/CMakeLists.txt
-+++ b/src/omplapp/CMakeLists.txt
-@@ -39,6 +39,7 @@ foreach(_target ${OMPLAPP_TARGETS})
-     endif(WIN32)
- 
-     install(TARGETS ${_target}
-+        EXPORT omplapp
-         DESTINATION ${CMAKE_INSTALL_LIBDIR}
-         COMPONENT omplapp)
-     if(NOT MSVC)
-@@ -54,3 +55,8 @@ configure_file("${CMAKE_CURRENT_SOURCE_DIR}/config.h.in"
- install(FILES "${CMAKE_CURRENT_BINARY_DIR}/config.h"
-     DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/omplapp"
-     COMPONENT omplapp)
-+
-+install(EXPORT omplapp
-+    FILE omplapp-targets.cmake
-+    DESTINATION "share/ompl"
-+)
--- a/ports/omplapp/omplapp-dependencies.cmake
+++ b/ports/omplapp/omplapp-dependencies.cmake
@@ -1,3 +0,0 @@
-include(CMakeFindDependencyMacro)
-find_dependency(assimp)
-find_dependency(fcl)
--- a/ports/omplapp/portfile.cmake
+++ b/ports/omplapp/portfile.cmake
@@ -1,6 +1,6 @@
 vcpkg_buildpath_length_warning(37)

-# See https://github.com/ompl/omplapp/blob/1.6.0/src/omplapp/CMakeLists.txt#L20-L24
+# See https://github.com/ompl/omplapp/blob/1.7.0/src/omplapp/CMakeLists.txt#L20-L24
 if (VCPKG_TARGET_IS_WINDOWS AND NOT VCPKG_TARGET_IS_MINGW)
    vcpkg_check_linkage(ONLY_STATIC_LIBRARY)
 else()
@@ -11,23 +11,21 @@ vcpkg_from_github(
    OUT_SOURCE_PATH SOURCE_PATH
    REPO ompl/omplapp
    REF "${VERSION}"
-    SHA512 4dfc8d5ab9d23bc8d383e15e7a9b98cc08c40553ac97728c2bd767fe935fff448ad296db261943fdf56355680bd553464f57d0b691049fec2a3ea3c863473465
+    SHA512 cb68791c39b6b2aceb4204c72b7678f2f0d895f0ae2500803f93dab0918f85c322d62c28693c60b50c6b7bc0fb4c448a33e3951c608a68befe21227c1c68a7ec
    HEAD_REF main
    PATCHES
-        reuse-ompl.diff
-        export-targets.diff
-        boost-program-options.diff
+        0001-use-external-libs.patch
 )
-file(GLOB find_modules "${SOURCE_PATH}/CMakeModules/Find*.cmake")
-file(REMOVE_RECURSE "${SOURCE_PATH}/src/external" ${find_modules})

-file(COPY "${CURRENT_INSTALLED_DIR}/share/ompl/CMakeModules" DESTINATION "${SOURCE_PATH}/ompl")
+# Remove internal find module files
+file(GLOB find_modules "${SOURCE_PATH}/CMakeModules/Find*.cmake")
+file(REMOVE_RECURSE ${find_modules})

 vcpkg_check_features(OUT_FEATURE_OPTIONS FEATURE_OPTIONS
    FEATURES
-        opengl  CMAKE_REQUIRE_FIND_PACKAGE_OpenGL
+        opengl CMAKE_REQUIRE_FIND_PACKAGE_OpenGL
    INVERTED_FEATURES
-        opengl  CMAKE_DISABLE_FIND_PACKAGE_OpenGL
+        opengl CMAKE_DISABLE_FIND_PACKAGE_OpenGL
 )

 vcpkg_cmake_configure(
@@ -38,12 +36,8 @@ vcpkg_cmake_configure(
        -DOMPL_VERSIONED_INSTALL=OFF
        -DOMPL_BUILD_DEMOS=OFF
        -DOMPL_BUILD_PYBINDINGS=OFF
-        -DCMAKE_POLICY_DEFAULT_CMP0167=OLD
        -DCMAKE_DISABLE_FIND_PACKAGE_Doxygen=ON
-        -DCMAKE_DISABLE_FIND_PACKAGE_Drawstuff=ON
        -DCMAKE_DISABLE_FIND_PACKAGE_flann=ON
-        -DCMAKE_DISABLE_FIND_PACKAGE_MORSE=ON
-        -DCMAKE_DISABLE_FIND_PACKAGE_ODE=ON
        -DCMAKE_DISABLE_FIND_PACKAGE_PQP=ON
        -DCMAKE_DISABLE_FIND_PACKAGE_spot=ON
        -DCMAKE_DISABLE_FIND_PACKAGE_Triangle=ON
@@ -53,7 +47,6 @@ vcpkg_cmake_install()

