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-rw-r--r--pkgs/development/libraries/blst/default.nix4
-rw-r--r--pkgs/development/libraries/bulletml/default.nix27
-rw-r--r--pkgs/development/libraries/catch2/3.nix4
-rw-r--r--pkgs/development/libraries/clipper/default.nix2
-rw-r--r--pkgs/development/libraries/example-robot-data/default.nix4
-rw-r--r--pkgs/development/libraries/freeimage/default.nix7
-rw-r--r--pkgs/development/libraries/frozen/default.nix37
-rw-r--r--pkgs/development/libraries/frozen/meson.build19
-rw-r--r--pkgs/development/libraries/getdns/default.nix10
-rw-r--r--pkgs/development/libraries/libagar/default.nix12
-rw-r--r--pkgs/development/libraries/libagar/libagar_test.nix5
-rw-r--r--pkgs/development/libraries/libagar/srcs.nix10
-rw-r--r--pkgs/development/libraries/libdivsufsort/default.nix12
-rw-r--r--pkgs/development/libraries/minizip/default.nix3
-rw-r--r--pkgs/development/libraries/pinocchio/default.nix35
-rw-r--r--pkgs/development/libraries/qgnomeplatform/default.nix4
-rw-r--r--pkgs/development/libraries/qgnomeplatform/qt6-cursor-fix.patch53
-rw-r--r--pkgs/development/libraries/speechd/default.nix4
18 files changed, 191 insertions, 61 deletions
diff --git a/pkgs/development/libraries/blst/default.nix b/pkgs/development/libraries/blst/default.nix
index 71b2814100efc..ef174d1118a9e 100644
--- a/pkgs/development/libraries/blst/default.nix
+++ b/pkgs/development/libraries/blst/default.nix
@@ -2,13 +2,13 @@
 
 stdenv.mkDerivation ( finalAttrs: {
   pname = "blst";
-  version = "0.3.10";
+  version = "0.3.11";
 
   src = fetchFromGitHub {
     owner = "supranational";
     repo = "blst";
     rev = "v${finalAttrs.version}";
-    hash = "sha256-xero1aTe2v4IhWIJaEDUsVDOfE77dOV5zKeHWntHogY=";
+    hash = "sha256-oqljy+ZXJAXEB/fJtmB8rlAr4UXM+Z2OkDa20gpILNA=";
   };
 
   buildPhase = ''
diff --git a/pkgs/development/libraries/bulletml/default.nix b/pkgs/development/libraries/bulletml/default.nix
index 3da05302ac9ff..8d562b58e24af 100644
--- a/pkgs/development/libraries/bulletml/default.nix
+++ b/pkgs/development/libraries/bulletml/default.nix
@@ -9,22 +9,25 @@ let
     sha256 = hash;
   };
 
-in stdenv.mkDerivation {
+  lib_src = fetchurl {
+    url = "http://shinh.skr.jp/libbulletml/libbulletml-${version}.tar.bz2";
+    sha256 = "0yda0zgj2ydgkmby5676f5iiawabxadzh5p7bmy42998sp9g6dvw";
+  };
+
+  cpp_src = fetchurl {
+    url = "http://shinh.skr.jp/d/d_cpp.tar.bz2";
+    sha256 = "1ly9qmbb8q9nyadmdap1gmxs3vkniqgchlv2hw7riansz4gg1agh";
+  };
+in
+
+stdenv.mkDerivation {
   pname = "bulletml";
   inherit version;
 
-  srcs = [
-    (fetchurl {
-      url = "http://shinh.skr.jp/libbulletml/libbulletml-${version}.tar.bz2";
-      sha256 = "0yda0zgj2ydgkmby5676f5iiawabxadzh5p7bmy42998sp9g6dvw";
-    })
-    (fetchurl {
-      url = "http://shinh.skr.jp/d/d_cpp.tar.bz2";
-      sha256 = "1ly9qmbb8q9nyadmdap1gmxs3vkniqgchlv2hw7riansz4gg1agh";
-    })
-  ];
-  sourceRoot = "bulletml";
+  srcs = [ lib_src cpp_src ];
+
   postUnpack = "mv d_cpp bulletml/";
+  sourceRoot = "bulletml";
 
