@ -12,9 +12,11 @@ package("dartsim")
add_versions ( " v6.13.0 " , " 4da3ff8cee056252a558b05625a5ff29b21e71f2995e6d7f789abbf6261895f7 " ) add_versions ( " v6.13.0 " , " 4da3ff8cee056252a558b05625a5ff29b21e71f2995e6d7f789abbf6261895f7 " )
add_versions ( " v6.14.2 " , " 6bbaf452f8182b97bf22adeab6cc7f3dc1cd2733358543131fa130e07c0860fc " ) add_versions ( " v6.14.2 " , " 6bbaf452f8182b97bf22adeab6cc7f3dc1cd2733358543131fa130e07c0860fc " )
add_patches ( " 6.x " , " patches/6.14.5/dartpy.patch " , " c8f989317ac8e20259a91e76d28b986b3d4bda01a8e4d0fc13704f6e4f0e144b " )
add_configs ( " dartpy " , { description = " Build dartpy interface. " , default = false , type = " boolean " } ) add_configs ( " dartpy " , { description = " Build dartpy interface. " , default = false , type = " boolean " } )
add_configs ( " gui " , { description = " Build GLUT GUI. " , default = false , type = " boolean " } )
local configdeps = { bullet3 = " Bullet " , local configdeps = { bullet3 = " Bullet " ,
freeglut = " GLUT " ,
nlopt = " NLOPT " , nlopt = " NLOPT " ,
ode = " ODE " , ode = " ODE " ,
openscenegraph = " OpenSceneGraph " , openscenegraph = " OpenSceneGraph " ,
@ -32,6 +34,8 @@ package("dartsim")
set_policy ( " package.cmake_generator.ninja " , false ) set_policy ( " package.cmake_generator.ninja " , false )
end end
set_policy ( " platform.longpaths " , true )
add_deps ( " cmake " ) add_deps ( " cmake " )
add_deps ( " assimp " , " libccd " , " eigen " , " fcl " , " octomap " , " fmt " ) add_deps ( " assimp " , " libccd " , " eigen " , " fcl " , " octomap " , " fmt " )
on_load ( " windows|x64 " , " linux " , " macosx " , function ( package ) on_load ( " windows|x64 " , " linux " , " macosx " , function ( package )
@ -40,24 +44,42 @@ package("dartsim")
package : add ( " deps " , config ) package : add ( " deps " , config )
end end
end end
if package : config ( " gui " ) or package : config ( " dartpy " ) then
package : add ( " deps " , " glut " )
end
if package : config ( " dartpy " ) then if package : config ( " dartpy " ) then
package : add ( " deps " , " tinyxml2 " )
package : add ( " deps " , " urdfdom " )
package : add ( " deps " , " openscenegraph " )
package : add ( " deps " , " imgui " , { configs = { opengl2 = true } } )
package : add ( " deps " , " python 3.x " ) package : add ( " deps " , " python 3.x " )
package : add ( " deps " , " pybind11 " )
end end
if package : config ( " openscenegraph " ) then if package : config ( " openscenegraph " ) then
package : add ( " deps " , " imgui " ) package : add ( " deps " , " imgui " , { configs = { opengl2 = true } } )
end end
end ) end )
on_install ( " windows|x64 " , " linux " , " macosx " , function ( package ) on_install ( " windows|x64 " , " linux " , " macosx " , function ( package )
import ( " detect.tools.find_python3 " )
-- remove after xmake 2.9.7
io.insert ( " CMakeLists.txt " , 1 , " set(CMAKE_MODULE_LINKER_FLAGS \" ${CMAKE_SHARED_LINKER_FLAGS} \" ) \n " )
io.replace ( " CMakeLists.txt " , " /GL " , " " , { plain = true } ) io.replace ( " CMakeLists.txt " , " /GL " , " " , { plain = true } )
io.replace ( " CMakeLists.txt " , " if(TARGET dart) " , " if(FALSE) " , { plain = true } ) io.replace ( " CMakeLists.txt " , " if(TARGET dart) " , " if(FALSE) " , { plain = true } )
io.replace ( " CMakeLists.txt " , " -D_CRT_SECURE_NO_WARNINGS " , " -DWIN32 -D_CRT_SECURE_NO_WARNINGS " , { plain = true } )
io.replace ( " CMakeLists.txt " , " CMAKE_SHARED_LINKER_FLAGS \" -Wl,--no-undefined \" " , " CMAKE_SHARED_LINKER_FLAGS \" ${CMAKE_SHARED_LINKER_FLAGS} -Wl,--no-undefined \" " , { plain = true } )
