fix: dairlib dependency fix

Author: Meow404

BUILD.bazel

@@ -2,13 +2,28 @@ LIBC3_COMPONENTS = [
     "//core:core",
     "//multibody:multibody",
     "//systems:systems",
-    "//lcmtypes:lcmt_c3",
 ]
 
 package(default_visibility = ["//visibility:public"])
 
-cc_library(
-    name = "c3_shared_library",
-    deps = LIBC3_COMPONENTS,
-    include_prefix = "c3"
+# Filegroup collecting all headers
+filegroup(
+    name = "c3_headers",
+    srcs = [
+        "//core:headers",
+        "//multibody:headers",
+        "//systems:headers",
+    ],
 )
+
+# Combined target that provides both the shared library and headers
+cc_library(
+    name = "libc3",
+    hdrs = [":c3_headers"],  # Changed from srcs to hdrs for headers
+    deps = LIBC3_COMPONENTS + [
+        "//lcmtypes:lcmt_c3",
+        "@drake//:drake_shared_library",
+    ],
+    include_prefix = "c3",
+    visibility = ["//visibility:public"],
+)

core/BUILD.bazel

@@ -60,6 +60,7 @@ cc_library(
          "//tools:with_gurobi": ["@gurobi//:gurobi_cxx"],
          "//conditions:default": [],
     }),
+    includes = ['.']
 )
 
 cc_library(
@@ -100,4 +101,11 @@ cc_test(
     ],
 )
 
+filegroup(
+    name = "headers",
+    srcs = glob([
+        "*.h",
+    ]),
+    visibility = ["//visibility:public"],
+)
 

multibody/BUILD.bazel

@@ -56,5 +56,12 @@ cc_test(
         ":lcs_factory",
         "@gtest//:main",
     ],
+)
 
+filegroup(
+    name = "headers",
+    srcs = glob([
+        "*.h",
+    ]),
+    visibility = ["//visibility:public"],
 )

systems/BUILD.bazel

@@ -160,6 +160,11 @@ cc_library(
     ],
 )
 
-exports_files(glob(["**/*.h", "**/*.hpp"]),
+filegroup(
+    name = "headers",
+    srcs = glob([
+        "*.h",
+        "**/*.h",
+    ]),
     visibility = ["//visibility:public"],
 )