Build 441

.github/workflows/continuous_integration.yml

@@ -12,7 +12,8 @@ on:
     branches:
       - master
 jobs:
-  windows38:
+
+  windows31011:
     runs-on: windows-latest
 
     steps:
@@ -21,11 +22,11 @@ jobs:
     - name: Install Python packages
       uses: actions/setup-python@v2
       with:
-        python-version: '3.8'
+        python-version: '3.10'
 
     - name: Install numpy
       #Need numpy to use SWIG numpy typemaps.
-      run: python -m pip install numpy==1.20
+      run: python -m pip install numpy==1.21.4
 
     - uses: conda-incubator/setup-miniconda@v2
       with:
@@ -37,47 +38,21 @@ jobs:
     - name: Conda build
       run: |
         chdir $env:GITHUB_WORKSPACE
-        conda build .
+        conda build opensim
 
-    - name: upload artifact
+    - name: upload artifact 310
       uses: actions/upload-artifact@v2
       with:
-        name: win64-opensim-4.4-py38np120.tar.bz2
-        path: C:/Miniconda3/envs/test/conda-bld/win-64/opensim-4.4-py38np120.tar.bz2
-  windows39:
-    runs-on: windows-latest
-
-    steps:
-    - uses: actions/checkout@v1
-
-    - name: Install Python packages
-      uses: actions/setup-python@v2
-      with:
-        python-version: '3.9'
+        name: win64-opensim-4.4-py310np121.tar.bz2
+        path: C:/Miniconda3/envs/test/conda-bld/win-64/opensim-4.4-py310np121.tar.bz2
 
-    - name: Install numpy
-      #Need numpy to use SWIG numpy typemaps.
-      run: python -m pip install numpy==1.20
-
-    - uses: conda-incubator/setup-miniconda@v2
-      with:
-        auto-update-conda: true
-        miniconda-version: "latest"
-    - name: Install conda-build
-      run: conda install conda-build
-
-    - name: Conda build
-      run: |
-        chdir $env:GITHUB_WORKSPACE
-        conda build .
-
-    - name: upload artifact
+    - name: upload artifact 311
       uses: actions/upload-artifact@v2
       with:
-        name: win64-opensim-4.4-py39np120.tar.bz2
-        path: C:/Miniconda3/envs/test/conda-bld/win-64/opensim-4.4-py39np120.tar.bz2
+        name: win64-opensim-4.4-py311np123.tar.bz2
+        path: C:/Miniconda3/envs/test/conda-bld/win-64/opensim-4.4-py311np123.tar.bz2
 
-  windows310:
+  windows31011-moco:
     runs-on: windows-latest
 
     steps:
@@ -102,108 +77,40 @@ jobs:
     - name: Conda build
       run: |
         chdir $env:GITHUB_WORKSPACE
-        conda build .
+        conda build opensim-moco
 
-    - name: upload artifact
+    - name: upload artifact 310-moco
       uses: actions/upload-artifact@v2
       with:
-        name: win64-opensim-4.4-py310np121.tar.bz2
-        path: C:/Miniconda3/envs/test/conda-bld/win-64/opensim-4.4-py310np121.tar.bz2
-
-  windows311:
-    runs-on: windows-latest
-
-    steps:
-    - uses: actions/checkout@v1
-
-    - name: Install Python packages
-      uses: actions/setup-python@v2
-      with:
-        python-version: '3.11'
+        name: win64-opensim-moco-4.4-py310np121.tar.bz2
+        path: C:/Miniconda3/envs/test/conda-bld/win-64/opensim-moco-4.4-py310np121.tar.bz2
 