io.replace ( " dart/CMakeLists.txt " , " /LTCG " , " " , { plain = true } ) io.replace ( " dart/CMakeLists.txt " , " /LTCG " , " " , { plain = true } )
io.replace ( " python/CMakeLists.txt " , " add_subdirectory(tests) " , " " , { plain = true } )
io.replace ( " python/CMakeLists.txt " , " add_subdirectory(examples) " , " " , { plain = true } )
io.replace ( " python/CMakeLists.txt " , " add_subdirectory(tutorials) " , " " , { plain = true } )
io.replace ( " cmake/DARTFindDependencies.cmake " , " dart_check_required_package(assimp \" assimp \" ) " , " dart_check_required_package(assimp \" assimp \" ) \n find_package(ZLIB) \n target_link_libraries(assimp INTERFACE ZLIB::ZLIB) " , { plain = true } ) io.replace ( " cmake/DARTFindDependencies.cmake " , " dart_check_required_package(assimp \" assimp \" ) " , " dart_check_required_package(assimp \" assimp \" ) \n find_package(ZLIB) \n target_link_libraries(assimp INTERFACE ZLIB::ZLIB) " , { plain = true } )
io.replace ( " cmake/DARTFindDependencies.cmake " , " dart_check_required_package(fcl \" fcl \" ) " , " dart_check_required_package(fcl \" fcl \" ) \n target_link_libraries(fcl INTERFACE ccd) " , { plain = true } ) io.replace ( " cmake/DARTFindDependencies.cmake " , " dart_check_required_package(fcl \" fcl \" ) " , " dart_check_required_package(fcl \" fcl \" ) \n target_link_libraries(fcl INTERFACE ccd) " , { plain = true } )
io.replace ( " cmake/DARTFindDependencies.cmake " , " check_cxx_source_compiles%(.- \" .- \" .-(ASSIMP.-DEFINED)%) " , " set(%1 1) " ) io.replace ( " cmake/DARTFindDependencies.cmake " , " check_cxx_source_compiles%(.- \" .- \" .-(ASSIMP.-DEFINED)%) " , " set(%1 1) " )
io.replace ( " cmake/DARTFindOpenSceneGraph.cmake " , " osg osgViewer osgManipulator osgGA osgDB osgShadow osgUtil " , " osgManipulator osgShadow osgViewer osgGA osgDB osgUtil osg " , { plain = true } )
io.replace ( " cmake/DARTFindOpenSceneGraph.cmake " , " target_link_libraries(osg::osg " , " target_compile_definitions(osg::osg INTERFACE OSG_LIBRARY_STATIC) \n target_link_libraries(osg::osg " , { plain = true } )
local glut_extra = " find_package(GLUT QUIET MODULE) \n target_compile_definitions(GLUT::GLUT INTERFACE FREEGLUT_STATIC) "
if package : is_plat ( " linux " ) then
glut_extra = glut_extra .. " \n target_link_libraries(GLUT::GLUT INTERFACE Xrandr Xrender Xxf86vm X11) "
end
io.replace ( " cmake/DARTFindGLUT.cmake " , " find_package(GLUT QUIET MODULE) " , glut_extra , { plain = true } )
local configs = { local configs = {
" -DDART_USE_SYSTEM_IMGUI=ON " , " -DDART_USE_SYSTEM_IMGUI=ON " ,
" -DDART_SKIP_lz4=ON " , " -DDART_SKIP_lz4=ON " ,
@ -66,22 +88,58 @@ package("dartsim")
" -DDART_SKIP_pagmo=ON " , " -DDART_SKIP_pagmo=ON " ,
" -DDART_SKIP_DOXYGEN=ON " , " -DDART_SKIP_DOXYGEN=ON " ,
" -DDART_TREAT_WARNINGS_AS_ERRORS=OFF " , " -DDART_TREAT_WARNINGS_AS_ERRORS=OFF " ,
" -DDART_VERBOSE=ON "
} }
table.insert ( configs , " -DCMAKE_BUILD_TYPE= " .. ( package : debug ( ) and " Debug " or " Release " ) ) table.insert ( configs , " -DCMAKE_BUILD_TYPE= " .. ( package : debug ( ) and " Debug " or " Release " ) )
table.insert ( configs , " -DBUILD_SHARED_LIBS= " .. ( package : config ( " shared " ) and " ON " or " OFF " ) ) table.insert ( configs , " -DBUILD_SHARED_LIBS= " .. ( package : config ( " shared " ) and " ON " or " OFF " ) )
for config , dep in pairs ( configdeps ) do for config , dep in pairs ( configdeps ) do
