Structuring the package

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8)
+
+set(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
+
+################################################################################
+# Setup the build mode
+set(CMAKE_BUILD_TYPE "Release")
+message(STATUS "=====================================================")
+message(STATUS "configuring build for PyDart")
+message(STATUS "=====================================================")
+
+IF(NOT CMAKE_BUILD_TYPE)
+  SET(CMAKE_BUILD_TYPE "Release")
+ENDIF(NOT CMAKE_BUILD_TYPE)
+
+message(STATUS "CMAKE_BUILD_TYPE = ${CMAKE_BUILD_TYPE}")
+
+IF(CMAKE_BUILD_TYPE MATCHES "Release")
+  message(STATUS "Set the release mode")
+  ADD_DEFINITIONS(-DNDEBUG )
+  ADD_DEFINITIONS(-DBOOST_UBLAS_NDEBUG )
+ENDIF (CMAKE_BUILD_TYPE MATCHES "Release")
+
+IF(APPLE)
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -flat_namespace -undefined suppress")
+ELSEIF(UNIX)
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-enum-compare")
+ENDIF()
+MESSAGE(STATUS "CXX_FLAGS = ${CMAKE_CXX_FLAGS}")
+
+################################################################################
+# Find the required packages
+### SWIG
+find_package(SWIG REQUIRED)
+message(STATUS "SWIG_FOUND = ${SWIG_FOUND}")
+message(STATUS "SWIG_USE_FILE = ${SWIG_USE_FILE}")
+include(${SWIG_USE_FILE})
+### PythonLibs
+find_package(PythonLibs REQUIRED)
+message(STATUS "PYTHON_INCLUDE_DIR = ${PYTHON_INCLUDE_DIR}")
+include_directories(${PYTHON_INCLUDE_DIR})
+message(STATUS "PYTHON_LIBRARIES = ${PYTHON_LIBRARIES}")
+
+### PythonLibs
+find_package(NumPy REQUIRED)
+message(STATUS "NUMPY_INCLUDE_DIRS = ${NUMPY_INCLUDE_DIRS}")
+include_directories(${NUMPY_INCLUDE_DIRS})
+
+### Eigen
+find_package(Eigen REQUIRED)
+message(STATUS "Eigen_INCLUDE_DIRS = ${Eigen_INCLUDE_DIRS}")
+include_directories(${Eigen_INCLUDE_DIRS})
+### OpenGL
+find_package(OpenGL)
+if (OPENGL_FOUND)
+  message(STATUS "OPENGL FOUND")
+else (OPENGL_FOUND)
+  message(STATUS "OPENGL NOT FOUND")
+endif ()
+### GLUT
+find_package(GLUT)
+if (GLUT_FOUND)
+  message(STATUS "GLUT FOUND")
+  message(STATUS "GLUT_LIBRARIES = ${GLUT_LIBRARIES}")
+else (GLUT_FOUND)
+  message(STATUS "GLUT NOT FOUND")
+endif ()
+
+find_package(Bullet)
+if (BULLET_FOUND)
+  message(STATUS "Bullet Found")
+  message(STATUS "Bullet include directories = ${BULLET_INCLUDE_DIRS}")
+  message(STATUS "Bullet Libraries = ${BULLET_LIBRARIES}")
+  include_directories(${BULLET_INCLUDE_DIRS})
+else (BULLET_FOUND)
+  message(STATUS "Bullet NOT Found")
+endif ()
+
+################################################################################
+# Configure the project
+#### Directories
+file(MAKE_DIRECTORY "${CMAKE_BINARY_DIR}/pydart_api")
+
+include_directories(".")
+include_directories("${CMAKE_SOURCE_DIR}")
+include_directories("${CMAKE_SOURCE_DIR}/pydart_api")
+include_directories(${CMAKE_CURRENT_SOURCE_DIR})
+#### Projectfiles
+file(GLOB pydart_py "pydart/*.py")
+file(GLOB pydart_srcs "pydart_api/*.cpp")
+file(GLOB pydart_hdrs "pydart_api/*.h")
+file(GLOB pydart_interfaces "pydart_api/pydart_api.i")
+message(STATUS "pydart_py = ${pydart_py}")
+message(STATUS "pydart_hdrs = ${pydart_hdrs}")
+message(STATUS "pydart_srcs = ${pydart_srcs}")
+#### SWIG configurations
+set(CMAKE_SWIG_FLAGS "")
+set_source_files_properties(${pydart_interfaces} PROPERTIES CPLUSPLUS ON)
+set_source_files_properties(${pydart_interfaces} PROPERTIES SWIG_FLAGS "-includeall")
+#### SWIG commands
+set(CMAKE_SWIG_OUTDIR "${CMAKE_SOURCE_DIR}/pydart")
+swig_add_module(pydart_api python ${pydart_py} ${pydart_srcs} ${pydart_hdrs} ${pydart_interfaces})
+swig_link_libraries(pydart_api ${PYTHON_LIBRARIES})
+swig_link_libraries(pydart_api dart dart-core ${OPENGL_LIBRARIES} ${GLUT_LIBRARIES})
+swig_link_libraries(pydart_api ${BULLET_LIBRARIES})
+
+# ADD_CUSTOM_TARGET(_pydart_api_py
+#   COMMAND echo 'Copy _pydart_api.py to pydart directory if different'
+#   COMMAND  ${CMAKE_COMMAND} -E copy_if_different
+#   "${CMAKE_BINARY_DIR}/_pydart_api.py"
+#   "${CMAKE_SOURCE_DIR}/pydart/")
+# ADD_DEPENDENCIES(_pydart_api _pydart_api_py)
+install(FILES "${CMAKE_BINARY_DIR}/_pydart_api.so"
+        DESTINATION "${CMAKE_SOURCE_DIR}/pydart")

