duburcqa · duburcqa · Aug 9, 2023 · Jul 2, 2023 · Jul 25, 2023 · Jul 25, 2023
diff --git a/.github/workflows/linux.yml b/.github/workflows/linux.yml
@@ -28,7 +28,7 @@ jobs:
 
     env:
       TORCH_VERSION: "2.0.1+cpu"
-      CMAKE_CXX_FLAGS: "-march=x86-64-v3 -mtune=generic"
+      CMAKE_CXX_FLAGS: "-DEIGEN_MAX_CPP_VER=11 -march=x86-64-v3 -mtune=generic"
 
     #####################################################################################
 

diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
@@ -23,6 +23,7 @@ jobs:
 
     env:
       TORCH_VERSION: "2.0.1"
+      CMAKE_CXX_FLAGS: "-DEIGEN_MPL2_ONLY -DEIGEN_MAX_CPP_VER=11"
       BUILD_TYPE: "Release"
       MACOSX_DEPLOYMENT_TARGET: "10.15"
       OSX_ARCHITECTURES: "x86_64;arm64"
@@ -73,12 +74,14 @@ jobs:
         export LD_LIBRARY_PATH="$InstallDir/lib/:/usr/local/lib"
         cmake "$RootDir" -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" \
               -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=OFF \
-              -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \
+              -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" \
+              -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \
               -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" \
               -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE \
               -DBoost_USE_STATIC_LIBS=ON -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
-              -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON \
-              -DINSTALL_GYM_JIMINY=ON -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
+              -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON \
+              -DBUILD_PYTHON_INTERFACE=ON -DINSTALL_GYM_JIMINY=ON \
+              -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
         make -j2
 
         # Bundle the boost python dependencies with jiminy
@@ -137,7 +140,7 @@ jobs:
         cd "$RootDir/core/examples/external_project/build"
         cmake "$RootDir/core/examples/external_project/" -DCMAKE_INSTALL_PREFIX="$InstallDir" \
               -DCMAKE_PREFIX_PATH="$InstallDir" -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
-              -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
+              -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS}" -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
         make install
 
         "$InstallDir/bin/pip_double_pendulum"

diff --git a/.github/workflows/manylinux.yml b/.github/workflows/manylinux.yml
@@ -25,7 +25,7 @@ jobs:
 
     env:
       BUILD_TYPE: "Release"
-      CMAKE_CXX_FLAGS: ""
+      CMAKE_CXX_FLAGS: "-DEIGEN_MPL2_ONLY -DEIGEN_MAX_CPP_VER=11"
 
     #####################################################################################
 
@@ -72,7 +72,8 @@ jobs:
               -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" \
               -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE \
               -DBoost_USE_STATIC_LIBS=ON -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
-              -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON -DINSTALL_GYM_JIMINY=ON \
+              -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON \
+              -DBUILD_PYTHON_INTERFACE=ON -DINSTALL_GYM_JIMINY=ON \
               -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS}" -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
         make -j2
 
@@ -184,8 +185,8 @@ jobs:
         mkdir -p "$RootDir/core/examples/external_project/build"
         cd "$RootDir/core/examples/external_project/build"
         cmake "$RootDir/core/examples/external_project/" -DCMAKE_INSTALL_PREFIX="$InstallDir" \
-               -DCMAKE_PREFIX_PATH="$InstallDir" -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
-               -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
+               -DCMAKE_PREFIX_PATH="$InstallDir" -DCMAKE_VERBOSE_MAKEFILE=ON \
+               -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"
         make install
 
         "$InstallDir/bin/pip_double_pendulum"

diff --git a/.github/workflows/win.yml b/.github/workflows/win.yml
@@ -22,7 +22,7 @@ jobs:
       TORCH_VERSION: "2.0.1+cpu"
       BUILD_TYPE: "Release"
       GENERATOR: "Visual Studio 17 2022"
-      CMAKE_CXX_FLAGS: "/d2ReducedOptimizeHugeFunctions /fp:contract /arch:AVX2"
+      CMAKE_CXX_FLAGS: "-DEIGEN_MPL2_ONLY -DEIGEN_MAX_CPP_VER=11 /d2ReducedOptimizeHugeFunctions /fp:contract /arch:AVX2"
 
     strategy:
       matrix:

