From 62397c873657bfa326a45f4ec0d1c9acd76f6054 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Wed, 15 Oct 2025 20:01:50 +0200
Subject: [PATCH] mim-solvers: fix for crocoddyl 3.1.0

---
 .../mi/mim-solvers/fix-croco-310.patch        | 52 +++++++++++++++++++
 pkgs/by-name/mi/mim-solvers/package.nix       |  3 ++
 2 files changed, 55 insertions(+)
 create mode 100644 pkgs/by-name/mi/mim-solvers/fix-croco-310.patch

diff --git a/pkgs/by-name/mi/mim-solvers/fix-croco-310.patch b/pkgs/by-name/mi/mim-solvers/fix-croco-310.patch
new file mode 100644
index 000000000000..d6e39d068b7d
--- /dev/null
+++ b/pkgs/by-name/mi/mim-solvers/fix-croco-310.patch
@@ -0,0 +1,52 @@
+From 1cb7fe38e3ec43117c646cae521eb8347145965a Mon Sep 17 00:00:00 2001
+From: Guilhem Saurel <guilhem.saurel@laas.fr>
+Date: Tue, 14 Oct 2025 19:37:16 +0200
+Subject: [PATCH] fix for crocoddyl v3.1.0 explicit template instanciation
+
+ref. https://github.com/loco-3d/crocoddyl/pull/1367
+
+Yes, that was a breaking change
+---
+ tests/factory/point-mass.hpp | 22 ++++++++++++++++++++++
+ 1 file changed, 22 insertions(+)
+
+diff --git a/tests/factory/point-mass.hpp b/tests/factory/point-mass.hpp
+index e82c977..c2e93af 100644
+--- a/tests/factory/point-mass.hpp
++++ b/tests/factory/point-mass.hpp
+@@ -60,6 +60,17 @@ class DAMPointMass1D : public crocoddyl::DifferentialActionModelAbstract {
+   // Destructor
+   virtual ~DAMPointMass1D();
+ 
++  // Explicit template instanciation
++  std::shared_ptr<crocoddyl::DifferentialActionModelBase> cloneAsDouble()
++      const override {
++    return std::make_shared<DAMPointMass1D>(*this);
++  }
++
++  std::shared_ptr<crocoddyl::DifferentialActionModelBase> cloneAsFloat()
++      const override {
++    return std::make_shared<DAMPointMass1D>(*this);
++  }
++
+   // Cost & dynamics
+   void calc(const std::shared_ptr<DifferentialActionDataAbstract>& data,
+             const Eigen::Ref<const VectorXd>& x,
+@@ -135,6 +146,17 @@ class DAMPointMass2D : public crocoddyl::DifferentialActionModelAbstract {
+   // Destructor
+   virtual ~DAMPointMass2D();
+ 
++  // Explicit template instanciation
++  std::shared_ptr<crocoddyl::DifferentialActionModelBase> cloneAsDouble()
++      const override {
++    return std::make_shared<DAMPointMass2D>(*this);
++  }
++
++  std::shared_ptr<crocoddyl::DifferentialActionModelBase> cloneAsFloat()
++      const override {
++    return std::make_shared<DAMPointMass2D>(*this);
++  }
++
+   // Cost & dynamics
+   void calc(const std::shared_ptr<DifferentialActionDataAbstract>& data,
+             const Eigen::Ref<const VectorXd>& x,
diff --git a/pkgs/by-name/mi/mim-solvers/package.nix b/pkgs/by-name/mi/mim-solvers/package.nix
index 216d7376640a..44483056d44a 100644
--- a/pkgs/by-name/mi/mim-solvers/package.nix
+++ b/pkgs/by-name/mi/mim-solvers/package.nix
@@ -30,6 +30,9 @@ stdenv.mkDerivation (finalAttrs: {
       url = "https://github.com/machines-in-motion/mim_solvers/commit/796eecf05dd9165dd0795aa562ead17de4f19633.patch";
       hash = "sha256-/OiMzyDVEbpC/Dr/HcguwAdhmbQNxnIRsHAVkX68xqA=";
     })
+    # Fix for crocoddyl 3.1.0
+    # ref. https://github.com/machines-in-motion/mim_solvers/pull/72
+    ./fix-croco-310.patch
   ];
 
   nativeBuildInputs = [