[Moco] Add support for the Bordalba et al. (2023) projection method for kinematic constraints #4551
Workflow file for this run
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| 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: | |
| - main | |
| tags: | |
| - '*' | |
| jobs: | |
| windows: | |
| name: Windows | |
| runs-on: windows-2019 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Install Doxygen | |
| # choco install doxygen.portable # <-- too unreliable. | |
| run: | | |
| (New-Object System.Net.WebClient).DownloadFile("https://sourceforge.net/projects/myosin/files/doxygen-1.8.14.windows.x64.bin.zip/download", "doxygen.zip") | |
| 7z x $env:GITHUB_WORKSPACE/doxygen.zip -odoxygen | |
| echo "$env:GITHUB_WORKSPACE\\doxygen" >> $GITHUB_PATH | |
| - name: Install Python packages | |
| uses: actions/setup-python@v4 | |
| with: | |
| python-version: '3.10' | |
| - name: Install numpy | |
| #Need numpy to use SWIG numpy typemaps. | |
| run: python3 -m pip install numpy==1.25 | |
| - name: Install SWIG | |
| run: | | |
| choco install swig --version 4.1.1 --yes --limit-output --allow-downgrade | |
| swig -swiglib | |
| - name: Cache dependencies | |
| id: cache-dependencies | |
| uses: actions/cache@v3 | |
| with: | |
| path: ~/opensim_dependencies_install | |
| # Every time a cache is created, it's stored with this key. | |
| # In subsequent runs, if the key matches the key of an existing cache, | |
| # then the cache is used. We chose for this key to depend on the | |
| # operating system and a hash of the hashes of all files in the | |
| # dependencies directory (non-recursive). | |
| # https://help.github.com/en/actions/automating-your-workflow-with-github-actions/caching-dependencies-to-speed-up-workflows#matching-a-cache-key | |
| key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }} | |
| - name: Build dependencies | |
| if: steps.cache-dependencies.outputs.cache-hit != 'true' | |
| run: | | |
| echo $env:GITHUB_WORKSPACE\\build_deps | |
| mkdir $env:GITHUB_WORKSPACE\\build_deps | |
| chdir $env:GITHUB_WORKSPACE\\build_deps | |
| # /W0 disables warnings. | |
| # https://msdn.microsoft.com/en-us/library/19z1t1wy.aspx | |
| # TODO: CMake provides /W3, which overrides our /W0 | |
| cmake -E env CXXFLAGS="/W0" cmake $env:GITHUB_WORKSPACE/dependencies -LAH -G"Visual Studio 16 2019" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install -DSUPERBUILD_ezc3d=ON -DOPENSIM_WITH_TROPTER=ON -DOPENSIM_WITH_CASADI=ON | |
| cmake --build . --config Release -- /maxcpucount:4 | |
| - name: Configure opensim-core | |
| id: configure | |
| run: | | |
| mkdir $env:GITHUB_WORKSPACE\\build | |
| chdir $env:GITHUB_WORKSPACE\\build | |
| # TODO: Can remove /WX when we use that in CMakeLists.txt. | |
| # Set the CXXFLAGS environment variable to turn warnings into errors. | |
| # Skip timing test section included by default. | |
| cmake -E env CXXFLAGS="/WX -DSKIP_TIMING" cmake $env:GITHUB_WORKSPACE -LAH -G"Visual Studio 16 2019" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim-core-install -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DOPENSIM_C3D_PARSER=ezc3d -DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on -DOPENSIM_WITH_TROPTER=on -DPython3_ROOT_DIR=C:\hostedtoolcache\windows\Python\3.10.11\x64 | |
| $env:match = cmake -L . | Select-String -Pattern OPENSIM_QUALIFIED_VERSION | |
| $version = $env:match.split('=')[1] | |
| echo $version | |
| echo "VERSION=$version" >> $GITHUB_ENV | |
| echo "version=$version" >> $env:GITHUB_OUTPUT | |
| - name: Build opensim-core | |
| # Install now to avoid building bindings twice (issue when using Visual Studio 2019). | |
| run: | | |
| chdir $env:GITHUB_WORKSPACE\\build | |
| cmake --build . --config Release --target doxygen -- /maxcpucount:4 | |
| cmake --build . --config Release --target install -- /maxcpucount:4 | |
| - name: Test opensim-core | |
| run: | | |
| chdir $env:GITHUB_WORKSPACE\\build | |
| ctest --parallel 4 --output-on-failure --build-config Release | |
| - name: Install opensim-core | |
| # TODO: This is where we wish to do the installing, but it's done above for now. | |
| run: | | |
| chdir $env:GITHUB_WORKSPACE\\build | |
| chdir $env:GITHUB_WORKSPACE | |
| Copy-Item -Path "~/opensim-core-install" -Destination "opensim-core-${{ steps.configure.outputs.version }}" -Recurse | |
| 7z a "opensim-core-${{ steps.configure.outputs.version }}.zip" "opensim-core-${{ steps.configure.outputs.version }}" | |
| - name: Test Python bindings | |
| run: | | |
| echo "PYTHONPATH= $env:USERPROFILE/opensim-core-install/bin">> $GITHUB_ENV | |
| # Move to the installed location of the python package. | |
| cd ~/opensim-core-install/sdk/python | |
| # Run python tests. | |
| python -m unittest discover --start-directory opensim/tests --verbose | |
| - name: Upload opensim-core | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: opensim-core-${{ steps.configure.outputs.version }}-win-2019 | |
| path: opensim-core-${{ steps.configure.outputs.version }}.zip | |
| # TODO: Must be relative to the workspace? | |
| # - name: Upload opensim-moco dependencies | |
| # uses: actions/[email protected] | |
| # with: | |
| # name: opensim-core-dependencies | |
| # path: opensim_dependencies_install.zip | |
| # - name: Create release | |
| # id: create-release | |
| # uses: actions/[email protected] | |
| # env: | |
| # GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} | |
| # with: | |
