Build opensim-moco 451

.github/workflows/continuous_integration.yml

@@ -2,95 +2,28 @@ 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:
-    runs-on: windows-latest
-
-    steps:
-    - uses: actions/checkout@v1
-
-    - name: Install Python packages
-      uses: actions/setup-python@v2
-      with:
-        python-version: '3.8'
-
-    - name: Install numpy
-      #Need numpy to use SWIG numpy typemaps.
-      run: python -m pip install numpy==1.20
-
-    - uses: conda-incubator/setup-miniconda@v2
-      with:
-        auto-update-conda: true
-        miniconda-version: "latest"
-    - name: Install conda-build
-      run: conda install conda-build
-
-    - name: Conda build
-      run: |
-        chdir $env:GITHUB_WORKSPACE
-        conda build .
-
-    - 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:
-    runs-on: windows-latest
-
-    steps:
-    - uses: actions/checkout@v1
-
-    - name: Install Python packages
-      uses: actions/setup-python@v2
-      with:
-        python-version: '3.9'
-
-    - name: Install numpy
-      #Need numpy to use SWIG numpy typemaps.
-      run: python -m pip install numpy==1.20
-
-    - uses: conda-incubator/setup-miniconda@v2
-      with:
-        auto-update-conda: true
-        miniconda-version: "latest"
-    - name: Install conda-build
-      run: conda install conda-build
-
-    - name: Conda build
-      run: |
-        chdir $env:GITHUB_WORKSPACE
-        conda build .
-
-    - 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
 
+jobs:
   windows310:
     runs-on: windows-latest
 
     steps:
     - uses: actions/checkout@v1
 
     - name: Install Python packages
-      uses: actions/setup-python@v2
+      uses: actions/setup-python@v4
       with:
         python-version: '3.10'
 
     - name: Install numpy
       #Need numpy to use SWIG numpy typemaps.
-      run: python -m pip install numpy==1.21.4
+      run: python -m pip install numpy==1.25
 
     - uses: conda-incubator/setup-miniconda@v2
       with:
@@ -101,29 +34,29 @@ jobs:
 
     - name: Conda build
       run: |
-        chdir $env:GITHUB_WORKSPACE
+        chdir $env:GITHUB_WORKSPACE/opensim
         conda build .
 
     - 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-4.5.1-py310np121.tar.bz2
+        path: C:/Miniconda3/envs/test/conda-bld/win-64/opensim-4.5.1-py310np125.tar.bz2
 
-  windows311:
+  windows310-moco:
     runs-on: windows-latest
 
     steps:
     - uses: actions/checkout@v1
 
     - name: Install Python packages
-      uses: actions/setup-python@v2
+      uses: actions/setup-python@v4
       with:
-        python-version: '3.11'
+        python-version: '3.10'
 
     - name: Install numpy
       #Need numpy to use SWIG numpy typemaps.
-      run: python -m pip install numpy==1.23
+      run: python -m pip install numpy==1.25
 
     - uses: conda-incubator/setup-miniconda@v2
       with:
@@ -134,101 +67,15 @@ jobs:
 
     - name: Conda build
       run: |
-        chdir $env:GITHUB_WORKSPACE
+        chdir $env:GITHUB_WORKSPACE/opensim-moco
         conda build .
 
     - 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
-
-  ubuntu38:
-    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
-          channels: conda-forge,defaults
-          miniconda-version: "latest"
+        name: win64-opensim-moco-4.5.1-py310np125.tar.bz2
+        path: C:/Miniconda3/envs/test/conda-bld/win-64/opensim-moco-4.5.1-py310np125.tar.bz2
 
