pixi.toml

[project]
name = "pinocchio"
version = "3.3.1"
description = "A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives"
platforms = ["linux-64", "osx-64", "osx-arm64", "win-64"]
channels = ["conda-forge"]
license = "BSD-2-Clause"
license-file = "LICENSE"

[build-dependencies]
ccache = ">=4.9.1"
cmake = ">=3.10"
cxx-compiler = ">=1.7.0"
ninja = ">=1.11"
pkg-config = ">=0.29.2"

[dependencies]
libboost-devel = ">=1.80.0"
libboost-python-devel = ">=1.80.0"
eigen = ">=3.4.0"
numpy = ">=1.22.0"
python = ">=3.9.0"
eigenpy = ">=3.7.0"
urdfdom = ">=4.0"
meshcat-python = ">=0.3"
matplotlib = ">=3.9.2"

[activation]
scripts = ["development/scripts/pixi/activation.sh"]

[target.win-64.activation]
scripts = ["development/scripts/pixi/activation.bat"]

[tasks]
# We must avoid to set CMAKE_CXX_FLAGS because of WIN32
# https://discourse.cmake.org/t/strictly-appending-to-cmake-lang-flags/6478
configure = { cmd = [
  "CXXFLAGS=$PINOCCHIO_CXX_FLAGS",
  "cmake",
  "-G",
  "Ninja",
  "-B",
  "build",
  "-S",
  ".",
  "-DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX",
  "-DCMAKE_BUILD_TYPE=$PINOCCHIO_BUILD_TYPE",
  "-DGENERATE_PYTHON_STUBS=$PINOCCHIO_PYTHON_STUBS",
  "-DBUILD_WITH_COLLISION_SUPPORT=$PINOCCHIO_COLLISION_SUPPORT",
  "-DBUILD_WITH_ACCELERATE_SUPPORT=$PINOCCHIO_ACCELERATE_SUPPORT",
  "-DBUILD_WITH_CASADI_SUPPORT=$PINOCCHIO_CASADI_SUPPORT",
  "-DBUILD_WITH_AUTODIFF_SUPPORT=$PINOCCHIO_AUTODIFF_SUPPORT",
  "-DBUILD_WITH_EXTRA_SUPPORT=$PINOCCHIO_EXTRA_SUPPORT",
  "-DBUILD_WITH_OPENMP_SUPPORT=$PINOCCHIO_OPENMP_SUPPORT",
  "-DBUILD_WITH_CODEGEN_SUPPORT=$PINOCCHIO_CODEGEN_SUPPORT",
  "-DBUILD_WITH_SDF_SUPPORT=$PINOCCHIO_SDF_SUPPORT",
  "-DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=$PINOCCHIO_MPFR_SUPPORT",
] }
build = { cmd = "cmake --build build --target all", depends_on = ["configure"] }
clean = { cmd = "rm -rf build" }
test = { cmd = "ctest --test-dir build --output-on-failure", depends_on = [
  "build",
] }

# Increment the version number with PINOCCHIO_VERSION variable
[feature.new-version.dependencies]
tomlkit = ">=0.13.2"

[feature.new-version.tasks]
configure_new_version = { cmd = [
  "CXXFLAGS=$PINOCCHIO_CXX_FLAGS",
  "cmake",
  "-G",
  "Ninja",
  "-B",
  "build_new_version",
  "-S",
  ".",
  "-DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX",
  "-DCMAKE_BUILD_TYPE=$PINOCCHIO_BUILD_TYPE",
  "-DGENERATE_PYTHON_STUBS=ON",
  "-DBUILD_WITH_COLLISION_SUPPORT=ON",
  "-DBUILD_WITH_ACCELERATE_SUPPORT=OFF",
  "-DBUILD_WITH_CASADI_SUPPORT=OFF",
  "-DBUILD_WITH_AUTODIFF_SUPPORT=OFF",
  "-DBUILD_WITH_EXTRA_SUPPORT=OFF",
  "-DBUILD_WITH_OPENMP_SUPPORT=OFF",
  "-DBUILD_WITH_CODEGEN_SUPPORT=OFF",
  "-DBUILD_WITH_SDF_SUPPORT=OFF",
  "-DBUILD_PYTHON_BINDINGS_WITH_BOOST_MPFR_SUPPORT=OFF",
] }
release_new_version = { cmd = "VERSION=$PINOCCHIO_VERSION cmake --build build_new_version --target release", depends-on = [
  "configure_new_version",
] }

[feature.lint]
dependencies = { pre-commit = ">=3.6.2" }
tasks = { lint = { cmd = "pre-commit run --all" } }