| # tag_name: ${{ github.ref }} | |
| # release_name: OpenSim Core ${{ github.ref }} | |
| # draft: true | |
| # prerelease: false | |
| # - name: Zip opensim-core | |
| # run: | | |
| # 7z a opensim-core-$VERSION.zip opensim-core-${VERSION} | |
| # - name: Upload release asset | |
| # id: upload-release-asset | |
| # uses: actions/[email protected] | |
| # env: | |
| # GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} | |
| # with: | |
| # upload_url: ${{ steps.create-release.outputs.upload_url }} | |
| # asset_path: ./opensim-core-${{ github.ref }}.zip | |
| # asset_name: opensim-core-${{ github.ref }}.zip | |
| # asset_content_type: application/zip | |
| windows2022_target: | |
| name: Windows2022 [target] | |
| if: ${{ contains(github.event.pull_request.title, '[perf-win]') || contains(github.event.pull_request.body, '[perf-win]') }} | |
| runs-on: windows-2022 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| ref: ${{ github.event.pull_request.base.ref }} | |
| - name: Install Doxygen | |
| # choco install doxygen.portable # <-- too unreliable. | |
| run: | | |
| (New-Object System.Net.WebClient).DownloadFile("https://sourceforge.net/projects/myosin/files/doxygen-1.8.14.windows.x64.bin.zip/download", "doxygen.zip") | |
| 7z x $env:GITHUB_WORKSPACE/doxygen.zip -odoxygen | |
| echo "$env:GITHUB_WORKSPACE\\doxygen" >> $GITHUB_PATH | |
| - name: Install Python packages | |
| uses: actions/setup-python@v4 | |
| with: | |
| python-version: '3.10' | |
| - name: Install numpy | |
| #Need numpy to use SWIG numpy typemaps. | |
| run: python3 -m pip install numpy==1.25 | |
| - name: Install SWIG | |
| run: | | |
| choco install swig --version 4.1.1 --yes --limit-output --allow-downgrade | |
| swig -swiglib | |
| - name: Cache dependencies | |
| id: cache-dependencies | |
| uses: actions/cache@v3 | |
| with: | |
| path: ~/opensim_dependencies_install | |
| # Every time a cache is created, it's stored with this key. | |
| # In subsequent runs, if the key matches the key of an existing cache, | |
| # then the cache is used. We chose for this key to depend on the | |
| # operating system and a hash of the hashes of all files in the | |
| # dependencies directory (non-recursive). | |
| # https://help.github.com/en/actions/automating-your-workflow-with-github-actions/caching-dependencies-to-speed-up-workflows#matching-a-cache-key | |
| key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }} | |
| - name: Build dependencies | |
| if: steps.cache-dependencies.outputs.cache-hit != 'true' | |
| run: | | |
| echo $env:GITHUB_WORKSPACE\\build_deps | |
| mkdir $env:GITHUB_WORKSPACE\\build_deps | |
| chdir $env:GITHUB_WORKSPACE\\build_deps | |
| # /W0 disables warnings. | |
| # https://msdn.microsoft.com/en-us/library/19z1t1wy.aspx | |
| # TODO: CMake provides /W3, which overrides our /W0 | |
| cmake -E env CXXFLAGS="/W0" cmake $env:GITHUB_WORKSPACE/dependencies -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install -DSUPERBUILD_ezc3d=ON -DOPENSIM_WITH_TROPTER=ON -DOPENSIM_WITH_CASADI=ON | |
| cmake --build . --config Release -- /maxcpucount:4 | |
| - name: Configure opensim-core | |
| id: configure | |
| run: | | |
| mkdir $env:GITHUB_WORKSPACE\\build | |
| chdir $env:GITHUB_WORKSPACE\\build | |
| # TODO: Can remove /WX when we use that in CMakeLists.txt. | |
| # Set the CXXFLAGS environment variable to turn warnings into errors. | |
| # Skip timing test section included by default. | |
| cmake -E env CXXFLAGS="/WX -DSKIP_TIMING" cmake $env:GITHUB_WORKSPACE -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim-core-install -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DOPENSIM_C3D_PARSER=ezc3d -DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on -DPython3_ROOT_DIR=C:\hostedtoolcache\windows\Python\3.10.11\x64 | |
| $env:match = cmake -L . | Select-String -Pattern OPENSIM_QUALIFIED_VERSION | |
| $version = $env:match.split('=')[1] | |
| echo $version | |
| echo "VERSION=$version" >> $GITHUB_ENV | |
| echo "version=$version" >> $env:GITHUB_OUTPUT | |
| - name: Build opensim-core | |
| # Install now to avoid building bindings twice (TODO: issue when using Visual Studio 2019, is this an issue too in Visual Studio 2022?). | |
| run: | | |
| chdir $env:GITHUB_WORKSPACE\\build | |
| cmake --build . --config Release --target doxygen -- /maxcpucount:4 | |
| cmake --build . --config Release --target install -- /maxcpucount:4 | |
| - name: Test opensim-core | |
| run: | | |
| chdir $env:GITHUB_WORKSPACE\\build | |
| ctest --parallel 4 --output-on-failure --build-config Release -E Java_* | |
| - name: Install opensim-core | |
| # TODO: This is where we wish to do the installing, but it's done above for now. | |
| run: | | |
| chdir $env:GITHUB_WORKSPACE\\build | |
| chdir $env:GITHUB_WORKSPACE | |
| Copy-Item -Path "~/opensim-core-install" -Destination "opensim-core-${{ github.event.pull_request.base.ref }}" -Recurse | |
| 7z a "opensim-core-${{ github.event.pull_request.base.ref }}.zip" "opensim-core-${{ github.event.pull_request.base.ref }}" | |
| - name: Test Python bindings | |
| run: | | |
| echo "PYTHONPATH= $env:USERPROFILE/opensim-core-install/bin">> $GITHUB_ENV | |
| # Move to the installed location of the python package. | |
| cd ~/opensim-core-install/sdk/python | |
| # Run python tests. | |
| python -m unittest discover --start-directory opensim/tests --verbose | |
