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# Copyright (c) 2011-2021, The DART development contributors
# All rights reserved.
#
# The list of contributors can be found at:
# https://github.com/dartsim/dart/blob/main/LICENSE
#
# This file is provided under the "BSD-style" License
if(NOT DARTPY_PYTHON_VERSION)
set(DARTPY_PYTHON_VERSION 3.4 CACHE STRING "Choose the target Python version (e.g., 3.4, 2.7)" FORCE)
endif()
# Find pybind11, including PythonInterp and PythonLibs
# Needs to set PYBIND11_PYTHON_VERSION before finding pybind11
set(PYBIND11_PYTHON_VERSION ${DARTPY_PYTHON_VERSION})
find_package(pybind11 2.2.0 QUIET)
if(NOT pybind11_FOUND)
message(WARNING "Disabling [dartpy] due to missing pybind11 >= 2.2.0.")
return()
endif()
if(NOT PythonInterp_FOUND AND NOT PYTHONINTERP_FOUND)
message(WARNING "Disabling [dartpy] due to missing [PythonInterp].")
return()
endif()
if(NOT PythonLibs_FOUND AND NOT PYTHONLIBS_FOUND)
message(WARNING "Disabling [dartpy] due to missing [PythonLibs].")
return()
endif()
execute_process(COMMAND ${PYTHON_EXECUTABLE} -c
"from distutils.sysconfig import get_python_lib;\
print(get_python_lib(plat_specific=True, prefix=''))"
OUTPUT_VARIABLE PYTHON_SITE_PACKAGES
OUTPUT_STRIP_TRAILING_WHITESPACE
)
if(NOT IS_ABSOLUTE PYTHON_SITE_PACKAGES)
set(PYTHON_SITE_PACKAGES "${CMAKE_INSTALL_PREFIX}/${PYTHON_SITE_PACKAGES}")
endif()
file(GLOB_RECURSE dartpy_headers "*.h" "*.hpp")
file(GLOB_RECURSE dartpy_sources "*.cpp")
# Python binding module name
set(pybind_module dartpy)
# Build a Python extension module:
# pybind11_add_module(<name> [MODULE | SHARED] [EXCLUDE_FROM_ALL]
# [NO_EXTRAS] [SYSTEM] [THIN_LTO] source1 [source2 ...])
#
pybind11_add_module(${pybind_module}
MODULE
${dartpy_headers}
${dartpy_sources}
)
target_include_directories(${pybind_module}
SYSTEM PUBLIC
${PYTHON_INCLUDE_DIRS}
${pybind11_INCLUDE_DIRS}
PRIVATE
${CMAKE_CURRENT_SOURCE_DIR}
)
target_link_libraries(${pybind_module}
PUBLIC
dart
dart-utils
dart-utils-urdf
dart-gui
dart-gui-osg
${PYTHON_LIBRARIES}
)
if(TARGET dart-optimizer-nlopt)
target_link_libraries(${pybind_module} PUBLIC dart-optimizer-nlopt)
endif()
if(TARGET dart-collision-bullet)
target_link_libraries(${pybind_module} PUBLIC dart-collision-bullet)
endif()
if(TARGET dart-collision-ode)
target_link_libraries(${pybind_module} PUBLIC dart-collision-ode)
endif()
# Remove debug postfix for dartpy
set_target_properties(${pybind_module} PROPERTIES DEBUG_POSTFIX "")
# Get the path to the bind module
set(PYBIND_MODULE $<TARGET_FILE:${pybind_module}>)
# Custom target to install (copy) the bind module. This target may require
# `sudo` if the destination is a system directory.
set(install_comment "Installing ${pybind_module}...")
if(BUILD_SHARED_LIBS)
string(CONCAT install_comment
"${install_comment}\n"
"NOTE: ${pybind_module} is built against the DART's shared libraries. "
"Install the shared libraries to be able to import ${pybind_module}."
)
endif()
# Install the pybind module to site-packages directory
install(TARGETS ${pybind_module}
LIBRARY DESTINATION "${PYTHON_SITE_PACKAGES}"
)
list(REMOVE_ITEM dartpy_headers
${CMAKE_CURRENT_LIST_DIR}/eigen_geometry_pybind.h
${CMAKE_CURRENT_LIST_DIR}/eigen_pybind.h
)
list(REMOVE_ITEM dartpy_sources
${CMAKE_CURRENT_LIST_DIR}/eigen_geometry_pybind.cpp
)
dart_format_add(${dartpy_headers} ${dartpy_sources})
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