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -34,8 +34,14 @@ include(${CMAKE_SOURCE_DIR}/build_tools/cmake/buildPythonWheel.cmake)
 # Set the compilation flags.
 # Not using `add_compile_options` because it does not propagate to external projects.
 set(CMAKE_CXX_FLAGS "$ENV{CMAKE_CXX_FLAGS} ${CMAKE_CXX_FLAGS}")
+string(REGEX MATCHALL "-DEIGEN_[A-Z0-9_]+=?[0-9]*( |$)" EIGEN_DEFINITIONS "${CMAKE_CXX_FLAGS}")
+list(REMOVE_DUPLICATES EIGEN_DEFINITIONS)
+list(TRANSFORM EIGEN_DEFINITIONS REPLACE "^-D" "")
+if(EIGEN_DEFINITIONS)
+    message(STATUS "Eigen preprocessor directives: ${EIGEN_DEFINITIONS}")
+endif()
 if(MSVC)
-    string(REGEX MATCH "/arch:[A-Za-z_0-9/-]*" CMAKE_CXX_ARCH "${CMAKE_CXX_FLAGS}")
+    string(REGEX MATCH "/arch:[a-zA-Z0-9_\-]*" CMAKE_CXX_ARCH "${CMAKE_CXX_FLAGS}")
     if(CMAKE_CXX_ARCH MATCHES "AVX[0-9]+")
         # Eigen<3.4 relies on __FMA__ definition to detect if FMA is available,
         # which is not set automatically by MSVC.
@@ -52,12 +58,15 @@ if(MSVC)
     set(CMAKE_CXX_FLAGS_RELEASE "-DNDEBUG /O2 /Ob3")
     set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELEASE} /DEBUG:FULL /Zi")
 else()
-    string(REGEX MATCH "-march=[A-Za-z_0-9/-]*" CMAKE_CXX_ARCH "${CMAKE_CXX_FLAGS}")
+    string(REGEX MATCH "-march=[a-zA-Z0-9_\-]*" CMAKE_CXX_ARCH "${CMAKE_CXX_FLAGS}")
     set(CMAKE_CXX_FLAGS_DEBUG "-g -O0 -fno-omit-frame-pointer")
     set(CMAKE_LINKER_FLAGS_DEBUG "-fno-omit-frame-pointer")
     set(CMAKE_CXX_FLAGS_RELEASE "-DNDEBUG -O3 -Wfatal-errors -Werror")
     set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "${CMAKE_CXX_FLAGS_RELEASE} -g -fno-omit-frame-pointer -fno-sanitize-recover")
 endif()
+if(CMAKE_CXX_ARCH)
+    message(STATUS "Instruction sets: ${CMAKE_CXX_ARCH}")
+endif()
 
 # Sub-projects
 add_subdirectory(soup)

diff --git a/build_tools/build_install_deps_unix.sh b/build_tools/build_install_deps_unix.sh
@@ -75,6 +75,7 @@ if [ ! -d "$RootDir/boost" ]; then
 fi
 cd "$RootDir/boost"
 git reset --hard
+git fetch --all || true
 git checkout --force "boost-1.76.0"
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --jobs 8
@@ -89,6 +90,7 @@ if [ ! -d "$RootDir/eigen3" ]; then
 fi
 cd "$RootDir/eigen3"
 git reset --hard
+git fetch --all || true
 git checkout --force "3.4.0"
 
 ### Checkout eigenpy and its submodules
@@ -97,7 +99,7 @@ if [ ! -d "$RootDir/eigenpy" ]; then
 fi
 cd "$RootDir/eigenpy"
 git reset --hard
-git fetch --all
+git fetch --all || true
 git checkout --force "v2.9.2"
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --jobs 8
@@ -109,7 +111,7 @@ if [ ! -d "$RootDir/tinyxml" ]; then
 fi
 cd "$RootDir/tinyxml"
 git reset --hard
-git fetch --all
+git fetch --all || true
 git checkout --force "master"
 git apply --reject --whitespace=fix "$RootDir/build_tools/patch_deps_unix/tinyxml.patch"
 
