Use GLVND over legacy OpenGL libraries (#1584)

dartsim · Jun 17, 2021 · 2765390 · 2765390
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,5 +1,11 @@
 ## DART 6
 
+### DART 6.10.2 (TBD)
+
+* GUI
+
+  * Use GLVND over the legacy OpenGL libraries: [#1584](https://github.com/dartsim/dart/pull/1584)
+
 ### [DART 6.10.1 (2021-04-19)](https://github.com/dartsim/dart/milestone/65?closed=1)
 
 * Dynamics

diff --git a/cmake/DARTFindOpenGL.cmake b/cmake/DARTFindOpenGL.cmake
@@ -8,10 +8,9 @@
 
 cmake_policy(PUSH)
 
-# Stick to the legacy GL library until we need GLVND
-# (see: https://cmake.org/cmake/help/git-stage/policy/CMP0072.html)
+# Use GLVND over the legacy OpenGL libraries
 if(POLICY CMP0072)
-  cmake_policy(SET CMP0072 OLD)
+  cmake_policy(SET CMP0072 NEW)
 endif()
 
 # Use OpenGL config if available

diff --git a/package.xml b/package.xml
@@ -4,7 +4,7 @@
        a Catkin workspace. Catkin is not required to build DART. For more
        information, see: http://ros.org/reps/rep-0136.html -->
   <name>dartsim</name>
-  <version>6.10.1</version>
+  <version>6.10.2</version>
   <description>
     DART (Dynamic Animation and Robotics Toolkit) is a collaborative,
     cross-platform, open source library created by the Georgia Tech Graphics