   patches = [
     (debianPatch "fixes" "0cnr968n0h50fjmjijx7idsa2pg2pv5cwy6nvfbkx9z8w2zf0mkl")
diff --git a/pkgs/development/libraries/catch2/3.nix b/pkgs/development/libraries/catch2/3.nix
index 72dd4552bf974..f064eb7a4fdb5 100644
--- a/pkgs/development/libraries/catch2/3.nix
+++ b/pkgs/development/libraries/catch2/3.nix
@@ -7,13 +7,13 @@
 
 stdenv.mkDerivation rec {
   pname = "catch2";
-  version = "3.3.2";
+  version = "3.4.0";
 
   src = fetchFromGitHub {
     owner = "catchorg";
     repo = "Catch2";
     rev = "v${version}";
-    hash = "sha256-t/4iCrzPeDZNNlgibVqx5rhe+d3lXwm1GmBMDDId0VQ=";
+    hash = "sha256-DqGGfNjKPW9HFJrX9arFHyNYjB61uoL6NabZatTWrr0=";
   };
 
   nativeBuildInputs = [
diff --git a/pkgs/development/libraries/clipper/default.nix b/pkgs/development/libraries/clipper/default.nix
index 9eb34f6b68639..929bf90d9c48a 100644
--- a/pkgs/development/libraries/clipper/default.nix
+++ b/pkgs/development/libraries/clipper/default.nix
@@ -10,8 +10,6 @@ stdenv.mkDerivation rec {
 
   sourceRoot = "cpp";
 
-  buildInputs = [ ];
-
   nativeBuildInputs = [ cmake ninja unzip ];
 
   meta = with lib; {
diff --git a/pkgs/development/libraries/example-robot-data/default.nix b/pkgs/development/libraries/example-robot-data/default.nix
index 201275fb02ef2..d9a107bf6497b 100644
--- a/pkgs/development/libraries/example-robot-data/default.nix
+++ b/pkgs/development/libraries/example-robot-data/default.nix
@@ -33,6 +33,10 @@ stdenv.mkDerivation (finalAttrs: {
   ];
 
   doCheck = true;
+  # The package expect to find an `example-robot-data/robots` folder somewhere
+  # either in install prefix or in the sources
+  # where it can find the meshes for unit tests
+  preCheck = "ln -s source ../../${finalAttrs.pname}";
   pythonImportsCheck = [
     "example_robot_data"
   ];
diff --git a/pkgs/development/libraries/freeimage/default.nix b/pkgs/development/libraries/freeimage/default.nix
index dd5056ced93fb..de1b616fc20a1 100644
--- a/pkgs/development/libraries/freeimage/default.nix
+++ b/pkgs/development/libraries/freeimage/default.nix
@@ -3,7 +3,7 @@
 , libjpeg, jxrlib, pkg-config
 , fixDarwinDylibNames, autoSignDarwinBinariesHook }:
 
-stdenv.mkDerivation {
+stdenv.mkDerivation (finalAttrs: {
   pname = "freeimage";
   version = "unstable-2021-11-01";
 
@@ -12,7 +12,8 @@ stdenv.mkDerivation {
     rev = "1900";
     sha256 = "rWoNlU/BWKZBPzRb1HqU6T0sT7aK6dpqKPe88+o/4sA=";
   };
-  sourceRoot = "svn-r1900/FreeImage/trunk";
+
+  sourceRoot = "${finalAttrs.src.name}/FreeImage/trunk";
 
