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@ -12,9 +12,11 @@ package("dartsim") |
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add_versions("v6.13.0", "4da3ff8cee056252a558b05625a5ff29b21e71f2995e6d7f789abbf6261895f7") |
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add_versions("v6.14.2", "6bbaf452f8182b97bf22adeab6cc7f3dc1cd2733358543131fa130e07c0860fc") |
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add_patches("6.x", "patches/6.14.5/dartpy.patch", "c8f989317ac8e20259a91e76d28b986b3d4bda01a8e4d0fc13704f6e4f0e144b") |
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add_configs("dartpy", {description = "Build dartpy interface.", default = false, type = "boolean"}) |
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add_configs("gui", {description = "Build GLUT GUI.", default = false, type = "boolean"}) |
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local configdeps = {bullet3 = "Bullet", |
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freeglut = "GLUT", |
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nlopt = "NLOPT", |
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ode = "ODE", |
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openscenegraph = "OpenSceneGraph", |
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@ -32,6 +34,8 @@ package("dartsim") |
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set_policy("package.cmake_generator.ninja", false) |
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end |
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set_policy("platform.longpaths", true) |
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add_deps("cmake") |
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add_deps("assimp", "libccd", "eigen", "fcl", "octomap", "fmt") |
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on_load("windows|x64", "linux", "macosx", function (package) |
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@ -40,24 +44,42 @@ package("dartsim") |
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package:add("deps", config) |
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end |
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end |
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if package:config("gui") or package:config("dartpy") then |
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package:add("deps", "glut") |
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end |
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if package:config("dartpy") then |
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package:add("deps", "tinyxml2") |
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package:add("deps", "urdfdom") |
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package:add("deps", "openscenegraph") |
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package:add("deps", "imgui", {configs = {opengl2 = true}}) |
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package:add("deps", "python 3.x") |
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package:add("deps", "pybind11") |
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end |
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if package:config("openscenegraph") then |
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package:add("deps", "imgui") |
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package:add("deps", "imgui", {configs = {opengl2 = true}}) |
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end |
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end) |
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on_install("windows|x64", "linux", "macosx", function (package) |
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import("detect.tools.find_python3") |
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-- remove after xmake 2.9.7 |
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io.insert("CMakeLists.txt", 1, "set(CMAKE_MODULE_LINKER_FLAGS \"${CMAKE_SHARED_LINKER_FLAGS}\")\n") |
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io.replace("CMakeLists.txt", "/GL", "", {plain = true}) |
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io.replace("CMakeLists.txt", "if(TARGET dart)", "if(FALSE)", {plain = true}) |
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io.replace("CMakeLists.txt", "-D_CRT_SECURE_NO_WARNINGS", "-DWIN32 -D_CRT_SECURE_NO_WARNINGS", {plain = true}) |
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io.replace("CMakeLists.txt", "CMAKE_SHARED_LINKER_FLAGS \"-Wl,--no-undefined\"", "CMAKE_SHARED_LINKER_FLAGS \"${CMAKE_SHARED_LINKER_FLAGS} -Wl,--no-undefined\"", {plain = true}) |
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io.replace("dart/CMakeLists.txt", "/LTCG", "", {plain = true}) |
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io.replace("python/CMakeLists.txt", "add_subdirectory(tests)", "", {plain = true}) |
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io.replace("python/CMakeLists.txt", "add_subdirectory(examples)", "", {plain = true}) |
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io.replace("python/CMakeLists.txt", "add_subdirectory(tutorials)", "", {plain = true}) |
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io.replace("cmake/DARTFindDependencies.cmake", "dart_check_required_package(assimp \"assimp\")", "dart_check_required_package(assimp \"assimp\")\nfind_package(ZLIB)\ntarget_link_libraries(assimp INTERFACE ZLIB::ZLIB)", {plain = true}) |
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io.replace("cmake/DARTFindDependencies.cmake", "dart_check_required_package(fcl \"fcl\")", "dart_check_required_package(fcl \"fcl\")\ntarget_link_libraries(fcl INTERFACE ccd)", {plain = true}) |
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io.replace("cmake/DARTFindDependencies.cmake", "check_cxx_source_compiles%(.-\".-\".-(ASSIMP.-DEFINED)%)", "set(%1 1)") |
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io.replace("cmake/DARTFindOpenSceneGraph.cmake", "osg osgViewer osgManipulator osgGA osgDB osgShadow osgUtil", "osgManipulator osgShadow osgViewer osgGA osgDB osgUtil osg", {plain = true}) |
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io.replace("cmake/DARTFindOpenSceneGraph.cmake", "target_link_libraries(osg::osg", "target_compile_definitions(osg::osg INTERFACE OSG_LIBRARY_STATIC)\ntarget_link_libraries(osg::osg", {plain = true}) |
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local glut_extra = "find_package(GLUT QUIET MODULE)\ntarget_compile_definitions(GLUT::GLUT INTERFACE FREEGLUT_STATIC)" |
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if package:is_plat("linux") then |
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glut_extra = glut_extra .. "\ntarget_link_libraries(GLUT::GLUT INTERFACE Xrandr Xrender Xxf86vm X11)" |
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end |
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io.replace("cmake/DARTFindGLUT.cmake", "find_package(GLUT QUIET MODULE)", glut_extra, {plain = true}) |
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local configs = { |
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"-DDART_USE_SYSTEM_IMGUI=ON", |