table.insert ( configs , " -DDART_SKIP_ " .. dep .. " = " .. ( package : config ( config ) and " OFF " or " ON " ) ) table.insert ( configs , " -DDART_SKIP_ " .. dep .. " = " .. ( package : dep ( config ) and " OFF " or " ON " ) )
end end
if package : is_plat ( " windows " ) then if package : is_plat ( " windows " ) then
table.insert ( configs , " -DDART_RUNTIME_LIBRARY= " .. ( package : config ( " vs_runtime " ) : startswith ( " MT " ) and " /MT " or " /MD " ) ) table.insert ( configs , " -DDART_RUNTIME_LIBRARY= " .. ( package : has_runtime ( " MT " , " MTd " ) and " /MT " or " /MD " ) )
end end
table.insert ( configs , " -DDART_BUILD_DARTPY= " .. ( package : config ( " dartpy " ) and " ON " or " OFF " ) ) table.insert ( configs , " -DDART_BUILD_DARTPY= " .. ( package : config ( " dartpy " ) and " ON " or " OFF " ) )
table.insert ( configs , " -DDART_BUILD_GUI_OSG= " .. ( package : config ( " openscenegraph " ) and " ON " or " OFF " ) ) table.insert ( configs , " -DDART_SKIP_GLUT= " .. ( ( package : config ( " gui " ) or package : config ( " dartpy " ) ) and " OFF " or " ON " ) )
import ( " package.tools.cmake " ) . install ( package , configs ) table.insert ( configs , " -DDART_BUILD_GUI_OSG= " .. ( package : dep ( " openscenegraph " ) and " ON " or " OFF " ) )
if package : config ( " dartpy " ) then
local python = find_python3 ( )
local pythondir = path.directory ( python )
if pythondir and path.is_absolute ( pythondir ) then
table.insert ( configs , " -DPython_ROOT_DIR= " .. pythondir )
table.insert ( configs , " -DPython3_ROOT_DIR= " .. pythondir )
end
end
local deps = { " imgui " }
if package : is_plat ( " linux " ) then
table.insert ( deps , " freeglut " )
end
import ( " package.tools.cmake " ) . install ( package , configs , { packagedeps = deps } )
local suffix = package : is_debug ( ) and " d " or " " local suffix = package : is_debug ( ) and " d " or " "
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 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
package : add ( " links " , lib .. suffix ) package : add ( " links " , lib .. suffix )
end end
if package : config ( " dartpy " ) then
os.vrunv ( " python " , { " -m " , " pip " , " install " , " numpy " } )
local pythonpath = path.join ( package : installdir ( " lib " ) , " site-packages " )
package : addenv ( " PYTHONPATH " , pythonpath )
if package : is_plat ( " windows " ) then
-- after python3.8 dll can not be loaded from PATH
for _ , lib in ipairs ( package : librarydeps ( ) ) do
if lib : name ( ) ~= " python " then
local fetchinfo = lib : fetch ( )
local libfiles = fetchinfo and fetchinfo.libfiles or { }
for _ , file in ipairs ( libfiles ) do
if file : endswith ( " .dll " ) then
os.trycp ( file , pythonpath )
end
end
end
end
if package : config ( " shared " ) then
os.trycp ( path.join ( package : installdir ( " bin " ) , " *.dll " ) , pythonpath )
end
end
end
end ) end )
on_test ( function ( package ) on_test ( function ( package )
@ -91,4 +149,8 @@ package("dartsim")
dart :: simulation :: WorldPtr world = dart :: simulation :: World :: create ( ) ; dart :: simulation :: WorldPtr world = dart :: simulation :: World :: create ( ) ;
} }
] ] } , { configs = { languages = " c++17 " } } ) ) ] ] } , { configs = { languages = " c++17 " } } ) )
if package : config ( " dartpy " ) then
local python = package : is_plat ( " windows " ) and " python " or " python3 "
os.vrunv ( python , { " -c " , " import dartpy " } )
end
end ) end )
ruki
star9029
Inari0
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Linpeng Zhang