| - name: Upload opensim-core | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: opensim-core-${{ github.event.pull_request.base.ref }}-win | |
| path: opensim-core-${{ github.event.pull_request.base.ref }}.zip | |
| windows2022_source: | |
| runs-on: windows-2022 | |
| name: ${{ (contains(github.event.pull_request.title, '[perf-win]') || contains(github.event.pull_request.body, '[perf-win]')) && 'Windows2022 [source]' || 'Windows2022' }} | |
| outputs: | |
| version: ${{ steps.configure.outputs.version }} | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Install Doxygen | |
| # choco install doxygen.portable # <-- too unreliable. | |
| run: | | |
| (New-Object System.Net.WebClient).DownloadFile("https://sourceforge.net/projects/myosin/files/doxygen-1.8.14.windows.x64.bin.zip/download", "doxygen.zip") | |
| 7z x $env:GITHUB_WORKSPACE/doxygen.zip -odoxygen | |
| echo "$env:GITHUB_WORKSPACE\\doxygen" >> $GITHUB_PATH | |
| - name: Install Python packages | |
| uses: actions/setup-python@v4 | |
| with: | |
| python-version: '3.10' | |
| - name: Install numpy | |
| #Need numpy to use SWIG numpy typemaps. | |
| run: python3 -m pip install numpy==1.25 | |
| - name: Install SWIG | |
| run: | | |
| choco install swig --version 4.1.1 --yes --limit-output --allow-downgrade | |
| swig -swiglib | |
| - name: Cache dependencies | |
| id: cache-dependencies | |
| uses: actions/cache@v3 | |
| with: | |
| path: ~/opensim_dependencies_install | |
| # Every time a cache is created, it's stored with this key. | |
| # In subsequent runs, if the key matches the key of an existing cache, | |
| # then the cache is used. We chose for this key to depend on the | |
| # operating system and a hash of the hashes of all files in the | |
| # dependencies directory (non-recursive). | |
| # https://help.github.com/en/actions/automating-your-workflow-with-github-actions/caching-dependencies-to-speed-up-workflows#matching-a-cache-key | |
| key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }} | |
| - name: Build dependencies | |
| if: steps.cache-dependencies.outputs.cache-hit != 'true' | |
| run: | | |
| echo $env:GITHUB_WORKSPACE\\build_deps | |
| mkdir $env:GITHUB_WORKSPACE\\build_deps | |
| chdir $env:GITHUB_WORKSPACE\\build_deps | |
| # /W0 disables warnings. | |
| # https://msdn.microsoft.com/en-us/library/19z1t1wy.aspx | |
| # TODO: CMake provides /W3, which overrides our /W0 | |
| cmake -E env CXXFLAGS="/W0" cmake $env:GITHUB_WORKSPACE/dependencies -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install -DSUPERBUILD_ezc3d=ON -DOPENSIM_WITH_TROPTER=ON -DOPENSIM_WITH_CASADI=ON | |
| cmake --build . --config Release -- /maxcpucount:4 | |
| - name: Configure opensim-core | |
| id: configure | |
| run: | | |
| mkdir $env:GITHUB_WORKSPACE\\build | |
| chdir $env:GITHUB_WORKSPACE\\build | |
| # TODO: Can remove /WX when we use that in CMakeLists.txt. | |
| # Set the CXXFLAGS environment variable to turn warnings into errors. | |
| # Skip timing test section included by default. | |
| cmake -E env CXXFLAGS="/WX -DSKIP_TIMING" cmake $env:GITHUB_WORKSPACE -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim-core-install -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DOPENSIM_C3D_PARSER=ezc3d -DOPENSIM_WITH_TROPTER=on -DOPENSIM_WITH_CASADI=on -DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on -DPython3_ROOT_DIR=C:\hostedtoolcache\windows\Python\3.10.11\x64 | |
| $env:match = cmake -L . | Select-String -Pattern OPENSIM_QUALIFIED_VERSION | |
| $version = $env:match.split('=')[1] | |
| echo $version | |
| echo "VERSION=$version" >> $GITHUB_ENV | |
| echo "version=$version" >> $env:GITHUB_OUTPUT | |
| - name: Build opensim-core | |
| # Install now to avoid building bindings twice (TODO: issue when using Visual Studio 2019, is this an issue too in Visual Studio 2022?). | |
| run: | | |
| chdir $env:GITHUB_WORKSPACE\\build | |
| cmake --build . --config Release --target doxygen -- /maxcpucount:4 | |
| cmake --build . --config Release --target install -- /maxcpucount:4 | |
| - name: Test opensim-core | |
| run: | | |
| chdir $env:GITHUB_WORKSPACE\\build | |
| ctest --parallel 4 --output-on-failure --build-config Release -E Java_* | |
| - name: Install opensim-core | |
| # TODO: This is where we wish to do the installing, but it's done above for now. | |
| run: | | |
| chdir $env:GITHUB_WORKSPACE\\build | |
| chdir $env:GITHUB_WORKSPACE | |
| Copy-Item -Path "~/opensim-core-install" -Destination "opensim-core-${{ steps.configure.outputs.version }}" -Recurse | |
| 7z a "opensim-core-${{ steps.configure.outputs.version }}.zip" "opensim-core-${{ steps.configure.outputs.version }}" | |
| - name: Test Python bindings | |
| run: | | |
| echo "PYTHONPATH= $env:USERPROFILE/opensim-core-install/bin">> $GITHUB_ENV | |
| # Move to the installed location of the python package. | |
| cd ~/opensim-core-install/sdk/python | |
| # Run python tests. | |
| python -m unittest discover --start-directory opensim/tests --verbose | |
| - name: Upload opensim-core | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: opensim-core-${{ steps.configure.outputs.version }}-win | |
| path: opensim-core-${{ steps.configure.outputs.version }}.zip | |
| mac_target: | |
| name: Mac [target] | |
| runs-on: macos-12 | |
| if: ${{ contains(github.event.pull_request.title, '[perf-mac]') || contains(github.event.pull_request.body, '[perf-mac]') }} | |
| steps: | |
| - uses: actions/checkout@v3 | |
| with: | |
| ref: ${{ github.event.pull_request.base.ref }} | |