   # Ensure that the bundled libraries are not used at all
   prePatch = ''
@@ -74,4 +75,4 @@ stdenv.mkDerivation {
     maintainers = with lib.maintainers; [viric l-as];
     platforms = with lib.platforms; unix;
   };
-}
+})
diff --git a/pkgs/development/libraries/frozen/default.nix b/pkgs/development/libraries/frozen/default.nix
new file mode 100644
index 0000000000000..f6e58991a590d
--- /dev/null
+++ b/pkgs/development/libraries/frozen/default.nix
@@ -0,0 +1,37 @@
+{ lib
+, stdenv
+, fetchFromGitHub
+, meson
+, ninja
+}:
+
+stdenv.mkDerivation rec {
+  pname = "frozen";
+  # pin to a newer release if frozen releases again, see cesanta/frozen#72
+  version = "unstable-2021-02-23";
+
+  src = fetchFromGitHub {
+    owner = "cesanta";
+    repo = "frozen";
+    rev = "21f051e3abc2240d9a25b2add6629b38e963e102";
+    hash = "sha256-BpuYK9fbWSpeF8iPT8ImrV3CKKaA5RQ2W0ZQ03TciR0=";
+  };
+
+  nativeBuildInputs = [ meson ninja ];
+
+  # frozen has a simple Makefile and a GN BUILD file as building scripts.
+  # Since it has only two source files, the best course of action to support
+  # cross compilation is to create a small meson.build file.
+  # Relevant upstream issue: https://github.com/cesanta/frozen/pull/71
+  preConfigure = ''
+    cp ${./meson.build} meson.build
+  '';
+
+  meta = {
+    homepage = "https://github.com/cesanta/frozen";
+    description = "Minimal JSON parser for C, targeted for embedded systems";
+    license = lib.licenses.asl20;
+    maintainers = with lib.maintainers; [ thillux ];
+    platforms = lib.platforms.unix;
+  };
+}
diff --git a/pkgs/development/libraries/frozen/meson.build b/pkgs/development/libraries/frozen/meson.build
new file mode 100644
index 0000000000000..1db9546491cea
--- /dev/null
+++ b/pkgs/development/libraries/frozen/meson.build
@@ -0,0 +1,19 @@
+project(
+    'frozen',
+    'c',
+    default_options: [
+        'c_args=-Wextra -fno-builtin -pedantic',
+        'c_std=c99',
+        'werror=true'
+    ],
+    license: 'Apache-2.0',
+    version: '20210223'
+)
+
+library(
+    'frozen',
+    'frozen.c',
+    install: true
+)
+
+install_headers('frozen.h')
diff --git a/pkgs/development/libraries/getdns/default.nix b/pkgs/development/libraries/getdns/default.nix
index 509a9bbbba548..0c6fa4a1e6338 100644
--- a/pkgs/development/libraries/getdns/default.nix
+++ b/pkgs/development/libraries/getdns/default.nix
@@ -16,13 +16,9 @@ in rec {
     outputs = [ "out" "dev" "lib" "man" ];
 
     src = fetchurl {
-      url = "https://getdnsapi.net/releases/${pname}-${
-          with builtins;
-          concatStringsSep "-" (splitVersion version)
-        }/${pname}-${version}.tar.gz";
-      sha256 =
-        # upstream publishes hashes in hex format
-        "f1404ca250f02e37a118aa00cf0ec2cbe11896e060c6d369c6761baea7d55a2c";
+      url = with lib; "https://getdnsapi.net/releases/${pname}-${concatStringsSep "-" (splitVersion version)}/${pname}-${version}.tar.gz";
+      # upstream publishes hashes in hex format
+      sha256 = "f1404ca250f02e37a118aa00cf0ec2cbe11896e060c6d369c6761baea7d55a2c";
     };
 
     nativeBuildInputs = [ cmake doxygen ];
diff --git a/pkgs/development/libraries/libagar/default.nix b/pkgs/development/libraries/libagar/default.nix
index 28d5e481324a1..bff80ab996db6 100644
--- a/pkgs/development/libraries/libagar/default.nix
+++ b/pkgs/development/libraries/libagar/default.nix
@@ -3,10 +3,14 @@
 , libsndfile, portaudio, libmysqlclient, fontconfig
 }:
 