[feature.collision]
dependencies = { hpp-fcl = ">=2.4" }
activation = { env = { PINOCCHIO_COLLISION_SUPPORT = "ON" } }

[feature.sdf]
dependencies = { libsdformat = ">=9.8" }
activation = { env = { PINOCCHIO_SDF_SUPPORT = "ON" } }

[feature.casadi]
dependencies = { casadi = ">=3.6.7" }
activation = { env = { PINOCCHIO_CASADI_SUPPORT = "ON" } }

[feature.autodiff]
dependencies = { cppad = ">=20230000.0", pycppad = ">=1.2.4" }
activation = { env = { PINOCCHIO_AUTODIFF_SUPPORT = "ON" } }

# Not supported by Windows
[feature.codegen]
[feature.codegen.target.unix]
dependencies = { cppadcodegen = ">=2.4.3" }
activation = { env = { PINOCCHIO_CODEGEN_SUPPORT = "ON" } }

[feature.mpfr]
dependencies = { mpfr = ">=4.2.1" }
activation = { env = { PINOCCHIO_MPFR_SUPPORT = "ON" } }

[feature.extra.target.win]
dependencies = { qhull = ">=2020.2" }
activation = { env = { PINOCCHIO_EXTRA_SUPPORT = "ON" } }
[feature.extra.target.unix]
dependencies = { qhull = ">=2020.2", qhull-static = ">=2020.2" }
activation = { env = { PINOCCHIO_EXTRA_SUPPORT = "ON" } }

# Not supported by Windows (because of conda-forge issue)
[feature.openmp]
[feature.openmp.target.linux]
dependencies = { libgomp = ">=14.2" }
activation = { env = { PINOCCHIO_OPENMP_SUPPORT = "ON" } }
[feature.openmp.target.osx]
dependencies = { llvm-openmp = ">=19.1" }
activation = { env = { PINOCCHIO_OPENMP_SUPPORT = "ON" } }

# Accelerate only work on Apple ARM platform
[feature.accelerate]
[feature.accelerate.target.osx-arm64]
activation = { env = { PINOCCHIO_ACCELERATE_SUPPORT = "ON" } }

[feature.py312.dependencies]
python = "3.12.*"

[feature.py39.dependencies]
python = "3.9.*"

# Use clang-cl on Windows.
# We must use scripts instead of env to setup CC and CXX
# to avoid cxx-compiler to overwrite them.
[feature.clang-cl]
platforms = ["win-64"]
activation = { scripts = ["development/scripts/pixi/activation_clang_cl.bat"] }

# Use clang on GNU/Linux.
# We must use scripts instead of env to setup CC and CXX
# to avoid cxx-compiler to overwrite them.
[feature.clang]
platforms = ["linux-64"]
activation = { scripts = ["development/scripts/pixi/activation_clang.sh"] }
dependencies = { clangxx = "*" }

[environments]
default = { features = ["py312"], solve-group = "py312" }
clang = { features = ["clang", "py312"] }
lint = { features = ["lint"], solve-group = "py312" }
collision = { features = ["collision", "py312"], solve-group = "py312" }
accelerate = { features = ["accelerate", "py312"], solve-group = "py312" }
casadi = { features = ["casadi", "py312"], solve-group = "py312" }
autodiff = { features = ["autodiff", "py312"], solve-group = "py312" }
extra = { features = ["extra", "py312"], solve-group = "py312" }
openmp = { features = ["openmp", "py312"], solve-group = "py312" }
# codegen need autodiff
codegen = { features = ["autodiff", "codegen", "py312"], solve-group = "py312" }
mpfr = { features = ["mpfr", "py312"], solve-group = "py312" }
sdf = { features = ["sdf", "py312"], solve-group = "py312" }
py39 = { features = ["py39"], solve-group = "py39" }
# Accelerate will only work in Eigen next release
all = { features = [
  "collision",
  "casadi",
  "autodiff",
  "extra",
  "openmp",
  "codegen",
  "mpfr",
  "sdf",
  "py312",
], solve-group = "py312" }
all-py39 = { features = [
  "collision",
  "casadi",
  "autodiff",
  "extra",
  "openmp",
  "codegen",
  "mpfr",
  "sdf",
  "py39",
], solve-group = "py39" }
all-clang-cl = { features = [
  "collision",
  "casadi",
  "autodiff",
  "extra",
  "openmp",
  "codegen",
  "mpfr",
  "sdf",
  "clang-cl",
  "py312",
], solve-group = "py312" }
# Release a new software version
new-version = { features = [
  "new-version",
  "collision",
  "py312",
], solve-group = "py312" }