| - name: Install Python packages | |
| uses: actions/setup-python@v4 | |
| with: | |
| python-version: '3.10' | |
| - name: Install Homebrew packages | |
| # Save the gfortran version to a file so we can use it in the cache key. | |
| run: | | |
| brew install cmake pkgconfig autoconf libtool automake wget pcre doxygen llvm | |
| brew reinstall gcc | |
| pip3 install numpy==1.25 | |
| gfortran -v | |
| mkdir gfortran_version | |
| gfortran -v &> gfortran_version/gfortran_version.txt | |
| - name: Cache SWIG | |
| id: cache-swig | |
| uses: actions/cache@v3 | |
| with: | |
| path: ~/swig | |
| key: ${{ runner.os }}-swig | |
| - name: Install SWIG | |
| # if: steps.cache-swig.outputs.cache-hit != 'true' | |
| run: | | |
| mkdir ~/swig-source && cd ~/swig-source | |
| wget https://github.com/swig/swig/archive/refs/tags/v4.1.1.tar.gz | |
| tar xzf v4.1.1.tar.gz && cd swig-4.1.1 | |
| sh autogen.sh && ./configure --prefix=$HOME/swig --disable-ccache | |
| make && make -j4 install | |
| - name: Cache dependencies | |
| id: cache-dependencies | |
| uses: actions/cache@v3 | |
| with: | |
| path: ~/opensim_dependencies_install | |
| # If Homebrew updates the gcc package, then our cache of IPOPT is invalid. | |
| # Specifically, the pkgcfg_lib_IPOPT_gfortran CMake variable becomes | |
| # undefined. | |
| key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }}-${{ hashFiles('gfortran_version/*') }} | |
| - name: Build dependencies | |
| if: steps.cache-dependencies.outputs.cache-hit != 'true' | |
| run: | | |
| mkdir $GITHUB_WORKSPACE/../build_deps | |
| cd $GITHUB_WORKSPACE/../build_deps | |
| DEP_CMAKE_ARGS=($GITHUB_WORKSPACE/dependencies -LAH) | |
| DEP_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install) | |
| DEP_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release) | |
| DEP_CMAKE_ARGS+=(-DSUPERBUILD_ezc3d=ON) | |
| DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_TROPTER=ON) | |
| DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=ON) | |
| DEP_CMAKE_ARGS+=(-DOPENSIM_DISABLE_LOG_FILE=ON) | |
| DEP_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11) | |
| printf '%s\n' "${DEP_CMAKE_ARGS[@]}" | |
| cmake "${DEP_CMAKE_ARGS[@]}" | |
| make --jobs 4 | |
| - name: Configure opensim-core | |
| id: configure | |
| run: | | |
| mkdir $GITHUB_WORKSPACE/../build | |
| cd $GITHUB_WORKSPACE/../build | |
| OSIM_CMAKE_ARGS=($GITHUB_WORKSPACE -LAH) | |
| OSIM_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/../opensim-core-install) | |
| OSIM_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install) | |
| OSIM_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_C3D_PARSER=ezc3d) | |
| OSIM_CMAKE_ARGS+=(-DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on) | |
| OSIM_CMAKE_ARGS+=(-DSWIG_EXECUTABLE=$HOME/swig/bin/swig) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_INSTALL_UNIX_FHS=OFF) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_DOXYGEN_USE_MATHJAX=off) | |
| # TODO: Update to simbody.github.io/latest | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_SIMBODY_DOXYGEN_LOCATION="https://simbody.github.io/simtk.org/api_docs/simbody/latest/") | |
| OSIM_CMAKE_ARGS+=(-DCMAKE_CXX_FLAGS="-Werror, -Wdeprecated-copy") | |
| printf '%s\n' "${OSIM_CMAKE_ARGS[@]}" | |
| cmake "${OSIM_CMAKE_ARGS[@]}" | |
| VERSION=`cmake -L . | grep OPENSIM_QUALIFIED_VERSION | cut -d "=" -f2` | |
| echo $VERSION | |
| echo "VERSION=$VERSION" >> $GITHUB_ENV | |
| echo "version=$VERSION" >> $GITHUB_OUTPUT | |
| - name: Build opensim-core | |
| run: | | |
| cd $GITHUB_WORKSPACE/../build | |
| make --jobs 4 | |
| - name: Test opensim-core | |
| run: | | |
| cd $GITHUB_WORKSPACE/../build | |
| ctest --parallel 4 --output-on-failure | |
| - name: Install opensim-core | |
| run: | | |
| cd $GITHUB_WORKSPACE/../build | |
| make doxygen | |
| make install | |
| cd $GITHUB_WORKSPACE | |
| mv $GITHUB_WORKSPACE/../opensim-core-install opensim-core-${{ github.event.pull_request.base.ref }} | |
| zip --symlinks --recurse-paths --quiet opensim-core-${{ github.event.pull_request.base.ref }}.zip opensim-core-${{ github.event.pull_request.base.ref }} | |
| mv opensim-core-${{ github.event.pull_request.base.ref }} $GITHUB_WORKSPACE/../opensim-core-install | |
| - name: Test Python bindings | |
| run: | | |
| cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python | |
| # Run the python tests, verbosely. | |
| python3 -m unittest discover --start-directory opensim/tests --verbose | |
| - name: Upload opensim-core | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| # The upload-artifact zipping does not preserve symlinks or executable | |
| # bits. So we zip ourselves, even though this causes a double-zip. | |
| name: opensim-core-${{ github.event.pull_request.base.ref }}-mac | |
| path: opensim-core-${{ github.event.pull_request.base.ref }}.zip | |
| mac_source: | |
| runs-on: macos-12 | |
| name: ${{ (contains(github.event.pull_request.title, '[perf-mac]') || contains(github.event.pull_request.body, '[perf-mac]')) && 'Mac [source]' || 'Mac' }} | |
| outputs: | |
| version: ${{ steps.configure.outputs.version }} | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Install Python packages | |
| uses: actions/setup-python@v4 | |
| with: | |
| python-version: '3.10' | |
| - name: Install Homebrew packages | |
| # Save the gfortran version to a file so we can use it in the cache key. | |
| run: | | |