-let srcs = import ./srcs.nix { inherit fetchurl; }; in
-stdenv.mkDerivation {
+stdenv.mkDerivation (finalAttrs: {
   pname = "libagar";
-  inherit (srcs) version src;
+  version = "1.5.0";
+
+  src = fetchurl {
+    url = "http://stable.hypertriton.com/agar/agar-${finalAttrs.version}.tar.gz";
+    sha256 = "001wcqk5z67qg0raw9zlwmv62drxiwqykvsbk10q2mrc6knjsd42";
+  };
 
   preConfigure = ''
     substituteInPlace configure.in \
@@ -40,4 +44,4 @@ stdenv.mkDerivation {
     maintainers = with maintainers; [ ramkromberg ];
     platforms = with platforms; linux;
   };
-}
+})
diff --git a/pkgs/development/libraries/libagar/libagar_test.nix b/pkgs/development/libraries/libagar/libagar_test.nix
index 96574ca118878..c54a7957f436a 100644
--- a/pkgs/development/libraries/libagar/libagar_test.nix
+++ b/pkgs/development/libraries/libagar/libagar_test.nix
@@ -1,11 +1,10 @@
 { lib, stdenv, fetchurl, bsdbuild, libagar, perl, libjpeg, libpng, openssl }:
 
-let srcs = import ./srcs.nix { inherit fetchurl; }; in
 stdenv.mkDerivation {
   pname = "libagar-test";
-  inherit (srcs) version src;
+  inherit (libagar) version src;
 
-  sourceRoot = "agar-1.5.0/tests";
+  sourceRoot = "agar-${libagar.version}/tests";
 
   # Workaround build failure on -fno-common toolchains:
   #   ld: textdlg.o:(.bss+0x0): multiple definition of `someString';
diff --git a/pkgs/development/libraries/libagar/srcs.nix b/pkgs/development/libraries/libagar/srcs.nix
deleted file mode 100644
index 53c6a5b89dadc..0000000000000
--- a/pkgs/development/libraries/libagar/srcs.nix
+++ /dev/null
@@ -1,10 +0,0 @@
-{ fetchurl }:
-rec {
-  version = "1.5.0";
-
-  src = fetchurl {
-    url = "http://stable.hypertriton.com/agar/agar-${version}.tar.gz";
-    sha256 = "001wcqk5z67qg0raw9zlwmv62drxiwqykvsbk10q2mrc6knjsd42";
-  };
-
-}
diff --git a/pkgs/development/libraries/libdivsufsort/default.nix b/pkgs/development/libraries/libdivsufsort/default.nix
index 91b3208266068..f2a2dae5f8165 100644
--- a/pkgs/development/libraries/libdivsufsort/default.nix
+++ b/pkgs/development/libraries/libdivsufsort/default.nix
@@ -1,14 +1,18 @@
-{lib, stdenv, fetchurl}:
+{lib, stdenv, fetchFromGitHub, cmake}:
 
 stdenv.mkDerivation rec {
   pname = "libdivsufsort";
   version = "2.0.1";
 
-  src = fetchurl {
-    url = "https://storage.googleapis.com/google-code-archive-downloads/v2/code.google.com/libdivsufsort/libdivsufsort-${version}.tar.bz2";
-    sha256 = "1g0q40vb2k689bpasa914yi8sjsmih04017mw20zaqqpxa32rh2m";
+  src = fetchFromGitHub {
+    owner = "y-256";
+    repo = pname;
+    rev = "${version}";
+    hash = "sha256-4p+L1bq9SBgWSHXx+WYWAe60V2g1AN+zlJvC+F367Tk=";
   };
 
+  nativeBuildInputs = [ cmake ];
+
   meta = {
     homepage = "https://github.com/y-256/libdivsufsort";
     license = lib.licenses.mit;
diff --git a/pkgs/development/libraries/minizip/default.nix b/pkgs/development/libraries/minizip/default.nix
index 1fb737ed7a758..5619fe7039e6f 100644
--- a/pkgs/development/libraries/minizip/default.nix
+++ b/pkgs/development/libraries/minizip/default.nix
@@ -2,8 +2,7 @@
 
 stdenv.mkDerivation {
   pname = "minizip";
-  version = zlib.version;
-  inherit (zlib) src;
+  inherit (zlib) src version;
 
   nativeBuildInputs = [ autoreconfHook ];
   buildInputs = [ zlib ];
diff --git a/pkgs/development/libraries/pinocchio/default.nix b/pkgs/development/libraries/pinocchio/default.nix
index ad3e3ba1299c6..af7fff14e8f32 100644
--- a/pkgs/development/libraries/pinocchio/default.nix
+++ b/pkgs/development/libraries/pinocchio/default.nix
@@ -4,21 +4,23 @@
 , cmake
 , boost
 , eigen
+, collisionSupport ? !stdenv.isDarwin
+, hpp-fcl
 , urdfdom
 , pythonSupport ? false
 , python3Packages
 }:
 
