153 lines
3.3 KiB
Nix
153 lines
3.3 KiB
Nix
{
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lib,
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stdenv,
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fetchFromGitHub,
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pythonSupport ? false,
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python3Packages,
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# nativeBuildInputs
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cmake,
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pkg-config,
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# propagatedBuildInputs
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assimp,
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blas,
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boost,
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bullet,
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eigen,
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fcl,
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fmt,
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libglut,
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nlopt,
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imgui,
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ipopt,
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lapack,
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libGL,
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libGLU,
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ode,
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openscenegraph,
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pagmo2,
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tinyxml-2,
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urdfdom,
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# checkInputs
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gbenchmark,
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gtest,
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}:
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stdenv.mkDerivation (finalAttrs: {
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pname = "dartsim";
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version = "6.15.0";
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src = fetchFromGitHub {
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owner = "dartsim";
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repo = "dart";
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tag = "v${finalAttrs.version}";
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hash = "sha256-ik6FwrN5Ta1LinrXpZZc7AmzdFPoLjG07/zo1IZdmgI=";
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};
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# disable failing tests. CMAKE_CTEST_ARGUMENTS does not work.
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patches = [ ./disable-failing-tests.patch ];
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postPatch = ''
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# https://github.com/dartsim/dart/pull/1904, merged upstream
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substituteInPlace tests/benchmark/CMakeLists.txt \
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--replace-fail \
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"FetchContent_MakeAvailable(benchmark)" \
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"find_package(benchmark REQUIRED)"
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# https://github.com/dartsim/dart/pull/1907, merged upstream
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substituteInPlace python/CMakeLists.txt \
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--replace-fail \
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"FetchContent_MakeAvailable(pybind11)" \
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"find_package(pybind11 CONFIG REQUIRED)"
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# fix use of absolute CMake paths in .pc
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substituteInPlace CMakeLists.txt \
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--replace-fail \
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"$""{CMAKE_INSTALL_PREFIX}/$""{CMAKE_INSTALL_LIBDIR}" \
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"$""{CMAKE_INSTALL_LIBDIR}"
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substituteInPlace cmake/dart.pc.in \
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--replace-fail \
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"libdir=$""{prefix}/" \
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"libdir=" \
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--replace-fail \
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"includedir=$""{prefix}/" \
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"includedir="
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# install python bindings
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substituteInPlace python/dartpy/CMakeLists.txt \
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--replace-fail \
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"EXCLUDE_FROM_ALL" \
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""
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echo "install(TARGETS $""{pybind_module} DESTINATION ${python3Packages.python.sitePackages})" \
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>> python/dartpy/CMakeLists.txt
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'';
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nativeBuildInputs = [
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cmake
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pkg-config
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]
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++ lib.optionals pythonSupport [
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python3Packages.python
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python3Packages.pybind11
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];
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propagatedBuildInputs = [
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blas
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boost
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assimp
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bullet
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eigen
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fcl
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fmt
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libglut
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gbenchmark
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nlopt
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# requires imgui_impl_opengl2.h
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(imgui.override { IMGUI_BUILD_OPENGL2_BINDING = true; })
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ipopt
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lapack
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libGL
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libGLU
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ode
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openscenegraph
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pagmo2
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tinyxml-2
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urdfdom
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]
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++ lib.optionals pythonSupport [
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python3Packages.numpy
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];
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checkInputs = [
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gbenchmark
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gtest
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];
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nativeCheckInputs = lib.optionals pythonSupport [
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python3Packages.pytest
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python3Packages.pythonImportsCheckHook
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];
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doCheck = true;
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# build unit tests
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preCheck = "make tests";
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pythonImportsCheck = [ "dartpy" ];
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cmakeFlags = [
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(lib.cmakeBool "DART_BUILD_DARTPY" pythonSupport)
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(lib.cmakeBool "DART_USE_SYSTEM_IMGUI" true)
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(lib.cmakeBool "DART_USE_SYSTEM_GOOGLEBENCHMARK" true)
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(lib.cmakeBool "DART_USE_SYSTEM_GOOGLETEST" true)
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];
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meta = {
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description = "DART: Dynamic Animation and Robotics Toolkit";
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homepage = "https://github.com/dartsim/dart";
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changelog = "https://github.com/dartsim/dart/blob/v${finalAttrs.version}/CHANGELOG.md";
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license = lib.licenses.bsd2;
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maintainers = with lib.maintainers; [ nim65s ];
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platforms = lib.platforms.unix ++ lib.platforms.windows;
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};
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})
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