| brew install cmake pkgconfig autoconf libtool automake wget pcre doxygen llvm | |
| brew reinstall gcc | |
| pip3 install numpy==1.25 | |
| gfortran -v | |
| mkdir gfortran_version | |
| gfortran -v &> gfortran_version/gfortran_version.txt | |
| - name: Cache SWIG | |
| id: cache-swig | |
| uses: actions/cache@v3 | |
| with: | |
| path: ~/swig | |
| key: ${{ runner.os }}-swig | |
| - name: Install SWIG | |
| # if: steps.cache-swig.outputs.cache-hit != 'true' | |
| run: | | |
| mkdir ~/swig-source && cd ~/swig-source | |
| wget https://github.com/swig/swig/archive/refs/tags/v4.1.1.tar.gz | |
| tar xzf v4.1.1.tar.gz && cd swig-4.1.1 | |
| sh autogen.sh && ./configure --prefix=$HOME/swig --disable-ccache | |
| make && make -j4 install | |
| - name: Cache dependencies | |
| id: cache-dependencies | |
| uses: actions/cache@v3 | |
| with: | |
| path: ~/opensim_dependencies_install | |
| # If Homebrew updates the gcc package, then our cache of IPOPT is invalid. | |
| # Specifically, the pkgcfg_lib_IPOPT_gfortran CMake variable becomes | |
| # undefined. | |
| key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }}-${{ hashFiles('gfortran_version/*') }} | |
| - name: Build dependencies | |
| if: steps.cache-dependencies.outputs.cache-hit != 'true' | |
| run: | | |
| mkdir $GITHUB_WORKSPACE/../build_deps | |
| cd $GITHUB_WORKSPACE/../build_deps | |
| DEP_CMAKE_ARGS=($GITHUB_WORKSPACE/dependencies -LAH) | |
| DEP_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install) | |
| DEP_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release) | |
| DEP_CMAKE_ARGS+=(-DSUPERBUILD_ezc3d=ON) | |
| DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_TROPTER=ON) | |
| DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=ON) | |
| DEP_CMAKE_ARGS+=(-DOPENSIM_DISABLE_LOG_FILE=ON) | |
| DEP_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11) | |
| printf '%s\n' "${DEP_CMAKE_ARGS[@]}" | |
| cmake "${DEP_CMAKE_ARGS[@]}" | |
| make --jobs 4 | |
| - name: Configure opensim-core | |
| id: configure | |
| run: | | |
| mkdir $GITHUB_WORKSPACE/../build | |
| cd $GITHUB_WORKSPACE/../build | |
| OSIM_CMAKE_ARGS=($GITHUB_WORKSPACE -LAH) | |
| OSIM_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/../opensim-core-install) | |
| OSIM_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install) | |
| OSIM_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_C3D_PARSER=ezc3d) | |
| OSIM_CMAKE_ARGS+=(-DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on) | |
| OSIM_CMAKE_ARGS+=(-DSWIG_EXECUTABLE=$HOME/swig/bin/swig) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_INSTALL_UNIX_FHS=OFF) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_DOXYGEN_USE_MATHJAX=off) | |
| # TODO: Update to simbody.github.io/latest | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_SIMBODY_DOXYGEN_LOCATION="https://simbody.github.io/simtk.org/api_docs/simbody/latest/") | |
| OSIM_CMAKE_ARGS+=(-DCMAKE_CXX_FLAGS="-Werror, -Wdeprecated-copy") | |
| printf '%s\n' "${OSIM_CMAKE_ARGS[@]}" | |
| cmake "${OSIM_CMAKE_ARGS[@]}" | |
| VERSION=`cmake -L . | grep OPENSIM_QUALIFIED_VERSION | cut -d "=" -f2` | |
| echo $VERSION | |
| echo "VERSION=$VERSION" >> $GITHUB_ENV | |
| echo "version=$VERSION" >> $GITHUB_OUTPUT | |
| - name: Build opensim-core | |
| run: | | |
| cd $GITHUB_WORKSPACE/../build | |
| make --jobs 4 | |
| - name: Test opensim-core | |
| run: | | |
| cd $GITHUB_WORKSPACE/../build | |
| ctest --parallel 4 --output-on-failure | |
| - name: Install opensim-core | |
| run: | | |
| cd $GITHUB_WORKSPACE/../build | |
| make doxygen | |
| make install | |
| cd $GITHUB_WORKSPACE | |
| mv $GITHUB_WORKSPACE/../opensim-core-install opensim-core-${{ steps.configure.outputs.version }} | |
| zip --symlinks --recurse-paths --quiet opensim-core-${{ steps.configure.outputs.version }}.zip opensim-core-${{ steps.configure.outputs.version }} | |
| mv opensim-core-${{ steps.configure.outputs.version }} $GITHUB_WORKSPACE/../opensim-core-install | |
| - name: Test Python bindings | |
| run: | | |
| cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python | |
| # Run the python tests, verbosely. | |
| python3 -m unittest discover --start-directory opensim/tests --verbose | |
| - name: Upload opensim-core | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| # The upload-artifact zipping does not preserve symlinks or executable | |
| # bits. So we zip ourselves, even though this causes a double-zip. | |
| name: opensim-core-${{ steps.configure.outputs.version }}-mac | |
| path: opensim-core-${{ steps.configure.outputs.version }}.zip | |
| performance_analysis_win: | |
| name: Performance Analysis (Windows) | |
| env: | |
| GH_TOKEN: ${{ github.token }} | |
| needs: | |
| - windows2022_target | |
| - windows2022_source | |
| runs-on: macos-12 | |
| if: ${{ contains(github.event.pull_request.title, '[perf-win]') || contains(github.event.pull_request.body, '[perf-win]') }} | |
| steps: | |
| - name: Trigger opensim-perf workflow | |
| uses: Codex-/[email protected] | |
| id: return_dispatch | |
| with: | |
| token: ${{ secrets.PERF_DISPATCH_PAT }} | |
| repo: opensim-perf | |
| owner: opensim-org | |
| ref: main | |
| workflow: performance_analysis_win.yml | |
| workflow_inputs: '{"commit_sha": "${{ github.event.pull_request.head.sha }}", "target_artifact_name": "opensim-core-${{ github.event.pull_request.base.ref }}-win", "source_artifact_name": "opensim-core-${{ needs.windows2022_source.outputs.version }}-win", "target_artifact_zip": "opensim-core-${{ github.event.pull_request.base.ref }}.zip", "source_artifact_zip": "opensim-core-${{ needs.windows2022_source.outputs.version }}.zip"}' | |