-stdenv.mkDerivation rec {
+stdenv.mkDerivation (finalAttrs: {
   pname = "pinocchio";
-  version = "2.6.19";
+  version = "2.6.20";
 
   src = fetchFromGitHub {
     owner = "stack-of-tasks";
-    repo = pname;
-    rev = "v${version}";
+    repo = finalAttrs.pname;
+    rev = "v${finalAttrs.version}";
     fetchSubmodules = true;
-    hash = "sha256-P7jSAQ6LYcboJHqtpneT4W8Pu5G3fd3/a8Gju9im1e8=";
+    hash = "sha256-Pu/trCpqdue7sQKDbLhyxTfgj/+xRiVcG7Luz6ZQXtM=";
   };
 
   # error: use of undeclared identifier '__sincos'
@@ -38,20 +40,37 @@ stdenv.mkDerivation rec {
   ] ++ lib.optionals (!pythonSupport) [
     boost
     eigen
+  ] ++ lib.optionals (!pythonSupport && collisionSupport) [
+    hpp-fcl
   ] ++ lib.optionals pythonSupport [
     python3Packages.boost
     python3Packages.eigenpy
+  ] ++ lib.optionals (pythonSupport && collisionSupport) [
+    python3Packages.hpp-fcl
   ];
 
-  cmakeFlags = lib.optionals (!pythonSupport) [
+  cmakeFlags = lib.optionals collisionSupport [
+    "-DBUILD_WITH_COLLISION_SUPPORT=ON"
+  ] ++ lib.optionals pythonSupport [
+    "-DBUILD_WITH_LIBPYTHON=ON"
+  ] ++ lib.optionals (pythonSupport && stdenv.isDarwin) [
+    # AssertionError: '.' != '/tmp/nix-build-pinocchio-2.6.20.drv/sou[84 chars].dae'
+    "-DCMAKE_CTEST_ARGUMENTS='--exclude-regex;test-py-bindings_geometry_model_urdf'"
+  ] ++ lib.optionals (!pythonSupport) [
     "-DBUILD_PYTHON_INTERFACE=OFF"
   ];
 
+  doCheck = true;
+
+  pythonImportsCheck = lib.optionals (!pythonSupport) [
+    "pinocchio"
+  ];
+
   meta = with lib; {
     description = "A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives";
     homepage = "https://github.com/stack-of-tasks/pinocchio";
     license = licenses.bsd2;
-    maintainers = with maintainers; [ wegank ];
+    maintainers = with maintainers; [ nim65s wegank ];
     platforms = platforms.unix;
   };
-}
+})
diff --git a/pkgs/development/libraries/qgnomeplatform/default.nix b/pkgs/development/libraries/qgnomeplatform/default.nix
index b32414f855d0f..8136482d477bc 100644
--- a/pkgs/development/libraries/qgnomeplatform/default.nix
+++ b/pkgs/development/libraries/qgnomeplatform/default.nix
@@ -33,6 +33,10 @@ stdenv.mkDerivation rec {
       src = ./hardcode-gsettings.patch;
       gds_gsettings_path = glib.getSchemaPath gsettings-desktop-schemas;
     })
+
+    # Backport cursor fix for Qt6 apps
+    # Ajusted from https://github.com/FedoraQt/QGnomePlatform/pull/138
+    ./qt6-cursor-fix.patch
   ];
 
