Commit 901faa61 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

pinocchio: enable collision on darwin

parent a168659e

pkgs/development/libraries/pinocchio/default.nix

+11 −4
Original line number Diff line number Diff line 
{ lib

, stdenv

, fetchFromGitHub

, fetchpatch

, cmake

, boost

, eigen

, example-robot-data

, collisionSupport ? !stdenv.isDarwin

, collisionSupport ? true

, console-bridge

, jrl-cmakemodules

, hpp-fcl
@@ -31,6 +32,15 @@ stdenv.mkDerivation (finalAttrs: { 
      --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 = ''
@@ -71,9 +81,6 @@ stdenv.mkDerivation (finalAttrs: { 
    (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;