 # Extending the ompl CMake package
 vcpkg_cmake_config_fixup(PACKAGE_NAME ompl)
-file(COPY "${CURRENT_PORT_DIR}/omplapp-dependencies.cmake" DESTINATION "${CURRENT_PACKAGES_DIR}/share/ompl")

 vcpkg_replace_string("${CURRENT_PACKAGES_DIR}/include/omplapp/config.h" "#define OMPLAPP_RESOURCE_DIR \"${CURRENT_PACKAGES_DIR}/share/ompl/resources\"" "")

--- a/ports/omplapp/reuse-ompl.diff
+++ b/ports/omplapp/reuse-ompl.diff
@@ -1,28 +0,0 @@
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 83a921a..34bf0b4 100644
--- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -249,12 +249,8 @@ if(PQP_FOUND)
-     set(OMPLAPP_LIBRARIES ${OMPLAPP_LIBRARIES} ${PQP_LIBRARY})
- endif()
- 
-add_subdirectory(ompl/doc)
-add_subdirectory(ompl/src)
-add_subdirectory(ompl/py-bindings)
-add_subdirectory(ompl/tests)
-add_subdirectory(ompl/demos)
-add_subdirectory(ompl/scripts)
-+find_package(ompl CONFIG REQUIRED)
-+add_custom_target(clean_bindings)
- add_subdirectory(gui)
- add_subdirectory(doc)
- add_subdirectory(src)
-@@ -287,6 +283,8 @@ if(OMPL_BUILD_PYBINDINGS)
-     endif()
- endif()
- 
-+return()
-+
- if(OPENGL_FOUND AND NOT MSVC)
-     target_link_flags(ompl ompl_app_base ompl_app)
-     set(PKG_NAME "ompl")
--- a/ports/omplapp/vcpkg.json
+++ b/ports/omplapp/vcpkg.json
@@ -1,6 +1,6 @@
 {
  "name": "omplapp",
-  "version": "1.6.0",
+  "version": "1.7.0",
  "description": "Use OMPL for reading meshes and performing collision checking",
  "homepage": "https://ompl.kavrakilab.org/",
  "license": null,
--- a/scripts/ci.feature.baseline.txt
+++ b/scripts/ci.feature.baseline.txt
@@ -1503,7 +1503,6 @@ ompl:arm64-uwp = cascade
 ompl:x64-uwp = cascade
 omplapp:arm64-uwp = cascade
 omplapp:x64-uwp = cascade
-omplapp[ode]:arm64-windows = cascade
 onnx[pybind11]:arm64-windows = cascade
 onnx-optimizer:arm64-uwp = cascade
 onnx-optimizer:x64-uwp = cascade
@@ -2188,6 +2187,7 @@ msdfgen[core,extensions,geometry-preprocessing,openmp,tools](osx) = combination-
 msdfgen[openmp](osx) = feature-fails # No openmp on osx
 mygui[tools](osx) = feature-fails # Linker errors undefined symbols. See https://github.com/microsoft/vcpkg/issues/34416
 nvtt[cuda](x64 & (linux | windows)) = feature-fails  # nvtt getting dated wrt cuda
+omplapp[opengl](android) = feature-fails # Could NOT find OpenGL (missing: OPENGL_opengl_LIBRARY OPENGL_glx_LIBRARY OPENGL_INCLUDE_DIR)
 opencv2[ffmpeg](!windows) = feature-fails # ffmpeg5+ is not supported under opencv2. See https://github.com/microsoft/vcpkg/issues/32151
 opencv2[python](osx) = feature-fails # requires python2
 opencv2[world] = feature-fails # See https://github.com/microsoft/vcpkg/issues/29943
--- a/versions/baseline.json
+++ b/versions/baseline.json
@@ -6805,11 +6805,11 @@
      "port-version": 4
    },
    "ompl": {
-      "baseline": "1.6.0",
-      "port-version": 4
+      "baseline": "1.7.0",
+      "port-version": 0
    },
    "omplapp": {
-      "baseline": "1.6.0",
+      "baseline": "1.7.0",
      "port-version": 0
    },
    "onednn": {
--- a/versions/o-/ompl.json
+++ b/versions/o-/ompl.json
@@ -1,5 +1,10 @@
 {
  "versions": [
+    {
+      "git-tree": "0ef4221fc392558e237e1ee4de68a81e733065ab",
+      "version": "1.7.0",
+      "port-version": 0
+    },
    {
      "git-tree": "8d64cebbb036762361a62f4ab3d46d0cbb23dfa8",
      "version": "1.6.0",
--- a/versions/o-/omplapp.json
+++ b/versions/o-/omplapp.json
@@ -1,5 +1,10 @@
 {
  "versions": [
+    {
+      "git-tree": "07d5ee2885284bcf836e234ec17bca11faccafbb",
+      "version": "1.7.0",
+      "port-version": 0
+    },
    {
      "git-tree": "7bebf3e220c8305814336b577b2a3012cb75728f",
      "version": "1.6.0",