wip2

dartsim · Nov 11, 2024 · 68c85c9 · 68c85c9
1 parent e58fb54
commit 68c85c9
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diff --git a/.github/workflows/ci_ubuntu.yml b/.github/workflows/ci_ubuntu.yml
@@ -73,7 +73,7 @@ jobs:
             /bin/sh -c "cd $GITHUB_WORKSPACE && ./scripts/build.sh"
 
   build:
-    name: ubuntu
+    name: ubuntu-${{ matrix.build_type }}
     runs-on: ubuntu-latest
     strategy:
       fail-fast: false

diff --git a/.github/workflows/ci_windows.yml b/.github/workflows/ci_windows.yml
@@ -22,7 +22,7 @@ on:
 
 jobs:
   build:
-    name: win
+    name: win-${{ matrix.build_type }}
     runs-on: windows-latest
     strategy:
       fail-fast: false

diff --git a/pixi.toml b/pixi.toml
@@ -117,76 +117,154 @@ test-all = { cmd = """
     cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE -j --target ALL
 """, depends_on = ["config"] }
 
+ex = { cmd = """
+    cmake \
+        --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \
+        --target $EXE \
+        --parallel \
+    && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/$EXE
+""", depends_on = [
+    "config",
+], env = { EXE = "hello_world", BUILD_TYPE = "Release" } }
+
 ex-atlas-puppet = { cmd = """
     cmake \
         --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \
         --target atlas_puppet \
         --parallel \
-    && ./build/bin/atlas_puppet
-""", depends_on = ["config"] }
+    && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/atlas_puppet
+""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } }
 
 ex-atlas-simbicon = { cmd = """
     cmake \
         --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \
         --target atlas_simbicon \
         --parallel \
-    && ./build/bin/atlas_simbicon
-""", depends_on = ["config"] }
+    && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/atlas_simbicon
+""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } }
 
-ex-hello-world = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target hello_world --parallel && ./build/bin/hello_world", depends_on = [
-    "config",
-] }
+ex-hello-world = { cmd = """
+    cmake \
+        --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \
+        --target hello_world \
+        --parallel \
+    && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/hello_world
+""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } }
 
-bm-boxes = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target BM_INTEGRATION_boxes --parallel && ./build/bin/BM_INTEGRATION_boxes", depends_on = [
-    "config",
-] }
+bm = { cmd = """
+    cmake \
+        --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \
+        --target BM_INTEGRATION_$EXE \
+        --parallel \
+    && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/BM_INTEGRATION_$EXE
+""", depends_on = ["config"], env = { EXE = "empty", BUILD_TYPE = "Release" } }
 
-bm-empty = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target BM_INTEGRATION_empty --parallel && ./build/bin/BM_INTEGRATION_empty", depends_on = [
-    "config",
-] }
+bm-boxes = { cmd = """
+    cmake \
+        --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \
+        --target BM_INTEGRATION_boxes \
+        --parallel \
+    && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/BM_INTEGRATION_boxes
+""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } }
 
-bm-kinematics = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target BM_INTEGRATION_kinematics --parallel && ./build/bin/BM_INTEGRATION_kinematics", depends_on = [
-    "config",
-] }
+bm-empty = { cmd = """
+    cmake \
+        --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \
+        --target BM_INTEGRATION_empty \
+        --parallel \
+    && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/BM_INTEGRATION_empty
+""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } }
 
-tu-biped = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target tutorial_biped --parallel && ./build/bin/tutorial_biped", depends_on = [
+bm-kinematics = { cmd = """
+    cmake \
+        --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \
+        --target BM_INTEGRATION_kinematics \
+        --parallel \
+    && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/BM_INTEGRATION_kinematics
+""", depends_on = [
     "config",
-] }
+], env = { BUILD_TYPE = "Release" } }
 
-tu-biped-fi = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target tutorial_biped_finished --parallel && ./build/bin/tutorial_biped_finished", depends_on = [
-    "config",
-] }
+tu-biped = { cmd = """
+    cmake \
+        --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \
+        --target tutorial_biped \
+        --parallel \
+    && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/tutorial_biped
+""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } }
 
-tu-collisions = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target tutorial_collisions --parallel && ./build/bin/tutorial_collisions", depends_on = [
+tu-biped-fi = { cmd = """
+    cmake \
+        --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \
+        --target tutorial_biped_finished \
+        --parallel \
+    && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/tutorial_biped_finished
+""", depends_on = [
     "config",
-] }
+], env = { BUILD_TYPE = "Release" } }
 