apps/helloPyDART/__init__.py

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+from pydart import *

apps/helloPyDART/main.py

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+# import sys
+# sys.path.append('/home/sehoonha/dev/pydart')
+import pydart
+
+print('Hello, PyDART!')
+pydart.init()
+print('pydart initialization OK')

cmake/FindEigen.cmake

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+# Find Eigen
+#
+# This sets the following variables:
+# Eigen_FOUND
+# Eigen_INCLUDE_DIRS
+
+find_path(Eigen_INCLUDE_DIR
+    NAMES Eigen/Core
+    PATHS "${CMAKE_INSTALL_PREFIX}/include"
+    PATH_SUFFIXES eigen3 eigen)
+
+set(Eigen_INCLUDE_DIRS ${Eigen_INCLUDE_DIR})
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(Eigen DEFAULT_MSG Eigen_INCLUDE_DIR)
+
+mark_as_advanced(Eigen_INCLUDE_DIR)

cmake/FindNumPy.cmake

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+# - Find the NumPy libraries
+# This module finds if NumPy is installed, and sets the following variables
+# indicating where it is.
+#
+# TODO: Update to provide the libraries and paths for linking npymath lib.
+#
+#  NUMPY_FOUND               - was NumPy found
+#  NUMPY_VERSION             - the version of NumPy found as a string
+#  NUMPY_VERSION_MAJOR       - the major version number of NumPy
+#  NUMPY_VERSION_MINOR       - the minor version number of NumPy
+#  NUMPY_VERSION_PATCH       - the patch version number of NumPy
+#  NUMPY_VERSION_DECIMAL     - e.g. version 1.6.1 is 10601
+#  NUMPY_INCLUDE_DIRS        - path to the NumPy include files
+
+#============================================================================
+# Copyright 2012 Continuum Analytics, Inc.
+#
+# MIT License
+#
+# Permission is hereby granted, free of charge, to any person obtaining
+# a copy of this software and associated documentation files
+# (the "Software"), to deal in the Software without restriction, including
+# without limitation the rights to use, copy, modify, merge, publish,
+# distribute, sublicense, and/or sell copies of the Software, and to permit
+# persons to whom the Software is furnished to do so, subject to
+# the following conditions:
+#
+# The above copyright notice and this permission notice shall be included
+# in all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+# OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR
+# OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+# OTHER DEALINGS IN THE SOFTWARE.
+#
+#============================================================================
+
+# Finding NumPy involves calling the Python interpreter
+if(NumPy_FIND_REQUIRED)
+    find_package(PythonInterp REQUIRED)
+else()
+    find_package(PythonInterp)
+endif()
+
+if(NOT PYTHONINTERP_FOUND)
+    set(NUMPY_FOUND FALSE)
+    return()
+endif()
+
+execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c"
+    "import numpy as n; print(n.__version__); print(n.get_include());"
+    RESULT_VARIABLE _NUMPY_SEARCH_SUCCESS