-      - name: Install Python packages
-        uses: actions/setup-python@v4
-        with:
-          python-version: '3.8'
-
-      - 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
-
-      - name: Install SWIG
-        run: |
-          mkdir ~/swig-source && cd ~/swig-source
-          wget https://github.com/swig/swig/archive/refs/tags/rel-4.0.2.tar.gz
-          tar xzf rel-4.0.2.tar.gz && cd swig-rel-4.0.2
-          sh autogen.sh && ./configure --prefix=$HOME/swig --disable-ccache
-          make && make -j4 install
-
-      - name: Install conda-build
-        run: conda install conda-build
-
-      - name: Conda build
-        run: |
-          cd $GITHUB_WORKSPACE/opensim
-          conda build .
-
-      - name: upload artifact
-        uses: actions/upload-artifact@v2
-        with:
-          name: linux64-opensim-4.4-py38np120.tar.bz2
-          path: /usr/share/miniconda3/conda-bld/linux-64/opensim-4.4-py38np120.tar.bz2
-  ubuntu39:
-    runs-on: ubuntu-20.04
-
-    steps:
-      - uses: actions/checkout@v2
-      - uses: conda-incubator/setup-miniconda@v2
-        with:
-          auto-update-conda: true
-          python-version: 3.9
-          channels: conda-forge,defaults
-          miniconda-version: "latest"
-
-      - name: Install Python packages
-        uses: actions/setup-python@v4
-        with:
-          python-version: '3.9'
-
-      - name: Install numpy
-        #Need numpy to use SWIG numpy typemaps.
-        run: python3 -m pip install numpy==1.20.2
-
-      - name: Install packages
-        run: sudo apt-get update && sudo apt-get install --yes build-essential libtool autoconf pkg-config gfortran libopenblas-dev liblapack-dev freeglut3-dev libxi-dev libxmu-dev doxygen python3 python3-dev python3-numpy python3-setuptools
-
-      - name: Install SWIG
-        run: |
-          mkdir ~/swig-source && cd ~/swig-source
-          wget https://github.com/swig/swig/archive/refs/tags/rel-4.0.2.tar.gz
-          tar xzf rel-4.0.2.tar.gz && cd swig-rel-4.0.2
-          sh autogen.sh && ./configure --prefix=$HOME/swig --disable-ccache
-          make && make -j4 install
-
-      - name: Install conda-build
-        run: conda install conda-build
-
-      - name: Conda build
-        run: |
-          cd $GITHUB_WORKSPACE/opensim
-          conda build .
-
-      - 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:
     runs-on: ubuntu-20.04
 
@@ -248,16 +95,16 @@ jobs:
 
       - name: Install numpy
         #Need numpy to use SWIG numpy typemaps.
-        run: python3 -m pip install numpy==1.21
+        run: python3 -m 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 python3 python3-dev python3-numpy python3-setuptools
 
       - name: Install SWIG
         run: |
           mkdir ~/swig-source && cd ~/swig-source
-          wget https://github.com/swig/swig/archive/refs/tags/rel-4.0.2.tar.gz
-          tar xzf rel-4.0.2.tar.gz && cd swig-rel-4.0.2
+          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
 
@@ -272,38 +119,38 @@ jobs:
       - 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-4.5-py310np121.tar.bz2
+          path: /usr/share/miniconda3/conda-bld/linux-64/opensim-4.5.1-py310np125.tar.bz2
 
-  ubuntu311:
+  ubuntu310-moco:
     runs-on: ubuntu-20.04
 
     steps:
       - uses: actions/checkout@v2
       - uses: conda-incubator/setup-miniconda@v2
         with:
           auto-update-conda: true
-          python-version: '3.11'
+          python-version: '3.10'
           channels: conda-forge,defaults
           miniconda-version: "latest"
 
       - name: Install Python packages
         uses: actions/setup-python@v4
         with:
-          python-version: '3.11'
+          python-version: '3.10'
 
       - name: Install numpy
         #Need numpy to use SWIG numpy typemaps.
-        run: python3 -m pip install numpy==1.23
+        run: python3 -m 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 python3 python3-dev python3-numpy python3-setuptools
 
       - name: Install SWIG
         run: |
           mkdir ~/swig-source && cd ~/swig-source
-          wget https://github.com/swig/swig/archive/refs/tags/rel-4.0.2.tar.gz
-          tar xzf rel-4.0.2.tar.gz && cd swig-rel-4.0.2
+          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
 
@@ -312,14 +159,14 @@ jobs:
 
       - name: Conda build
         run: |
-          cd $GITHUB_WORKSPACE/opensim
+          cd $GITHUB_WORKSPACE/opensim-moco
           conda build .
 
       - 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-4.5.1-py310np125.tar.bz2
+          path: /usr/share/miniconda3/conda-bld/linux-64/opensim-moco-4.5.1-py310np125.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
+