-tu-collisions-fi = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target tutorial_collisions_finished --parallel && ./build/bin/tutorial_collisions_finished", depends_on = [
-    "config",
-] }
+tu-collisions = { cmd = """
+    cmake \
+        --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \
+        --target tutorial_collisions \
+        --parallel \
+    && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/tutorial_collisions
+""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } }
 
-tu-dominoes = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target tutorial_dominoes --parallel && ./build/bin/tutorial_dominoes", depends_on = [
+tu-collisions-fi = { cmd = """
+    cmake \
+        --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \
+        --target tutorial_collisions_finished \
+        --parallel \
+    && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/tutorial_collisions_finished
+""", depends_on = [
     "config",
-] }
+], env = { BUILD_TYPE = "Release" } }
 
-tu-dominoes-fi = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target tutorial_dominoes_finished --parallel && ./build/bin/tutorial_dominoes_finished", depends_on = [
-    "config",
-] }
+tu-dominoes = { cmd = """
+    cmake \
+        --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \
+        --target tutorial_dominoes \
+        --parallel \
+    && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/tutorial_dominoes
+""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } }
 
-tu-multi-pendulum = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target tutorial_multi_pendulum --parallel && ./build/bin/tutorial_multi_pendulum", depends_on = [
+tu-dominoes-fi = { cmd = """
+    cmake \
+        --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \
+        --target tutorial_dominoes_finished \
+        --parallel \
+    && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/tutorial_dominoes_finished
+""", depends_on = [
     "config",
-] }
+], env = { BUILD_TYPE = "Release" } }
 
-tu-multi-pendulum-fi = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target tutorial_multi_pendulum_finished --parallel && ./build/bin/tutorial_multi_pendulum_finished", depends_on = [
+tu-multi-pendulum = { cmd = """
+    cmake \
+        --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \
+        --target tutorial_multi-pendulum \
+        --parallel \
+    && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/tutorial_multi-pendulum
+""", depends_on = [
     "config",
-] }
+], env = { BUILD_TYPE = "Release" } }
 
-install = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE --target install --parallel", depends_on = [
-    "build",
-] }
+tu-multi-pendulum-fi = { cmd = """
+    cmake \
+        --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \
+        --target tutorial_multi-pendulum_finished \
+        --parallel \
+    && ./build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE/bin/tutorial_multi-pendulum_finished
+""", depends_on = [
+    "config",
+], env = { BUILD_TYPE = "Release" } }
 
-create-deps-dir = { cmd = "mkdir -p .deps" }
-remove-deps-dir = { cmd = "rm -rf .deps" }
+install = { cmd = """
+    cmake \
+        --build build/$PIXI_ENVIRONMENT_NAME/cpp/$BUILD_TYPE \
+        --target install \
+        --parallel \
+""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } }
 
 ################################################################################
 # linux-64
@@ -243,25 +321,25 @@ config = { cmd = """
         -DDART_USE_SYSTEM_IMGUI=ON
 """, env = { DART_VERBOSE = "OFF" } }
 
-lint-py = { cmd = "black . --exclude '\\..*' && isort . --skip-glob '.*'", depends_on = [
-    "config",
-] }
+lint-py = { cmd = """
+    black . --exclude '\\..*' && isort . --skip-glob '.*'
+""", depends_on = ["config"] }
 
 lint = { depends_on = ["lint-py"] }
 
-check-lint-py = { cmd = "black . --check --exclude '\\..*' && isort . --check --skip-glob '.*'", depends_on = [
-    "config",
-] }
+check-lint-py = { cmd = """
+    black . --check --exclude '\\..*' && isort . --check --skip-glob '.*'
+""", depends_on = ["config"] }
 
 check-lint = { depends_on = ["check-lint-py"] }
 
 build = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp --config $BUILD_TYPE -j", depends_on = [
     "config",
-], env = { BUILD_TYPE = "OFF" } }
+], env = { BUILD_TYPE = "Release" } }
 
 build-tests = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp --config $BUILD_TYPE -j --target tests", depends_on = [
     "config",
-], env = { BUILD_TYPE = "OFF" } }
+], env = { BUILD_TYPE = "Release" } }
 