-    - name: Install numpy
-      #Need numpy to use SWIG numpy typemaps.
-      run: python -m pip install numpy==1.23
-
-    - uses: conda-incubator/setup-miniconda@v2
-      with:
-        auto-update-conda: true
-        miniconda-version: "latest"
-    - name: Install conda-build
-      run: conda install conda-build
-
-    - name: Conda build
-      run: |
-        chdir $env:GITHUB_WORKSPACE
-        conda build .
-
-    - name: upload artifact
+    - name: upload artifact 311-moco
       uses: actions/upload-artifact@v2
       with:
-        name: win64-opensim-4.4-py311np123.tar.bz2
-        path: C:/Miniconda3/envs/test/conda-bld/win-64/opensim-4.4-py311np123.tar.bz2
-
-  ubuntu38:
-    runs-on: ubuntu-20.04
-
-    steps:
-      - uses: actions/checkout@v2
-      - uses: conda-incubator/setup-miniconda@v2
-        with:
-          auto-update-conda: true
-          python-version: 3.8
-          channels: conda-forge,defaults
-          miniconda-version: "latest"
-
-      - name: Install Python packages
-        uses: actions/setup-python@v4
-        with:
-          python-version: '3.8'
+        name: win64-opensim-moco-4.4-py311np123.tar.bz2
+        path: C:/Miniconda3/envs/test/conda-bld/win-64/opensim-moco-4.4-py311np123.tar.bz2
 
-      - name: Install packages
-        run: sudo apt-get update && sudo apt-get install --yes build-essential libtool autoconf pkg-config gfortran libopenblas-dev liblapack-dev freeglut3-dev libxi-dev libxmu-dev doxygen python3.8 python3-dev python3-numpy python3-setuptools
-
-      - name: Install SWIG
-        run: |
-          mkdir ~/swig-source && cd ~/swig-source
-          wget https://github.com/swig/swig/archive/refs/tags/rel-4.0.2.tar.gz
-          tar xzf rel-4.0.2.tar.gz && cd swig-rel-4.0.2
-          sh autogen.sh && ./configure --prefix=$HOME/swig --disable-ccache
-          make && make -j4 install
-
-      - name: Install conda-build
-        run: conda install conda-build
-
-      - name: Conda build
-        run: |
-          cd $GITHUB_WORKSPACE/opensim
-          conda build .
-
-      - name: upload artifact
-        uses: actions/upload-artifact@v2
-        with:
-          name: linux64-opensim-4.4-py38np120.tar.bz2
-          path: /usr/share/miniconda3/conda-bld/linux-64/opensim-4.4-py38np120.tar.bz2
-  ubuntu39:
+  ubuntu31011:
     runs-on: ubuntu-20.04
 
     steps:
       - uses: actions/checkout@v2
       - uses: conda-incubator/setup-miniconda@v2
         with:
           auto-update-conda: true
-          python-version: 3.9
+          python-version: '3.10'
           channels: conda-forge,defaults
           miniconda-version: "latest"
 
       - name: Install Python packages
         uses: actions/setup-python@v4
         with:
-          python-version: '3.9'
+          python-version: '3.10'
 
       - name: Install numpy
         #Need numpy to use SWIG numpy typemaps.
-        run: python3 -m pip install numpy==1.20.2
+        run: python3 -m pip install numpy==1.21
 
       - name: Install packages
         run: sudo apt-get update && sudo apt-get install --yes build-essential libtool autoconf pkg-config gfortran libopenblas-dev liblapack-dev freeglut3-dev libxi-dev libxmu-dev doxygen python3 python3-dev python3-numpy python3-setuptools
@@ -222,14 +129,21 @@ jobs:
       - name: Conda build
         run: |
           cd $GITHUB_WORKSPACE/opensim
-          conda build .
+          conda build opensim
+
+      - name: upload artifact ubuntu310
+        uses: actions/upload-artifact@v2
+        with:
+          name: linux64-opensim-4.4-py310np121.tar.bz2
+          path: /usr/share/miniconda3/conda-bld/linux-64/opensim-4.4-py310np121.tar.bz2
 
-      - name: upload artifact
+      - name: upload artifact ubuntu311
         uses: actions/upload-artifact@v2
         with:
-          name: linux64-opensim-4.4-py39np120.tar.bz2
-          path: /usr/share/miniconda3/conda-bld/linux-64/opensim-4.4-py39np120.tar.bz2
-  ubuntu310:
+          name: linux64-opensim-4.4-py311np123.tar.bz2
+          path: /usr/share/miniconda3/conda-bld/linux-64/opensim-4.4-py311np123.tar.bz2
+
+  ubuntu31011-moco:
     runs-on: ubuntu-20.04
 
     steps:
@@ -266,60 +180,20 @@ jobs:
 
       - name: Conda build
         run: |
-          cd $GITHUB_WORKSPACE/opensim
-          conda build .
+          cd $GITHUB_WORKSPACE
+          conda build opensim-moco
 
-      - name: upload artifact
+      - name: upload artifact ubuntu310-moco
         uses: actions/upload-artifact@v2
         with:
-          name: linux64-opensim-4.4-py310np121.tar.bz2
-          path: /usr/share/miniconda3/conda-bld/linux-64/opensim-4.4-py310np121.tar.bz2
-
-  ubuntu311:
-    runs-on: ubuntu-20.04
-
-    steps:
-      - uses: actions/checkout@v2
-      - uses: conda-incubator/setup-miniconda@v2
-        with:
-          auto-update-conda: true
-          python-version: '3.11'
-          channels: conda-forge,defaults
-          miniconda-version: "latest"
-
-      - name: Install Python packages
-        uses: actions/setup-python@v4
-        with:
-          python-version: '3.11'
-
-      - name: Install numpy
-        #Need numpy to use SWIG numpy typemaps.
-        run: python3 -m pip install numpy==1.23
-
-      - name: Install packages
-        run: sudo apt-get update && sudo apt-get install --yes build-essential libtool autoconf pkg-config gfortran libopenblas-dev liblapack-dev freeglut3-dev libxi-dev libxmu-dev doxygen python3 python3-dev python3-numpy python3-setuptools
-
-      - name: Install SWIG
-        run: |
-          mkdir ~/swig-source && cd ~/swig-source
-          wget https://github.com/swig/swig/archive/refs/tags/rel-4.0.2.tar.gz
-          tar xzf rel-4.0.2.tar.gz && cd swig-rel-4.0.2
-          sh autogen.sh && ./configure --prefix=$HOME/swig --disable-ccache
-          make && make -j4 install
-
-      - name: Install conda-build
-        run: conda install conda-build
-
-      - name: Conda build
-        run: |
-          cd $GITHUB_WORKSPACE/opensim
-          conda build .
+          name: linux64-opensim-moco-4.4-py310np121.tar.bz2
+          path: /usr/share/miniconda3/conda-bld/linux-64/opensim-moco-4.4-py310np121.tar.bz2
 
-      - name: upload artifact
+      - name: upload artifact ubuntu311-moco
         uses: actions/upload-artifact@v2
         with:
-          name: linux64-opensim-4.4-py311np123.tar.bz2
-          path: /usr/share/miniconda3/conda-bld/linux-64/opensim-4.4-py311np123.tar.bz2
+          name: linux64-opensim-moco-4.4-py311np123.tar.bz2
+          path: /usr/share/miniconda3/conda-bld/linux-64/opensim-moco-4.4-py311np123.tar.bz2
 
   style:
     name: Style

opensim-moco/bld.bat

@@ -0,0 +1,41 @@
+mkdir opensim_dependencies_build
+cd .\opensim_dependencies_build
+cmake ..\dependencies^
+	-G"Visual Studio 17 2022"^
+	-DCMAKE_INSTALL_PREFIX="%LIBRARY_PREFIX%"^
+	-DSUPERBUILD_ezc3d=ON^
+	-DOPENSIM_WITH_TROPTER=ON^
+	-DOPENSIM_WITH_CASADI=ON
+
+cmake --build . --config Release -- /maxcpucount:8
+cd .. 
+mkdir opensim_build
+cd .\opensim_build
+cmake ..\^
+	-G"Visual Studio 17 2022"^
+	-DCMAKE_INSTALL_PREFIX="%LIBRARY_PREFIX%"^
+	-DOPENSIM_DEPENDENCIES_DIR="%LIBRARY_PREFIX%"^
+	-DCMAKE_INSTALL_INCLUDEDIR="%LIBRARY_PREFIX%/include"^
+	-DCMAKE_INSTALL_LIBDIR="%LIBRARY_PREFIX%/lib"^
+	-DCMAKE_INSTALL_DOCDIR="%LIBRARY_PREFIX%/doc"^
+	-DCMAKE_INSTALL_SYSCONFDIR="%LIBRARY_PREFIX%/Library"^
+	-DOPENSIM_INSTALL_PYTHONDIR="%LIBRARY_PREFIX%/Lib/site-packages"^
+	-DOPENSIM_INSTALL_SIMBODYDIR="%LIBRARY_PREFIX%/Library/Simbody"^
+	-DOPENSIM_INSTALL_SPDLOGDIR="%LIBRARY_PREFIX%/Library/spdlog"^
+	-DOPENSIM_INSTALL_CASADIDIR="%LIBRARY_PREFIX%/Library"^
+	-DBUILD_PYTHON_WRAPPING=ON^
+	-DOPENSIM_C3D_PARSER=ezc3d^
+	-DOPENSIM_PYTHON_STANDALONE=ON^
+	-DOPENSIM_WITH_CASADI=ON^
+	-DOPENSIM_WITH_TROPTER=ON^
+	-DBUILD_TESTING=OFF^
+	-DBUILD_API_EXAMPLES=OFF^
+	-DOPENSIM_BUILD_INDIVIDUAL_APPS=ON^
+	-DOPENSIM_PYTHON_CONDA=ON
+cmake --build . --target install --config Release -- /maxcpucount:8
+
+Rem move Library\sdk\Python Lib
+move %LIBRARY_PREFIX%\sdk\Python  %LIBRARY_PREFIX%\..\Lib
+cd %LIBRARY_PREFIX%\..\Lib
+python setup.py install
+

opensim-moco/build.sh

@@ -0,0 +1,53 @@
+#!/bin/bash
+# TODO: Dependencies should be separate packages...
+mkdir opensim_dependencies_build
+cd opensim_dependencies_build
+cmake ../dependencies/ -LAH \
+      -DCMAKE_INSTALL_PREFIX="$PREFIX" \
+      -DCMAKE_INSTALL_LIBDIR=lib \
+      -DCMAKE_BUILD_TYPE=Release \
+      -DCMAKE_OSX_SYSROOT=${CONDA_BUILD_SYSROOT} \
+      -DCMAKE_OSX_DEPLOYMENT_TARGET=10.15 \
+      -DSUPERBUILD_docopt=ON \
+      -DSUPERBUILD_simbody=ON \
+      -DSUPERBUILD_spdlog=ON \
+      -DSUPERBUILD_ezc3d=ON \
+      -DOPENSIM_WITH_TROPTER=ON \
+      -DOPENSIM_WITH_CASADI=ON
+
+make -j8
+cd ..
+
+# cp -r $PREFIX/simbody/libexec/simbody/* $PREFIX/bin/
+
+if [ "$(uname)" == "Darwin" ]; then
+   SWIG_DIR_SPEC=/usr/local/Cellar/swig/4.0.2
+else
+   SWIG_DIR_SPEC=~/swig/share/swig 
+fi
+# TODO: Tests are missing!
+mkdir opensim_build
+cd opensim_build
+cmake ../ \
+      -DCMAKE_INSTALL_PREFIX="$PREFIX" \
+      -DCMAKE_INSTALL_LIBDIR=lib \
+      -DCMAKE_BUILD_TYPE=Release \
+      -DOPENSIM_DEPENDENCIES_DIR="$PREFIX" \
+      -DCMAKE_OSX_SYSROOT=${CONDA_BUILD_SYSROOT} \
+      -DCMAKE_OSX_DEPLOYMENT_TARGET=10.15 \
+      -DSWIG_DIR=${SWIG_DIR_SPEC} \
+      -DSWIG_EXECUTABLE=~/swig/bin/swig \
+      -DBUILD_PYTHON_WRAPPING=ON \
+      -DOPENSIM_DISABLE_LOG_FILE=ON \
+      -DOPENSIM_C3D_PARSER=ezc3d \
+      -DOPENSIM_PYTHON_STANDALONE=ON \
+      -DOPENSIM_INSTALL_UNIX_FHS=ON \
+      -DBUILD_API_ONLY=OFF \
+      -DBUILD_API_EXAMPLES=OFF \
+      -DBUILD_TESTING=OFF \
+      -DOPENSIM_BUILD_INDIVIDUAL_APPS=ON \
+      -DOPENSIM_COPY_DEPENDENCIES=ON \
+      -DOPENSIM_WITH_TROPTER=ON \
+      -DOPENSIM_WITH_CASADI=ON
+make -j8
+make install