| - name: Await opensim-perf workflow | |
| uses: Codex-/[email protected] | |
| with: | |
| token: ${{ secrets.PERF_DISPATCH_PAT }} | |
| repo: opensim-perf | |
| owner: opensim-org | |
| run_id: ${{ steps.return_dispatch.outputs.run_id }} | |
| run_timeout_seconds: 10000 | |
| - name: Download performance analysis results | |
| id: download-artifact | |
| uses: dawidd6/[email protected] | |
| with: | |
| github_token: ${{ secrets.PERF_DISPATCH_PAT }} | |
| run_id: ${{ steps.return_dispatch.outputs.run_id }} | |
| workflow: performance_analysis_win.yml | |
| name: performance-results | |
| path: results | |
| repo: opensim-org/opensim-perf | |
| - name: Post results to pull request description | |
| run: | | |
| PR_NUMBER=$(jq --raw-output .pull_request.number "$GITHUB_EVENT_PATH") | |
| EXISTING_COMMENT_CONTENT=$(gh api /repos/opensim-org/opensim-core/pulls/${PR_NUMBER} | jq -r '.body') | |
| CUSTOM_HEADER="### Performance analysis" | |
| REVIEWABLE_TAG="<!-- Reviewable:start -->" | |
| REVIEWABLE_CONTENT="" | |
| if [[ $EXISTING_COMMENT_CONTENT == *"$REVIEWABLE_TAG"* ]]; then | |
| REVIEWABLE_CONTENT=$(echo "$EXISTING_COMMENT_CONTENT" | awk "/$REVIEWABLE_TAG/,0") | |
| fi | |
| if [[ $EXISTING_COMMENT_CONTENT == *"$CUSTOM_HEADER"* ]]; then | |
| CONTENT_TO_REPLACE=$(echo "$EXISTING_COMMENT_CONTENT" | awk "/$CUSTOM_HEADER/,0") | |
| else | |
| CONTENT_TO_REPLACE=${REVIEWABLE_CONTENT} | |
| fi | |
| NEW_CONTENT="${CUSTOM_HEADER} | |
| Platform: Windows, self-hosted runner | |
| $(cat results/performance_results.md) | |
| ${REVIEWABLE_CONTENT} | |
| " | |
| NEW_COMMENT_BODY="${EXISTING_COMMENT_CONTENT/"${CONTENT_TO_REPLACE}"/${NEW_CONTENT}}" | |
| # Update the existing description | |
| gh api \ | |
| --method PATCH \ | |
| -H "Content-Type: application/json" \ | |
| -H "Accept: application/vnd.github.v3+json" \ | |
| -H "Authorization: Bearer ${{ secrets.GITHUB_TOKEN }}" \ | |
| repos/opensim-org/opensim-core/pulls/${PR_NUMBER} \ | |
| -f "body=${NEW_COMMENT_BODY}" | |
| performance_analysis_mac: | |
| name: Performance Analysis (Mac) | |
| env: | |
| GH_TOKEN: ${{ github.token }} | |
| needs: | |
| - mac_target | |
| - mac_source | |
| runs-on: macos-12 | |
| if: ${{ contains(github.event.pull_request.title, '[perf-mac]') || contains(github.event.pull_request.body, '[perf-mac]') }} | |
| steps: | |
| - name: Trigger opensim-perf workflow | |
| uses: Codex-/[email protected] | |
| id: return_dispatch | |
| with: | |
| token: ${{ secrets.PERF_DISPATCH_PAT }} | |
| repo: opensim-perf | |
| owner: opensim-org | |
| ref: main | |
| workflow: performance_analysis_mac.yml | |
| workflow_inputs: '{"commit_sha": "${{ github.event.pull_request.head.sha }}", "target_artifact_name": "opensim-core-${{ github.event.pull_request.base.ref }}-mac", "source_artifact_name": "opensim-core-${{ needs.mac_source.outputs.version }}-mac", "target_artifact_zip": "opensim-core-${{ github.event.pull_request.base.ref }}.zip", "source_artifact_zip": "opensim-core-${{ needs.mac_source.outputs.version }}.zip"}' | |
| - name: Await opensim-perf workflow | |
| uses: Codex-/[email protected] | |
| with: | |
| token: ${{ secrets.PERF_DISPATCH_PAT }} | |
| repo: opensim-perf | |
| owner: opensim-org | |
| run_id: ${{ steps.return_dispatch.outputs.run_id }} | |
| run_timeout_seconds: 10000 | |
| - name: Download performance analysis results | |
| id: download-artifact | |
| uses: dawidd6/[email protected] | |
| with: | |
| github_token: ${{ secrets.PERF_DISPATCH_PAT }} | |
| run_id: ${{ steps.return_dispatch.outputs.run_id }} | |
| workflow: performance_analysis_mac.yml | |
| name: performance-results | |
| path: results | |
| repo: opensim-org/opensim-perf | |
| - name: Post results to pull request description | |
| run: | | |
| PR_NUMBER=$(jq --raw-output .pull_request.number "$GITHUB_EVENT_PATH") | |
| EXISTING_COMMENT_CONTENT=$(gh api /repos/opensim-org/opensim-core/pulls/${PR_NUMBER} | jq -r '.body') | |
| CUSTOM_HEADER="### Performance analysis" | |
| REVIEWABLE_TAG="<!-- Reviewable:start -->" | |
| REVIEWABLE_CONTENT="" | |
| if [[ $EXISTING_COMMENT_CONTENT == *"$REVIEWABLE_TAG"* ]]; then | |
| REVIEWABLE_CONTENT=$(echo "$EXISTING_COMMENT_CONTENT" | awk "/$REVIEWABLE_TAG/,0") | |
| fi | |
| if [[ $EXISTING_COMMENT_CONTENT == *"$CUSTOM_HEADER"* ]]; then | |
| CONTENT_TO_REPLACE=$(echo "$EXISTING_COMMENT_CONTENT" | awk "/$CUSTOM_HEADER/,0") | |
| else | |
| CONTENT_TO_REPLACE=${REVIEWABLE_CONTENT} | |
| fi | |
| NEW_CONTENT="${CUSTOM_HEADER} | |
| Platform: Mac, GitHub Actions runner | |
| $(cat results/performance_results.md) | |
| ${REVIEWABLE_CONTENT} | |
| " | |
| NEW_COMMENT_BODY="${EXISTING_COMMENT_CONTENT/"${CONTENT_TO_REPLACE}"/${NEW_CONTENT}}" | |
| # Update the existing description | |
| gh api \ | |
| --method PATCH \ | |
| -H "Content-Type: application/json" \ | |
| -H "Accept: application/vnd.github.v3+json" \ | |
| -H "Authorization: Bearer ${{ secrets.GITHUB_TOKEN }}" \ | |
| repos/opensim-org/opensim-core/pulls/${PR_NUMBER} \ | |
| -f "body=${NEW_COMMENT_BODY}" | |
| ubuntu20: | |
| name: Ubuntu2004 | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Install Python packages | |
| uses: actions/setup-python@v4 | |
| with: | |
| python-version: '3.10' | |
| - name: Install Numpy | |