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"-DDART_SKIP_lz4=ON", |
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@ -66,22 +88,58 @@ package("dartsim") |
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"-DDART_SKIP_pagmo=ON", |
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"-DDART_SKIP_DOXYGEN=ON", |
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"-DDART_TREAT_WARNINGS_AS_ERRORS=OFF", |
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"-DDART_VERBOSE=ON" |
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} |
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table.insert(configs, "-DCMAKE_BUILD_TYPE=" .. (package:debug() and "Debug" or "Release")) |
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table.insert(configs, "-DBUILD_SHARED_LIBS=" .. (package:config("shared") and "ON" or "OFF")) |
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for config, dep in pairs(configdeps) do |
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table.insert(configs, "-DDART_SKIP_" .. dep .. "=" .. (package:config(config) and "OFF" or "ON")) |
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table.insert(configs, "-DDART_SKIP_" .. dep .. "=" .. (package:dep(config) and "OFF" or "ON")) |
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end |
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if package:is_plat("windows") then |
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table.insert(configs, "-DDART_RUNTIME_LIBRARY=" .. (package:config("vs_runtime"):startswith("MT") and "/MT" or "/MD")) |
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table.insert(configs, "-DDART_RUNTIME_LIBRARY=" .. (package:has_runtime("MT", "MTd") and "/MT" or "/MD")) |
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end |
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table.insert(configs, "-DDART_BUILD_DARTPY=" .. (package:config("dartpy") and "ON" or "OFF")) |
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table.insert(configs, "-DDART_BUILD_GUI_OSG=" .. (package:config("openscenegraph") and "ON" or "OFF")) |
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import("package.tools.cmake").install(package, configs) |
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table.insert(configs, "-DDART_SKIP_GLUT=" .. ((package:config("gui") or package:config("dartpy")) and "OFF" or "ON")) |
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table.insert(configs, "-DDART_BUILD_GUI_OSG=" .. (package:dep("openscenegraph") and "ON" or "OFF")) |
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if package:config("dartpy") then |
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local python = find_python3() |
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local pythondir = path.directory(python) |
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if pythondir and path.is_absolute(pythondir) then |
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table.insert(configs, "-DPython_ROOT_DIR=" .. pythondir) |
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table.insert(configs, "-DPython3_ROOT_DIR=" .. pythondir) |
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end |
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end |
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local deps = {"imgui"} |
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if package:is_plat("linux") then |
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table.insert(deps, "freeglut") |
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end |
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import("package.tools.cmake").install(package, configs, {packagedeps = deps}) |
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local suffix = package:is_debug() and "d" or "" |
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for _, lib in ipairs({"dart-collision-bullet", "dart-collision-ode", "dart-gui-osg", "dart-gui", "dart-optimizer-ipopt", "dart-optimizer-nlopt", "dart-optimizer-pagmo", "dart-utils-urdf", "dart-utils", "dart", "dart-external-odelcpsolver", "dart-external-lodepng"}) do |
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package:add("links", lib .. suffix) |
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end |
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if package:config("dartpy") then |
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os.vrunv("python", {"-m", "pip", "install", "numpy"}) |
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local pythonpath = path.join(package:installdir("lib"), "site-packages") |
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package:addenv("PYTHONPATH", pythonpath) |
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if package:is_plat("windows") then |
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-- after python3.8 dll can not be loaded from PATH |
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for _, lib in ipairs(package:librarydeps()) do |
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if lib:name() ~= "python" then |
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local fetchinfo = lib:fetch() |
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local libfiles = fetchinfo and fetchinfo.libfiles or {} |
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for _, file in ipairs(libfiles) do |
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if file:endswith(".dll") then |
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os.trycp(file, pythonpath) |
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end |
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end |
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end |
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end |
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if package:config("shared") then |
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os.trycp(path.join(package:installdir("bin"), "*.dll"), pythonpath) |
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end |
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end |
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end |
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end) |
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on_test(function (package) |
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@ -91,4 +149,8 @@ package("dartsim") |
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dart::simulation::WorldPtr world = dart::simulation::World::create(); |
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} |
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]]}, {configs = {languages = "c++17"}})) |
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if package:config("dartpy") then |
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local python = package:is_plat("windows") and "python" or "python3" |
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os.vrunv(python, {"-c", "import dartpy"}) |
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end |
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end) |
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Inari0
1 day ago
committed by
GitHub