 build-dartpy = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp -j --target dartpy", depends_on = [
     "config",
@@ -272,61 +350,61 @@ test = { cmd = """
         --test-dir build/$PIXI_ENVIRONMENT_NAME/cpp \
         --build-config $BUILD_TYPE \
         --output-on-failure
-    """, depends_on = ["build-tests"], env = { BUILD_TYPE = "OFF" } }
+""", depends_on = ["build-tests"], env = { BUILD_TYPE = "Release" } }
 
 test-dartpy = { cmd = """
-    cmake \
+cmake \
         --build build/$PIXI_ENVIRONMENT_NAME/cpp \
-        --config $BUILD_TYPE \
-        -j \
+--config $BUILD_TYPE \
+-j \
         --target pytest
-    """, depends_on = ["config"], env = { BUILD_TYPE = "OFF" } }
+    """, depends_on = ["config"], env = { BUILD_TYPE = "Release" } }
 
 test-all = { cmd = """
-    cmake \
+cmake \
         --build build/$PIXI_ENVIRONMENT_NAME/cpp \
-        --config $BUILD_TYPE \
-        -j \
+--config $BUILD_TYPE \
+-j \
         --target ALL
-""", depends_on = ["config"], env = { BUILD_TYPE = "OFF" } }
+""", depends_on = ["config"], env = { BUILD_TYPE = "Release" } }
 
 tu-biped = { cmd = """
-    cmake \
+cmake \
         --build build/$PIXI_ENVIRONMENT_NAME/cpp \
-        --config $BUILD_TYPE \
-        --target tutorial_biped \
-        --parallel \
+--config $BUILD_TYPE \
+--target tutorial_biped \
+--parallel \
     && build/$BUILD_TYPE/tutorial_biped.exe
-    """, depends_on = ["config"], env = { BUILD_TYPE = "OFF" } }
+    """, depends_on = ["config"], env = { BUILD_TYPE = "Release" } }
 
 tu-biped-fi = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp --config $BUILD_TYPE --target tutorial_biped_finished --parallel && build/$BUILD_TYPE/tutorial_biped_finished.exe", depends_on = [
     "config",
-], env = { BUILD_TYPE = "OFF" } }
+], env = { BUILD_TYPE = "Release" } }
 
 tu-collisions = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp --config $BUILD_TYPE --target tutorial_collisions --parallel && build/$BUILD_TYPE/tutorial_collisions.exe", depends_on = [
     "config",
-], env = { BUILD_TYPE = "OFF" } }
+], env = { BUILD_TYPE = "Release" } }
 
 tu-collisions-fi = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp --config $BUILD_TYPE --target tutorial_collisions_finished --parallel && build/$BUILD_TYPE/tutorial_collisions_finished.exe", depends_on = [
     "config",
-], env = { BUILD_TYPE = "OFF" } }
+], env = { BUILD_TYPE = "Release" } }
 
 tu-dominoes = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp --config $BUILD_TYPE --target tutorial_dominoes --parallel && build/$BUILD_TYPE/tutorial_dominoes.exe", depends_on = [
     "config",
-], env = { BUILD_TYPE = "OFF" } }
+], env = { BUILD_TYPE = "Release" } }
 
 tu-dominoes-fi = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp --config $BUILD_TYPE --target tutorial_dominoes_finished --parallel && build/$BUILD_TYPE/tutorial_dominoes_finished.exe", depends_on = [
     "config",
-], env = { BUILD_TYPE = "OFF" } }
+], env = { BUILD_TYPE = "Release" } }
 
 tu-multi-pendulum = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp --config $BUILD_TYPE --target tutorial_multi_pendulum --parallel && build/$BUILD_TYPE/tutorial_multi_pendulum.exe", depends_on = [
     "config",
-], env = { BUILD_TYPE = "OFF" } }
+], env = { BUILD_TYPE = "Release" } }
 
 tu-multi-pendulum-fi = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp --config $BUILD_TYPE --target tutorial_multi_pendulum_finished --parallel && build/$BUILD_TYPE/tutorial_multi_pendulum_finished.exe", depends_on = [
     "config",
-], env = { BUILD_TYPE = "OFF" } }
+], env = { BUILD_TYPE = "Release" } }
 
 install = { cmd = "cmake --build build/$PIXI_ENVIRONMENT_NAME/cpp --config $BUILD_TYPE -j --target install", depends_on = [
     "build",
-], env = { BUILD_TYPE = "OFF" } }
+], env = { BUILD_TYPE = "Release" } }