@@ -119,7 +121,7 @@ if [ ! -d "$RootDir/console_bridge" ]; then
 fi
 cd "$RootDir/console_bridge"
 git reset --hard
-git fetch --all
+git fetch --all || true
 git checkout --force "0.3.2"
 
 ### Checkout urdfdom_headers
@@ -128,17 +130,17 @@ if [ ! -d "$RootDir/urdfdom_headers" ]; then
 fi
 cd "$RootDir/urdfdom_headers"
 git reset --hard
-git fetch --all
+git fetch --all || true
 git checkout --force "1.0.4"
 
 ### Checkout urdfdom, then apply some patches (generated using `git diff --submodule=diff`)
 if [ ! -d "$RootDir/urdfdom" ]; then
   git clone https://github.com/ros/urdfdom.git "$RootDir/urdfdom"
 fi
 cd "$RootDir/urdfdom"
-git checkout --force "1.0.3"
 git reset --hard
-git fetch --all
+git fetch --all || true
+git checkout --force "1.0.3"
 git apply --reject --whitespace=fix "$RootDir/build_tools/patch_deps_unix/urdfdom.patch"
 
 ### Checkout assimp
@@ -147,7 +149,7 @@ if [ ! -d "$RootDir/assimp" ]; then
 fi
 cd "$RootDir/assimp"
 git reset --hard
-git fetch --all
+git fetch --all || true
 git checkout --force "v5.2.5"
 
 ### Checkout hpp-fcl
@@ -157,7 +159,7 @@ if [ ! -d "$RootDir/hpp-fcl" ]; then
 fi
 cd "$RootDir/hpp-fcl"
 git reset --hard
-git fetch --all
+git fetch --all || true
 git checkout --force "v2.3.0"
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --jobs 8
@@ -172,7 +174,7 @@ if [ ! -d "$RootDir/pinocchio" ]; then
 fi
 cd "$RootDir/pinocchio"
 git reset --hard
-git fetch --all
+git fetch --all || true
 git checkout --force "v2.6.17"
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --jobs 8
@@ -245,7 +247,7 @@ mkdir -p "$RootDir/boost/build"
 
 mkdir -p "$RootDir/eigen3/build"
 cd "$RootDir/eigen3/build"
-cmake "$RootDir/eigen3" -Wno-dev -DCMAKE_CXX_STANDARD=11 -DCMAKE_INSTALL_PREFIX="$InstallDir" \
+cmake "$RootDir/eigen3" -Wno-dev -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" \
       -DBUILD_TESTING=OFF -DEIGEN_BUILD_PKGCONFIG=ON
 make install -j2
 
@@ -254,7 +256,7 @@ make install -j2
 mkdir -p "$RootDir/eigenpy/build"
 cd "$RootDir/eigenpy/build"
 cmake "$RootDir/eigenpy" \
-      -Wno-dev -DCMAKE_CXX_STANDARD=11 -DCMAKE_INSTALL_PREFIX="$InstallDir" \
+      -Wno-dev -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" \
       -DCMAKE_PREFIX_PATH="$InstallDir" -DCMAKE_DISABLE_FIND_PACKAGE_Doxygen=ON \
       -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \
       -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
@@ -272,7 +274,7 @@ make install -j2
 mkdir -p "$RootDir/tinyxml/build"
 cd "$RootDir/tinyxml/build"
 cmake "$RootDir/tinyxml" \
-      -Wno-dev -DCMAKE_CXX_STANDARD=11 -DCMAKE_INSTALL_PREFIX="$InstallDir" \
+      -Wno-dev -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" \
       -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \
       -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
       -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON \
@@ -286,7 +288,7 @@ make install -j2
 mkdir -p "$RootDir/console_bridge/build"
 cd "$RootDir/console_bridge/build"
 cmake "$RootDir/console_bridge" \
-      -Wno-dev -DCMAKE_CXX_STANDARD=11 -DCMAKE_INSTALL_PREFIX="$InstallDir" \
+      -Wno-dev -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" \
       -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \
       -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
       -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON \
@@ -306,7 +308,7 @@ make install -j2
 mkdir -p "$RootDir/urdfdom/build"
 cd "$RootDir/urdfdom/build"
 cmake "$RootDir/urdfdom" \
-      -Wno-dev -DCMAKE_CXX_STANDARD=11 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" \
+      -Wno-dev -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" \
       -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \
       -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
       -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON \
@@ -316,16 +318,18 @@ make install -j2
 