| run: | | |
| pip install pip --upgrade | |
| pip install numpy==1.25 | |
| - name: Install packages | |
| run: sudo apt-get update && sudo apt-get install --yes build-essential libtool autoconf pkg-config gfortran libopenblas-dev liblapack-dev freeglut3-dev libxi-dev libxmu-dev doxygen patchelf | |
| - name: Install SWIG | |
| # if: steps.cache-swig.outputs.cache-hit != 'true' | |
| run: | | |
| mkdir ~/swig-source && cd ~/swig-source | |
| wget https://github.com/swig/swig/archive/refs/tags/v4.1.1.tar.gz | |
| tar xzf v4.1.1.tar.gz && cd swig-4.1.1 | |
| sh autogen.sh && ./configure --prefix=$HOME/swig --disable-ccache | |
| make && make -j4 install | |
| - name: Cache dependencies | |
| id: cache-dependencies | |
| uses: actions/cache@v3 | |
| with: | |
| path: ~/opensim_dependencies_install | |
| key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }} | |
| - name: Build dependencies | |
| # if: steps.cache-dependencies.outputs.cache-hit != 'true' | |
| run: | | |
| mkdir $GITHUB_WORKSPACE/../build_deps | |
| cd $GITHUB_WORKSPACE/../build_deps | |
| DEP_CMAKE_ARGS=($GITHUB_WORKSPACE/dependencies -LAH) | |
| DEP_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install) | |
| DEP_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release) | |
| DEP_CMAKE_ARGS+=(-DSUPERBUILD_ezc3d=ON) | |
| DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_TROPTER=ON) | |
| DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=ON) | |
| printf '%s\n' "${DEP_CMAKE_ARGS[@]}" | |
| cmake "${DEP_CMAKE_ARGS[@]}" | |
| make --jobs 4 | |
| - name: Configure opensim-core | |
| id: configure | |
| run: | | |
| mkdir $GITHUB_WORKSPACE/../build | |
| cd $GITHUB_WORKSPACE/../build | |
| OSIM_CMAKE_ARGS=($GITHUB_WORKSPACE -LAH) | |
| OSIM_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/../opensim-core-install) | |
| OSIM_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_C3D_PARSER=ezc3d) | |
| OSIM_CMAKE_ARGS+=(-DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on) | |
| OSIM_CMAKE_ARGS+=(-DSWIG_DIR=~/swig/share/swig) | |
| OSIM_CMAKE_ARGS+=(-DSWIG_EXECUTABLE=~/swig/bin/swig) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_INSTALL_UNIX_FHS=OFF) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_DOXYGEN_USE_MATHJAX=off) | |
| # TODO: Update to simbody.github.io/latest | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_SIMBODY_DOXYGEN_LOCATION="https://simbody.github.io/simtk.org/api_docs/simbody/latest/") | |
| OSIM_CMAKE_ARGS+=(-DCMAKE_CXX_FLAGS="-Werror") | |
| printf '%s\n' "${OSIM_CMAKE_ARGS[@]}" | |
| cmake "${OSIM_CMAKE_ARGS[@]}" | |
| VERSION=`cmake -L . | grep OPENSIM_QUALIFIED_VERSION | cut -d "=" -f2` | |
| echo $VERSION | |
| echo "VERSION=$VERSION" >> $GITHUB_ENV | |
| echo "version=$VERSION" >> $GITHUB_OUTPUT | |
| - name: Build opensim-core | |
| run: | | |
| cd $GITHUB_WORKSPACE/../build | |
| make --jobs 4 | |
| - name: Test opensim-core | |
| run: | | |
| cd $GITHUB_WORKSPACE/../build | |
| # TODO: Temporary for python to find Simbody libraries. | |
| export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$HOME/opensim_dependencies_install/simbody/lib | |
| ctest --parallel 4 --output-on-failure | |
| - name: Install opensim-core | |
| run: | | |
| cd $GITHUB_WORKSPACE/../build | |
| make doxygen | |
| make --jobs 4 install | |
| cd $GITHUB_WORKSPACE | |
| mv $GITHUB_WORKSPACE/../opensim-core-install opensim-core-${{ steps.configure.outputs.version }} | |
| zip --symlinks --recurse-paths --quiet opensim-core-${{ steps.configure.outputs.version }}-ub20.zip opensim-core-${{ steps.configure.outputs.version }} | |
| mv opensim-core-${{ steps.configure.outputs.version }} $GITHUB_WORKSPACE/../opensim-core-install | |
| # - name: Test Python bindings | |
| # run: | | |
| # echo "TODO: Skipping Python tests." | |
| # # cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python | |
| # # Run the python tests, verbosely. | |
| # # python3 -m unittest discover --start-directory opensim/tests --verbose | |
| - name: Upload opensim-core | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| # The upload-artifact zipping does not preserve symlinks or executable | |
| # bits. So we zip ourselves, even though this causes a double-zip. | |
| name: opensim-core-${{ steps.configure.outputs.version }}-ub20-linux | |
| path: opensim-core-${{ steps.configure.outputs.version }}-ub20.zip | |
| ubuntu20-nomoco: | |
| name: Ubuntu2004-nomoco | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Install Python packages | |
| uses: actions/setup-python@v4 | |
| with: | |
| python-version: '3.10' | |
| - name: Install Numpy | |
| run: | | |
| pip install pip --upgrade | |
| pip install numpy==1.25 | |
| - name: Install packages | |
| run: sudo apt-get update && sudo apt-get install --yes build-essential libtool autoconf pkg-config gfortran libopenblas-dev liblapack-dev freeglut3-dev libxi-dev libxmu-dev doxygen patchelf | |
| - name: Install SWIG | |
| # if: steps.cache-swig.outputs.cache-hit != 'true' | |
| run: | | |
| mkdir ~/swig-source && cd ~/swig-source | |
| wget https://github.com/swig/swig/archive/refs/tags/v4.1.1.tar.gz | |
| tar xzf v4.1.1.tar.gz && cd swig-4.1.1 | |
| sh autogen.sh && ./configure --prefix=$HOME/swig --disable-ccache | |
| make && make -j4 install | |
| - name: Cache dependencies | |
| id: cache-dependencies | |
| uses: actions/cache@v3 | |
| with: | |
| path: ~/opensim_dependencies_install | |
