Unverified Commit e9ec3bdf authored by Peder Bergebakken Sundt's avatar Peder Bergebakken Sundt Committed by GitHub
Browse files

dartsim: clean (#432498)

parents 1a3c1b05 321ec842

pkgs/by-name/da/dartsim/package.nix

+50 −40
Original line number Diff line number Diff line
@@ -2,12 +2,14 @@ 
  lib,

  stdenv,

  fetchFromGitHub,

  fetchpatch,



  pythonSupport ? false,

  python3Packages,



  # nativeBuildInputs

  cmake,

  doxygen,

  pkg-config,



  # propagatedBuildInputs
@@ -17,19 +19,22 @@ 
  bullet,

  eigen,

  fcl,

  flann,

  fmt,

  libglut,

  nlopt,

  imgui,

  ipopt,

  lapack,

  libGL,

  libGLU,

  libccd,

  nlopt,

  ode,

  openscenegraph,

  pagmo2,

  tinyxml-2,

  urdfdom,

  urdfdom-headers,



  # checkInputs

  gbenchmark,
@@ -47,46 +52,46 @@ stdenv.mkDerivation (finalAttrs: { 
    hash = "sha256-ik6FwrN5Ta1LinrXpZZc7AmzdFPoLjG07/zo1IZdmgI=";

  };



  patches = [

    # disable failing tests. CMAKE_CTEST_ARGUMENTS does not work.

  patches = [ ./disable-failing-tests.patch ];

    ./disable-failing-tests.patch

    # Fix use of system gbenchmark, merged upstream

    # ref. https://github.com/dartsim/dart/pull/1904

    (fetchpatch {

      url = "https://github.com/dartsim/dart/commit/c18c48a1b0beff6660b9923e8a6f8f09a86a6039.patch";

      hash = "sha256-i8Ga0FGVQ3OMprEoGEwVy0j139wjnmR6ABxr/3syhzw=";

    })

    # Fix use of system pybind11, merged upstream

    # ref. https://github.com/dartsim/dart/pull/1907

    (fetchpatch {

      url = "https://github.com/dartsim/dart/commit/940c425c19e50a9ded2629422db54785802143af.patch";

      hash = "sha256-T3992uD0Z36tTxlcFaikVaLt08N9EP4gOHP0Y2AFBzQ=";

    })

    # fix use of absolute CMake paths in .pc, merged upstream

    # ref. https://github.com/dartsim/dart/pull/2006

    (fetchpatch {

      url = "https://github.com/dartsim/dart/commit/6f3d6086780a311ef6e1928697f56a4d845ae028.patch";

      hash = "sha256-sfbTm9C74fl7lVnGPZ1h3cvKXILHhkeNYxd/BpSQvg8=";

    })

  ];



  # Install python bindings

  postPatch = ''

    # https://github.com/dartsim/dart/pull/1904, merged upstream

    substituteInPlace tests/benchmark/CMakeLists.txt \

      --replace-fail \

        "FetchContent_MakeAvailable(benchmark)" \

        "find_package(benchmark REQUIRED)"



    # https://github.com/dartsim/dart/pull/1907, merged upstream

    substituteInPlace python/CMakeLists.txt \

      --replace-fail \

        "FetchContent_MakeAvailable(pybind11)" \

        "find_package(pybind11 CONFIG REQUIRED)"



    # fix use of absolute CMake paths in .pc

    substituteInPlace CMakeLists.txt \

      --replace-fail \

        "$""{CMAKE_INSTALL_PREFIX}/$""{CMAKE_INSTALL_LIBDIR}" \

        "$""{CMAKE_INSTALL_LIBDIR}"

    substituteInPlace cmake/dart.pc.in \

      --replace-fail \

        "libdir=$""{prefix}/" \

        "libdir=" \

      --replace-fail \

        "includedir=$""{prefix}/" \

        "includedir="



    # install python bindings

    substituteInPlace python/dartpy/CMakeLists.txt \

      --replace-fail \

        "EXCLUDE_FROM_ALL" \

        ""

    echo "install(TARGETS $""{pybind_module} DESTINATION ${python3Packages.python.sitePackages})" \

      >> python/dartpy/CMakeLists.txt

  '';



  buildFlags = [

    # build unit tests

    "tests"

  ]

  ++ lib.optionals pythonSupport [

    "dartpy"

  ];



  nativeBuildInputs = [

    cmake

    doxygen

    pkg-config

  ]

  ++ lib.optionals pythonSupport [
@@ -95,27 +100,29 @@ stdenv.mkDerivation (finalAttrs: { 
  ];



  propagatedBuildInputs = [

    assimp

    blas

    boost

    assimp

    bullet

    eigen

    fcl

    flann

    fmt

    libglut

    gbenchmark

    nlopt

    # requires imgui_impl_opengl2.h

    (imgui.override { IMGUI_BUILD_OPENGL2_BINDING = true; })

    ipopt

    lapack

    libGL

    libGLU

    libccd

    nlopt

    ode

    openscenegraph

    pagmo2

    tinyxml-2

    urdfdom

    urdfdom-headers

  ]

  ++ lib.optionals pythonSupport [

    python3Packages.numpy
@@ -125,26 +132,29 @@ stdenv.mkDerivation (finalAttrs: { 
    gbenchmark

    gtest

  ];



  nativeCheckInputs = lib.optionals pythonSupport [

    python3Packages.pytest

    python3Packages.pythonImportsCheckHook

  ];



  doCheck = true;

  # build unit tests

  preCheck = "make tests";



  pythonImportsCheck = [ "dartpy" ];



  cmakeFlags = [

    (lib.cmakeBool "DART_VERBOSE" true)

    (lib.cmakeBool "DART_BUILD_DARTPY" pythonSupport)

    (lib.cmakeBool "DART_USE_SYSTEM_IMGUI" true)

    (lib.cmakeBool "DART_USE_SYSTEM_GOOGLEBENCHMARK" true)

    (lib.cmakeBool "DART_USE_SYSTEM_GOOGLETEST" true)

    (lib.cmakeBool "DART_USE_SYSTEM_IMGUI" true)

    (lib.cmakeBool "DART_USE_SYSTEM_PYBIND11" true)

  ];



  meta = {

    description = "DART: Dynamic Animation and Robotics Toolkit";

    homepage = "https://github.com/dartsim/dart";

    changelog = "https://github.com/dartsim/dart/blob/v${finalAttrs.version}/CHANGELOG.md";

    changelog = "https://github.com/dartsim/dart/blob/${finalAttrs.src.tag}/CHANGELOG.md";

    license = lib.licenses.bsd2;

    maintainers = with lib.maintainers; [ nim65s ];

    platforms = lib.platforms.unix ++ lib.platforms.windows;