   nativeBuildInputs = [
diff --git a/pkgs/development/libraries/qgnomeplatform/qt6-cursor-fix.patch b/pkgs/development/libraries/qgnomeplatform/qt6-cursor-fix.patch
new file mode 100644
index 0000000000000..40438aae33edc
--- /dev/null
+++ b/pkgs/development/libraries/qgnomeplatform/qt6-cursor-fix.patch
@@ -0,0 +1,53 @@
+diff --git a/src/common/gnomesettings.cpp b/src/common/gnomesettings.cpp
+index 961f75d..d947eb2 100644
+--- a/src/common/gnomesettings.cpp
++++ b/src/common/gnomesettings.cpp
+@@ -210,7 +210,7 @@ GnomeSettingsPrivate::GnomeSettingsPrivate(QObject *parent)
+                                               QStringLiteral("SettingChanged"), this, SLOT(portalSettingChanged(QString,QString,QDBusVariant)));
+     }
+ 
+-    if (QGuiApplication::platformName() != QStringLiteral("xcb")) {
++    if (true) {
+         cursorSizeChanged();
+         cursorThemeChanged();
+     }
+@@ -347,11 +347,11 @@ void GnomeSettingsPrivate::gsettingPropertyChanged(GSettings *settings, gchar *k
+     } else if (changedProperty == QStringLiteral("monospace-font-name")) {
+         gnomeSettings->fontChanged();
+     } else if (changedProperty == QStringLiteral("cursor-size")) {
+-        if (QGuiApplication::platformName() != QStringLiteral("xcb")) {
++        if (true) {
+             gnomeSettings->cursorSizeChanged();
+         }
+     } else if (changedProperty == QStringLiteral("cursor-theme")) {
+-        if (QGuiApplication::platformName() != QStringLiteral("xcb")) {
++        if (true) {
+             gnomeSettings->cursorThemeChanged();
+         }
+     // Org.gnome.wm.preferences
+@@ -393,13 +393,23 @@ void GnomeSettingsPrivate::cursorBlinkTimeChanged()
+ void GnomeSettingsPrivate::cursorSizeChanged()
+ {
+     int cursorSize = getSettingsProperty<int>(QStringLiteral("cursor-size"));
+-    qputenv("XCURSOR_SIZE", QString::number(cursorSize).toUtf8());
++    if (QGuiApplication::platformName() != QStringLiteral("xcb")) {
++        qputenv("XCURSOR_SIZE", QString::number(cursorSize).toUtf8());
++    }
++#if QT_VERSION >= QT_VERSION_CHECK(6, 5, 0)
++    m_hints[QPlatformTheme::MouseCursorSize] = QSize(cursorSize, cursorSize);
++#endif
+ }
+ 
+ void GnomeSettingsPrivate::cursorThemeChanged()
+ {
+     const QString cursorTheme = getSettingsProperty<QString>(QStringLiteral("cursor-theme"));
+-    qputenv("XCURSOR_THEME", cursorTheme.toUtf8());
++    if (QGuiApplication::platformName() != QStringLiteral("xcb")) {
++        qputenv("XCURSOR_THEME", cursorTheme.toUtf8());
++    }
++#if QT_VERSION >= QT_VERSION_CHECK(6, 5, 0)
++    m_hints[QPlatformTheme::MouseCursorTheme] = cursorTheme;
++#endif
+ }
+ 
+ void GnomeSettingsPrivate::fontChanged()
diff --git a/pkgs/development/libraries/speechd/default.nix b/pkgs/development/libraries/speechd/default.nix
index 16bc36a781240..9b44c8e46d0cb 100644
--- a/pkgs/development/libraries/speechd/default.nix
+++ b/pkgs/development/libraries/speechd/default.nix
@@ -27,11 +27,11 @@ let
   inherit (python3Packages) python pyxdg wrapPython;
 in stdenv.mkDerivation rec {
   pname = "speech-dispatcher";
-  version = "0.11.4";
+  version = "0.11.5";
 
   src = fetchurl {
     url = "https://github.com/brailcom/speechd/releases/download/${version}/${pname}-${version}.tar.gz";
-    sha256 = "sha256-jAkiG7ctnbXInP17kZdxgyuGw6N3LWRWAWlklO31Zrk=";
+    sha256 = "sha256-HOR1n/q7rxrrQzpewHOb4Gdum9+66URKezvhsq8+wSs=";
   };
 
   patches = [