From 3b1a3a0824b1283d9d52554883d2655da742e93e Mon Sep 17 00:00:00 2001 From: Jeongseok Lee Date: Fri, 5 Jul 2024 19:17:24 -0700 Subject: [PATCH 1/4] [build] Fix GLUT dependency handling on Windows --- dart/gui/CMakeLists.txt | 9 +-------- 1 file changed, 1 insertion(+), 8 deletions(-) diff --git a/dart/gui/CMakeLists.txt b/dart/gui/CMakeLists.txt index b358b4d35f640..ac5966a5b1192 100644 --- a/dart/gui/CMakeLists.txt +++ b/dart/gui/CMakeLists.txt @@ -14,11 +14,6 @@ if(WIN32 AND NOT CYGWIN) else() dart_check_optional_package(GLUT "dart-gui" "freeglut3") endif() -if(GLUT_FOUND) - set(HAVE_GLUT TRUE) -else() - set(HAVE_GLUT FALSE) -endif() # Search all header and source files file(GLOB hdrs "*.hpp" "*.h" "detail/*.hpp") @@ -68,9 +63,7 @@ add_component_dependencies( external-lodepng ) add_component_dependency_packages(${PROJECT_NAME} ${component_name} OpenGL) -if(NOT WIN32 OR CYGWIN) - add_component_dependency_packages(${PROJECT_NAME} ${component_name} GLUT) -endif() +add_component_dependency_packages(${PROJECT_NAME} ${component_name} GLUT) # Add subdirectories add_subdirectory(osg) From 9e8e7e8cf97acbe478e6f38c61d4f9f5cfc5c892 Mon Sep 17 00:00:00 2001 From: Jeongseok Lee Date: Fri, 5 Jul 2024 19:35:33 -0700 Subject: [PATCH 2/4] [build] Add install target as Pixi task --- .github/workflows/ci_macos.yml | 4 ++++ .github/workflows/ci_ubuntu.yml | 4 ++++ .github/workflows/ci_windows.yml | 4 ++++ pixi.toml | 7 +++++++ 4 files changed, 19 insertions(+) diff --git a/.github/workflows/ci_macos.yml b/.github/workflows/ci_macos.yml index d8540157710c8..e7260e1d75c15 100644 --- a/.github/workflows/ci_macos.yml +++ b/.github/workflows/ci_macos.yml @@ -69,3 +69,7 @@ jobs: - name: Test DART and dartpy run: | pixi run test-all + + - name: Install + run: | + pixi run install diff --git a/.github/workflows/ci_ubuntu.yml b/.github/workflows/ci_ubuntu.yml index 0040d27fbd8e0..6cefd7571d6a8 100644 --- a/.github/workflows/ci_ubuntu.yml +++ b/.github/workflows/ci_ubuntu.yml @@ -102,3 +102,7 @@ jobs: - name: Test DART and dartpy run: | pixi run test-all + + - name: Install + run: | + pixi run install diff --git a/.github/workflows/ci_windows.yml b/.github/workflows/ci_windows.yml index fbc2e43f7b149..ca7b9a0a19ec6 100644 --- a/.github/workflows/ci_windows.yml +++ b/.github/workflows/ci_windows.yml @@ -110,3 +110,7 @@ jobs: - name: Test DART and dartpy run: | pixi run test # TODO: Change to test-all + + - name: Install + run: | + pixi run install diff --git a/pixi.toml b/pixi.toml index dacdb5da7bbec..e51acc63b527a 100644 --- a/pixi.toml +++ b/pixi.toml @@ -96,6 +96,10 @@ bm-kinematics = { cmd = "cmake --build build --target BM_INTEGRATION_kinematics "configure", ] } +install = { cmd = "cmake --build build --target install --parallel", depends_on = [ + "build", +] } + create-deps-dir = { cmd = "mkdir -p .deps" } remove-deps-dir = { cmd = "rm -rf .deps" } @@ -168,3 +172,6 @@ test-dartpy = { cmd = "cmake --build build --config Release -j --target pytest", test-all = { cmd = "cmake --build build --config Release -j --target ALL", depends_on = [ "configure", ] } +install = { cmd = "cmake --build build --config Release -j --target install", depends_on = [ + "build", +] } From 02feb56a41413c002578e6dcfa39ec1bd936774b Mon Sep 17 00:00:00 2001 From: Jeongseok Lee Date: Fri, 5 Jul 2024 19:37:09 -0700 Subject: [PATCH 3/4] Update changelog --- CHANGELOG.md | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index f65132de6ddf2..9769016e7262d 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -2,6 +2,18 @@ ## DART 6 +### [DART 6.14.4 (TBD)](https://github.com/dartsim/dart/milestone/81?closed=1) + +* Tested Platforms + + * Linux + * Ubuntu 22.04 LTS / GCC 11.4 / x86_64 + * Ubuntu 24.04 LTS / GCC 13.2 / x86_64 + * macOS 14 / Clang 15 / arm64 + * Windows / MSVC 19.40 / x86_64 + +* Fixed GLUT dependency handling on Windows: [#1827](https://github.com/dartsim/dart/pull/1827) + ### [DART 6.14.3 (2024-07-05)](https://github.com/dartsim/dart/milestone/80?closed=1) * Tested Platforms From 6fd87e383a4a39bc4937123614d7f60d11475e14 Mon Sep 17 00:00:00 2001 From: Jeongseok Lee Date: Fri, 5 Jul 2024 21:59:13 -0700 Subject: [PATCH 4/4] Set -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX --- pixi.toml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/pixi.toml b/pixi.toml index e51acc63b527a..e1eee8e4bfcb6 100644 --- a/pixi.toml +++ b/pixi.toml @@ -47,7 +47,7 @@ install-local = { cmd = "cmake --install build --prefix $CONDA_PREFIX", depends_ "build", ] } -configure = { cmd = "cmake -G Ninja -S . -B build -DCMAKE_BUILD_TYPE=Release -DDART_VERBOSE=ON -DDART_USE_SYSTEM_IMGUI=ON" } +configure = { cmd = "cmake -G Ninja -S . -B build -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=Release -DDART_VERBOSE=ON -DDART_USE_SYSTEM_IMGUI=ON" } lint = { cmd = "cmake --build build --target format && black . && isort .", depends_on = [ "configure", @@ -149,7 +149,7 @@ imgui = ">=1.90.4,<1.91" 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" } +configure = { cmd = "cmake -S . -B build -G 'Visual Studio 17 2022' -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -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",