 ###################################### Build and install assimp ########################################
 
+# C flag 'HAVE_HIDDEN' must be specified to hide internal symbols of zlib that may not be exposed at
+# runtime causing undefined symbol error when loading hpp-fcl shared library.
 mkdir -p "$RootDir/assimp/build"
 cd "$RootDir/assimp/build"
 cmake "$RootDir/assimp" \
-      -Wno-dev -DCMAKE_CXX_STANDARD=11 -DCMAKE_INSTALL_PREFIX="$InstallDir" \
+      -Wno-dev -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" \
       -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \
       -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
       -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON \
       -DASSIMP_BUILD_ASSIMP_TOOLS=OFF -DASSIMP_BUILD_ZLIB=ON -DASSIMP_BUILD_TESTS=OFF \
       -DASSIMP_BUILD_SAMPLES=OFF -DBUILD_DOCS=OFF \
-      -DCMAKE_C_FLAGS="${CMAKE_CXX_FLAGS}" -DCMAKE_CXX_FLAGS_RELEASE_INIT="" \
+      -DCMAKE_C_FLAGS="${CMAKE_CXX_FLAGS} -DHAVE_HIDDEN" -DCMAKE_CXX_FLAGS_RELEASE_INIT="" \
       -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -Wno-strict-overflow -Wno-tautological-compare $(
       ) -Wno-array-compare -Wno-unknown-warning-option -Wno-unknown-warning" -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
 make install -j2
@@ -335,7 +339,7 @@ make install -j2
 mkdir -p "$RootDir/hpp-fcl/third-parties/qhull/build"
 cd "$RootDir/hpp-fcl/third-parties/qhull/build"
 cmake "$RootDir/hpp-fcl/third-parties/qhull" \
-      -Wno-dev -DCMAKE_CXX_STANDARD=11 -DCMAKE_INSTALL_PREFIX="$InstallDir" \
+      -Wno-dev -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" \
       -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \
       -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
       -DBUILD_SHARED_LIBS=OFF -DBUILD_STATIC_LIBS=ON \
@@ -346,7 +350,7 @@ make install -j2
 mkdir -p "$RootDir/hpp-fcl/build"
 cd "$RootDir/hpp-fcl/build"
 cmake "$RootDir/hpp-fcl" \
-      -Wno-dev -DCMAKE_CXX_STANDARD=11 -DCMAKE_INSTALL_PREFIX="$InstallDir" \
+      -Wno-dev -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" \
       -DCMAKE_PREFIX_PATH="$InstallDir" -DCMAKE_DISABLE_FIND_PACKAGE_Doxygen=ON \
       -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \
       -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
@@ -368,7 +372,7 @@ make install -j2
 mkdir -p "$RootDir/pinocchio/build"
 cd "$RootDir/pinocchio/build"
 cmake "$RootDir/pinocchio" \
-      -Wno-dev -DCMAKE_CXX_STANDARD=11 -DCMAKE_INSTALL_PREFIX="$InstallDir" \
+      -Wno-dev -DCMAKE_CXX_STANDARD=17 -DCMAKE_INSTALL_PREFIX="$InstallDir" \
       -DCMAKE_PREFIX_PATH="$InstallDir" -DCMAKE_DISABLE_FIND_PACKAGE_Doxygen=ON \
       -DCMAKE_OSX_ARCHITECTURES="${OSX_ARCHITECTURES}" -DCMAKE_OSX_DEPLOYMENT_TARGET="${MACOSX_DEPLOYMENT_TARGET}" \
       -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \