Build opensim 45

.github/workflows/continuous_integration.yml

@@ -2,17 +2,16 @@ name: continuous-integration
 
 # syntax https://help.github.com/en/articles/workflow-syntax-for-github-actions
 on:
-  # Run at 2am every night.
-  schedule:
-    - cron: '0 2 * * *'
   pull_request:
     branches:
       - '*'
   push:
     branches:
       - master
+
 jobs:
-  windows38:
+
+  windows310:
     runs-on: windows-latest
 
     steps:
@@ -21,11 +20,11 @@ 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:
@@ -36,15 +35,16 @@ jobs:
 
     - name: Conda build
       run: |
-        chdir $env:GITHUB_WORKSPACE
-        conda build .
+        chdir $env:GITHUB_WORKSPACE/opensim
+        conda build . --python=3.10
 
     - name: upload artifact
       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:
+        name: win64-opensim-4.5-py310np121.tar.bz2
+        path: C:/Miniconda3/envs/test/conda-bld/win-64/opensim-4.5-py310np121.tar.bz2
+
+  windows311:
     runs-on: windows-latest
 
     steps:
@@ -53,11 +53,11 @@ jobs:
     - name: Install Python packages
       uses: actions/setup-python@v2
       with:
-        python-version: '3.9'
+        python-version: '3.11'
 
     - name: Install numpy
       #Need numpy to use SWIG numpy typemaps.
-      run: python -m pip install numpy==1.20
+      run: python -m pip install numpy==1.23
 
     - uses: conda-incubator/setup-miniconda@v2
       with:
@@ -68,16 +68,16 @@ jobs:
 
     - name: Conda build
       run: |
-        chdir $env:GITHUB_WORKSPACE
-        conda build .
+        chdir $env:GITHUB_WORKSPACE/opensim
+        conda build . --python=3.11
 
     - name: upload artifact
       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-4.5-py311np123.tar.bz2
+        path: C:/Miniconda3/envs/test/conda-bld/win-64/opensim-4.5-py311np123.tar.bz2
 
-  windows310:
+  windows310-moco:
     runs-on: windows-latest
 
     steps:
@@ -102,15 +102,15 @@ jobs:
     - name: Conda build
       run: |
         chdir $env:GITHUB_WORKSPACE
-        conda build .
+        conda build opensim-moco --python=3.10
 
     - name: upload artifact
       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
+        name: win64-opensim-moco-4.5-py310np121.tar.bz2
+        path: C:/Miniconda3/envs/test/conda-bld/win-64/opensim-moco-4.5-py310np121.tar.bz2
 
-  windows311:
+  windows311-moco:
     runs-on: windows-latest
 
     steps:
@@ -135,33 +135,37 @@ jobs:
     - name: Conda build
       run: |
         chdir $env:GITHUB_WORKSPACE
-        conda build .
+        conda build opensim-moco --python=3.11
 
     - name: upload artifact
       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
+        name: win64-opensim-moco-4.5-py311np123.tar.bz2
+        path: C:/Miniconda3/envs/test/conda-bld/win-64/opensim-moco-4.5-py311np123.tar.bz2
 
-  ubuntu38:
+  ubuntu310:
     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
+          python-version: '3.10'
           channels: conda-forge,defaults
           miniconda-version: "latest"
 
       - name: Install Python packages
         uses: actions/setup-python@v4
         with:
-          python-version: '3.8'
+          python-version: '3.10'
 
+      - name: Install numpy
+        #Need numpy to use SWIG numpy typemaps.
+        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 python3.8 python3-dev python3-numpy python3-setuptools
+        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: |
@@ -177,33 +181,34 @@ jobs:
       - name: Conda build
         run: |
           cd $GITHUB_WORKSPACE/opensim
-          conda build .
+          conda build . --python=3.10
 
       - 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:
+          name: linux64-opensim-4.5-py310np121.tar.bz2
+          path: /usr/share/miniconda3/conda-bld/linux-64/opensim-4.5-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: 3.9
+          python-version: '3.11'
           channels: conda-forge,defaults
           miniconda-version: "latest"
 
       - name: Install Python packages
         uses: actions/setup-python@v4
         with:
-          python-version: '3.9'
+          python-version: '3.11'
 
       - 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==1.23
 
       - 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
@@ -222,14 +227,15 @@ jobs:
       - name: Conda build
         run: |
           cd $GITHUB_WORKSPACE/opensim
-          conda build .
+          conda build . --python=3.11
 
       - name: upload artifact
         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-4.5-py311np123.tar.bz2
+          path: /usr/share/miniconda3/conda-bld/linux-64/opensim-4.5-py311np123.tar.bz2
+
+  ubuntu310-moco:
     runs-on: ubuntu-20.04
 
     steps:
@@ -266,16 +272,16 @@ jobs:
 
       - name: Conda build
         run: |
-          cd $GITHUB_WORKSPACE/opensim
-          conda build .
+          cd $GITHUB_WORKSPACE/opensim-moco
+          conda build . --python=3.10
 
       - name: upload artifact
         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: linux64-opensim-moco-4.5-py310np121.tar.bz2
+          path: /usr/share/miniconda3/conda-bld/linux-64/opensim-moco-4.5-py310np121.tar.bz2
 
-  ubuntu311:
+  ubuntu311-moco:
     runs-on: ubuntu-20.04
 
     steps:
@@ -312,14 +318,14 @@ jobs:
 
       - name: Conda build
         run: |
-          cd $GITHUB_WORKSPACE/opensim
-          conda build .
+          cd $GITHUB_WORKSPACE/opensim-moco
+          conda build . --python=3.11
 
       - name: upload artifact
         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-4.5-py311np123.tar.bz2
+          path: /usr/share/miniconda3/conda-bld/linux-64/opensim-moco-4.5-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

opensim-moco/conda_build_config.yaml

@@ -0,0 +1,27 @@
+MACOSX_DEPLOYMENT_TARGET: '10.10'
+python:
+  - 3.9
+  - 3.10
+  - 3.11
+numpy:
+  - 1.20
+  - 1.21
+  - 1.23
+zip_keys:
+  - python
+  - numpy
+c_compiler:
+  - vs2019 # [win]
+  - clang # [osx]
+  - gcc  # [linux]
+cxx_compiler:
+  - vs2019 # [win]
+  - clangxx # [osx]
+  - gxx # [linux]
+c_compiler_version:
+  - 7.5.0  # [linux]
+cxx_compiler_version:
+  - 7.5.0  # [linux]
+CONDA_BUILD_SYSROOT:
+  /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.15.sdk
+