pixi.toml

[project]
name = "DART"
version = "6.14.0"
description = "Dynamic Animation and Robotics Toolkit"
authors = ["Jeongseok Lee <jslee02@gmail.com>"]
channels = ["conda-forge"]
platforms = ["linux-64", "osx-64", "osx-arm64", "win-64"]

[build-dependencies]
cmake = "3.22.*"
ninja = ">=1.11.1,<1.12"
pkg-config = ">=0.29.2,<0.30"
pytest = ">=8.1.1,<8.2"
doxygen = ">=1.10.0,<1.11"
setuptools = ">=69.1.1,<69.2"
black = ">=24.2.0,<24.3"
isort = ">=5.13.2,<5.14"
pip = ">=24.0,<25"
pipx = ">=1.4.3,<1.5"

[dependencies]
assimp = ">=5.3.1,<5.4"
bullet-cpp = ">=3.25,<4"
console_bridge = ">=1.0.2,<1.1"
eigen = ">=3.4.0,<3.5"
fcl = ">=0.7.0,<0.8"
fmt = ">=10.2.1,<10.3"
libode = ">=0.16.2,<0.17"
octomap = ">=1.9.8,<1.10"
openscenegraph = ">=3.6.5,<3.7"
spdlog = ">=1.12.0,<1.13"
tinyxml2 = ">=10.0.0,<10.1"
urdfdom = ">=4.0.0,<4.1"
ipopt = ">=3.14.14,<3.15"
nlopt = ">=2.7.1,<2.8"
pagmo = ">=2.19.0,<2.20"
numpy = ">=1.26.4,<1.27"

[tasks]
clean = { cmd = "rm -rf build && rm -rf .deps && rm -rf .pixi && rm pixi.lock" }

configure-local = { cmd = "cmake -G Ninja -S . -B build -DDART_VERBOSE=ON -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX" }
install-local = { cmd = "cmake --install build --prefix $CONDA_PREFIX", depends_on = [
    "configure_local",
    "build",
] }

configure = { cmd = "cmake -G Ninja -S . -B build -DCMAKE_BUILD_TYPE=Release -DDART_VERBOSE=ON -DDART_USE_SYSTEM_IMGUI=ON" }

lint = { cmd = "cmake --build build --target format && black . && isort .", depends_on = [
    "configure",
] }
check-lint = { cmd = "cmake --build build --target check-format && black . --check && isort . --check", depends_on = [
    "configure",
] }

build = { cmd = "cmake --build build -j --target all", depends_on = [
    "configure",
] }
build-tests = { cmd = "cmake --build build -j --target tests", depends_on = [
    "configure",
] }
build-dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [
    "configure",
] }

test = { cmd = "ctest --test-dir build --output-on-failure", depends_on = [
    "build-tests",
] }
test-dartpy = { cmd = "cmake --build build -j --target pytest", depends_on = [
    "configure",
] }
test-all = { cmd = "cmake --build build -j --target ALL", depends_on = [
    "configure",
] }

example-hello-world = { cmd = "cmake --build build --target hello_world --parallel && ./build/bin/hello_world", depends_on = [
    "configure",
] }
example-atlas-puppet = { cmd = "cmake --build build --target atlas_puppet --parallel && ./build/bin/atlas_puppet", depends_on = [
    "configure",
] }
example-atlas-simbicon = { cmd = "cmake --build build --target atlas_simbicon --parallel && ./build/bin/atlas_simbicon", depends_on = [
    "configure",
] }

bm-boxes = { cmd = "cmake --build build --target BM_INTEGRATION_boxes --parallel && ./build/bin/BM_INTEGRATION_boxes", depends_on = [
    "configure",
] }
bm-empty = { cmd = "cmake --build build --target BM_INTEGRATION_empty --parallel && ./build/bin/BM_INTEGRATION_empty", depends_on = [
    "configure",
] }
bm-kinematics = { cmd = "cmake --build build --target BM_INTEGRATION_kinematics --parallel && ./build/bin/BM_INTEGRATION_kinematics", depends_on = [
    "configure",
] }

create-deps-dir = { cmd = "mkdir -p .deps" }
remove-deps-dir = { cmd = "rm -rf .deps" }

################################################################################
# linux-64
################################################################################

[target.linux-64.build-dependencies]
clang-format-14 = ">=14.0.6,<14.1"

[target.linux-64.dependencies]
freeglut = ">=3.2.2,<3.3"
imgui = ">=1.90.4,<1.91"

[target.linux-64.tasks]
tracy = { cmd = "docker run --rm -d -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix:rw --net=host tracy-profiler" }

################################################################################
# osx-64
################################################################################

[target.osx-64.build-dependencies]
clang-format-14 = ">=14.0.6,<14.1"

[target.osx-64.dependencies]
imgui = ">=1.90.4,<1.91"

[target.osx-64.tasks]

################################################################################
# osx-arm64
################################################################################

[target.osx-arm64.build-dependencies]
clang-format-14 = ">=14.0.6,<14.1"

[target.osx-arm64.dependencies]
imgui = ">=1.90.4,<1.91"

[target.osx-arm64.tasks]

################################################################################
# win-64
################################################################################

[target.win-64.dependencies]
freeglut = ">=3.2.2,<3.3"

[target.win-64.tasks]
configure = { cmd = "cmake -S . -B build -G 'Visual Studio 17 2022' -DDART_VERBOSE=ON -DDART_MSVC_DEFAULT_OPTIONS=ON -DBUILD_SHARED_LIBS=OFF -DDART_USE_SYSTEM_IMGUI=OFF" }
lint = { cmd = "black . && isort .", depends_on = ["configure"] }
check-lint = { cmd = "black . --check && isort . --check", depends_on = [
    "configure",
] }
build = { cmd = "cmake --build build --config Release -j", depends_on = [
    "configure",
] }
build-tests = { cmd = "cmake --build build --config Release -j --target tests", depends_on = [
    "configure",
] }
build-dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [
    "configure",
] }
test = { cmd = "ctest --test-dir build --build-config Release --output-on-failure", depends_on = [
    "build-tests",
] }
test-dartpy = { cmd = "cmake --build build --config Release -j --target pytest", depends_on = [
    "configure",
] }
test-all = { cmd = "cmake --build build --config Release -j --target ALL", depends_on = [
    "configure",
] }