+    OUTPUT_VARIABLE _NUMPY_VALUES_OUTPUT
+    ERROR_VARIABLE _NUMPY_ERROR_VALUE
+    OUTPUT_STRIP_TRAILING_WHITESPACE)
+
+if(NOT _NUMPY_SEARCH_SUCCESS MATCHES 0)
+    if(NumPy_FIND_REQUIRED)
+        message(FATAL_ERROR
+            "NumPy import failure:\n${_NUMPY_ERROR_VALUE}")
+    endif()
+    set(NUMPY_FOUND FALSE)
+    return()
+endif()
+
+# Convert the process output into a list
+string(REGEX REPLACE ";" "\\\\;" _NUMPY_VALUES ${_NUMPY_VALUES_OUTPUT})
+string(REGEX REPLACE "\n" ";" _NUMPY_VALUES ${_NUMPY_VALUES})
+# Just in case there is unexpected output from the Python command.
+list(GET _NUMPY_VALUES -2 NUMPY_VERSION)
+list(GET _NUMPY_VALUES -1 NUMPY_INCLUDE_DIRS)
+
+string(REGEX MATCH "^[0-9]+\\.[0-9]+\\.[0-9]+" _VER_CHECK "${NUMPY_VERSION}")
+if("${_VER_CHECK}" STREQUAL "")
+    # The output from Python was unexpected. Raise an error always
+    # here, because we found NumPy, but it appears to be corrupted somehow.
+    message(FATAL_ERROR
+        "Requested version and include path from NumPy, got instead:\n${_NUMPY_VALUES_OUTPUT}\n")
+    return()
+endif()
+
+# Make sure all directory separators are '/'
+string(REGEX REPLACE "\\\\" "/" NUMPY_INCLUDE_DIRS ${NUMPY_INCLUDE_DIRS})
+
+# Get the major and minor version numbers
+string(REGEX REPLACE "\\." ";" _NUMPY_VERSION_LIST ${NUMPY_VERSION})
+list(GET _NUMPY_VERSION_LIST 0 NUMPY_VERSION_MAJOR)
+list(GET _NUMPY_VERSION_LIST 1 NUMPY_VERSION_MINOR)
+list(GET _NUMPY_VERSION_LIST 2 NUMPY_VERSION_PATCH)
+string(REGEX MATCH "[0-9]*" NUMPY_VERSION_PATCH ${NUMPY_VERSION_PATCH})
+math(EXPR NUMPY_VERSION_DECIMAL
+    "(${NUMPY_VERSION_MAJOR} * 10000) + (${NUMPY_VERSION_MINOR} * 100) + ${NUMPY_VERSION_PATCH}")
+
+find_package_message(NUMPY
+    "Found NumPy: version \"${NUMPY_VERSION}\" ${NUMPY_INCLUDE_DIRS}"
+    "${NUMPY_INCLUDE_DIRS}${NUMPY_VERSION}")
+
+set(NUMPY_FOUND TRUE)
+

cmake/FindTinyXML2.cmake

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+# Find TinyXML
+#
+# This sets the following variables:
+# TinyXML2_FOUND
+# TinyXML2_INCLUDE_DIRS
+# TinyXML2_LIBRARIES
+
+find_path(TinyXML2_INCLUDE_DIR tinyxml2.h
+    PATHS "${CMAKE_INSTALL_PREFIX}/include")
+
+set(TinyXML2_INCLUDE_DIRS ${TinyXML2_INCLUDE_DIR})
+
+if(MSVC)
+    set(TinyXML2_LIBRARIES optimized tinyxml2 debug tinyxml2d)
+else()
+    set(TinyXML2_LIBRARIES tinyxml2)
+endif()
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(TinyXML2 DEFAULT_MSG TinyXML2_INCLUDE_DIR)
+
+mark_as_advanced(TinyXML2_INCLUDE_DIR)

pydart/__init__.py

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+from pydart import *
+# from pydart_api import *

setup.py

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+from setuptools import setup
+
+setup(name='pydart',
+      version='0.01',
+      description='Python Interface for DART Simulator',
+      url='https://github.com/sehoonha/pydart',
+      author='Sehoon Ha',
+      author_email='sehoon.ha@gmail.com',
+      license='BSD',
+      packages=['pydart'],
+      zip_safe=False)