| key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }} | |
| - name: Build dependencies | |
| if: steps.cache-dependencies.outputs.cache-hit != 'true' | |
| run: | | |
| mkdir $GITHUB_WORKSPACE/../build_deps | |
| cd $GITHUB_WORKSPACE/../build_deps | |
| DEP_CMAKE_ARGS=($GITHUB_WORKSPACE/dependencies -LAH) | |
| DEP_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install) | |
| DEP_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release) | |
| DEP_CMAKE_ARGS+=(-DSUPERBUILD_ezc3d=ON) | |
| DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_TROPTER=OFF) | |
| DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=OFF) | |
| printf '%s\n' "${DEP_CMAKE_ARGS[@]}" | |
| cmake "${DEP_CMAKE_ARGS[@]}" | |
| make --jobs 4 | |
| - name: Configure opensim-core | |
| id: configure | |
| run: | | |
| mkdir $GITHUB_WORKSPACE/../build | |
| cd $GITHUB_WORKSPACE/../build | |
| OSIM_CMAKE_ARGS=($GITHUB_WORKSPACE -LAH) | |
| OSIM_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/../opensim-core-install) | |
| OSIM_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_C3D_PARSER=ezc3d) | |
| OSIM_CMAKE_ARGS+=(-DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on) | |
| OSIM_CMAKE_ARGS+=(-DSWIG_DIR=~/swig/share/swig) | |
| OSIM_CMAKE_ARGS+=(-DSWIG_EXECUTABLE=~/swig/bin/swig) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_INSTALL_UNIX_FHS=OFF) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_DOXYGEN_USE_MATHJAX=off) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_WITH_TROPTER=off) | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=off) | |
| # TODO: Update to simbody.github.io/latest | |
| OSIM_CMAKE_ARGS+=(-DOPENSIM_SIMBODY_DOXYGEN_LOCATION="https://simbody.github.io/simtk.org/api_docs/simbody/latest/") | |
| OSIM_CMAKE_ARGS+=(-DCMAKE_CXX_FLAGS="-Werror") | |
| printf '%s\n' "${OSIM_CMAKE_ARGS[@]}" | |
| cmake "${OSIM_CMAKE_ARGS[@]}" | |
| VERSION=`cmake -L . | grep OPENSIM_QUALIFIED_VERSION | cut -d "=" -f2` | |
| echo $VERSION | |
| echo "VERSION=$VERSION" >> $GITHUB_ENV | |
| echo "version=$VERSION" >> $GITHUB_OUTPUT | |
| - name: Build opensim-core | |
| run: | | |
| cd $GITHUB_WORKSPACE/../build | |
| make --jobs 4 | |
| - name: Test opensim-core | |
| run: | | |
| cd $GITHUB_WORKSPACE/../build | |
| # TODO: Temporary for python to find Simbody libraries. | |
| export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$HOME/opensim_dependencies_install/simbody/lib | |
| # ctest --parallel 4 --output-on-failure | |
| - name: Install opensim-core | |
| run: | | |
| cd $GITHUB_WORKSPACE/../build | |
| make doxygen | |
| make --jobs 4 install | |
| cd $GITHUB_WORKSPACE | |
| mv $GITHUB_WORKSPACE/../opensim-core-install opensim-core-${{ steps.configure.outputs.version }} | |
| zip --symlinks --recurse-paths --quiet opensim-core-${{ steps.configure.outputs.version }}-ub20.zip opensim-core-${{ steps.configure.outputs.version }} | |
| mv opensim-core-${{ steps.configure.outputs.version }} $GITHUB_WORKSPACE/../opensim-core-install | |
| # - name: Test Python bindings | |
| # run: | | |
| # echo "TODO: Skipping Python tests." | |
| # # cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python | |
| # # Run the python tests, verbosely. | |
| # # python3 -m unittest discover --start-directory opensim/tests --verbose | |
| - name: Upload opensim-core | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| # The upload-artifact zipping does not preserve symlinks or executable | |
| # bits. So we zip ourselves, even though this causes a double-zip. | |
| name: opensim-core-${{ steps.configure.outputs.version }}-ub20-nomoco-linux | |
| path: opensim-core-${{ steps.configure.outputs.version }}-ub20.zip | |
| windows2022-gui: | |
| name: Windows2022-gui | |
| runs-on: windows-2022 | |
| env: | |
| GH_TOKEN: ${{ github.token }} | |
| if: ${{ contains(github.event.pull_request.title, '[build-gui]') || contains(github.event.pull_request.body, '[build-gui]') }} | |
| steps: | |
| - name: Dispatch opensim-gui workflow and get the run ID | |
| uses: codex-/return-dispatch@v1 | |
| id: return_dispatch | |
| with: | |
| token: ${{ secrets.ACTION_SECRET }} | |
| ref: refs/heads/main | |
| repo: opensim-gui | |
| owner: opensim-org | |
| workflow: build-on-core-pr.yml | |
| - name: Use the output run ID | |
| run: echo ${{steps.return_dispatch.outputs.run_id}} | |
| - name: Await opensim-gui workflow | |
| uses: Codex-/[email protected] | |
| with: | |
| token: ${{ secrets.ACTION_SECRET }} | |
| repo: opensim-gui | |
| owner: opensim-org | |
| run_id: ${{ steps.return_dispatch.outputs.run_id }} | |
| run_timeout_seconds: 10000 | |
| style: | |
| name: Style | |
| runs-on: ubuntu-20.04 | |
| steps: | |
| - uses: actions/checkout@v3 | |
| - name: Check for tabs | |
| # Ensure that there are no tabs in source code. | |
| # GREP returns 0 (true) if there are any matches, and | |
| # we don't want any matches. If there are matches, | |
| # print a helpful message, and make the test fail by using "false". | |
| # The GREP command here checks for any tab characters in the the files | |
| # that match the specified pattern. GREP does not pick up explicit tabs | |
| # (e.g., literally a \t in a source file). | |
| run: if grep --line-num --recursive --exclude-dir="*dependencies*" --exclude-dir="*snopt*" --include={CMakeLists.txt,*.cpp,*.c,*.h} -P "\t" . ; then echo "Tabs found in the lines shown above. See CONTRIBUTING.md about tabs."; false; fi |