Merge pull request #325214 from nim65s/pin310

{ lib

, stdenv

, fetchFromGitHub

, fetchpatch

, cmake

, boost

, eigen

, example-robot-data

, collisionSupport ? !stdenv.isDarwin

, collisionSupport ? true

, console-bridge

, jrl-cmakemodules

, hpp-fcl

stdenv.mkDerivation (finalAttrs: {

  pname = "pinocchio";

  version = "3.0.0";

  version = "3.1.0";

  src = fetchFromGitHub {

    owner = "stack-of-tasks";

    repo = "pinocchio";

    rev = "v${finalAttrs.version}";

    hash = "sha256-h4NzfS27+jWyHbegxF+pgN6JzJdVAoM16J6G/9uNJc4=";

    hash = "sha256-WgMqb+NHnaxW9/qSZ0UGI4zGxGjh12a5DwtdX9byBiw=";

  };

  prePatch = ''

    # test failure, ref https://github.com/stack-of-tasks/pinocchio/issues/2304

    substituteInPlace unittest/CMakeLists.txt \

      --replace-fail "add_pinocchio_unit_test(contact-cholesky)" ""

  '' + lib.optionalString (stdenv.isLinux && stdenv.isAarch64) ''

    # test failure, ref https://github.com/stack-of-tasks/pinocchio/issues/2304

    substituteInPlace unittest/CMakeLists.txt \

      --replace-fail "add_pinocchio_unit_test(contact-models)" ""

  # test failure, ref https://github.com/stack-of-tasks/pinocchio/issues/2277

  prePatch = lib.optionalString (stdenv.isLinux && stdenv.isAarch64) ''

    substituteInPlace unittest/algorithm/utils/CMakeLists.txt \

      --replace-fail "add_pinocchio_unit_test(force)" ""

  '';

  patches = [

    # fix urdf & collision support on aarch64-darwin

    (fetchpatch {

      name = "static-pointer_cast.patch";

      url = "https://github.com/stack-of-tasks/pinocchio/pull/2339/commits/ead869e8f3cce757851b9a011c4a2f55fb66582b.patch";

      hash = "sha256-CkrWQJP/pPNs6B3a1FclfM7JWwkmsPzRumS46KQHv0s=";

    })

  ];

  # example-robot-data models are used in checks.

  # Upstream provide them as git submodule, but we can use our own version instead.

  postPatch = ''

    ln -s ${example-robot-data.src} models/example-robot-data

  '';

  # CMAKE_BUILD_TYPE defaults to Release in this package,

  # which enable -O3, which break some tests

  # ref. https://github.com/stack-of-tasks/pinocchio/issues/2304#issuecomment-2231018300

  postConfigure = ''

    substituteInPlace CMakeCache.txt --replace-fail '-O3' '-O2'

  '';

  strictDeps = true;

  nativeBuildInputs = [

    (lib.cmakeBool "BUILD_PYTHON_INTERFACE" pythonSupport)

    (lib.cmakeBool "BUILD_WITH_LIBPYTHON" pythonSupport)

    (lib.cmakeBool "BUILD_WITH_COLLISION_SUPPORT" collisionSupport)

  ] ++ lib.optionals (pythonSupport && stdenv.isDarwin) [

    # AssertionError: '.' != '/tmp/nix-build-pinocchio-2.7.0.drv/sou[84 chars].dae'

    "-DCMAKE_CTEST_ARGUMENTS='--exclude-regex;test-py-bindings_geometry_model_urdf'"

  ];

  doCheck = true;