1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
|
######################################################################
# setup script for the Python wrapper of ODE
######################################################################
from setuptools import setup, Extension
import shutil, os, os.path, sys, glob, subprocess
from stat import *
def system(cmd):
f = os.popen(cmd)
return f.read()
# Include directories
INC_DIRS = []
# Library directories
LIB_DIRS = []
# Libraries to link with
LIBS = []
# Additional compiler arguments
CC_ARGS = []
CC_ARGS.extend(system("ode-config --cflags").split())
# Additional linker arguments
LINK_ARGS = []
LINK_ARGS.extend(system("ode-config --libs").split())
# If your version of ODE was compiled with OPCODE (trimesh support) enabled,
# this should be set to True.
TRIMESH_ENABLE = False
######################################################################
# Windows specific settings
######################################################################
if sys.platform=="win32":
ODE_BASE = r"insert_your_path_here"
INC_DIRS += [os.path.join(ODE_BASE, "include")]
LIB_DIRS += [os.path.join(ODE_BASE, "lib", "releaselib")]
LIBS += ["ode", "user32"] # user32 because of the MessageBox() call
CC_ARGS += ["/ML"]
LINK_ARGS += ["/NODEFAULTLIB:LIBCMT"]
######################################################################
# Linux (and other) specific settings
######################################################################
else:
for base in ["/usr", "/usr/local", "/opt/local", os.path.expanduser("~/ode")]:
INC_DIRS += [os.path.join(base, "include")]
LIB_DIRS += [os.path.join(base, "lib")]
LIBS += ["ode", "stdc++"]
######################################################################
######################################################################
######################################################################
def info(msg):
"""Output an info message.
"""
print("INFO:",msg)
def warning(msg):
"""Output a warning message.
"""
print("WARNING:",msg)
def error(msg, errorcode=1):
"""Output an error message and abort.
"""
print("ERROR:",msg)
sys.exit(errorcode)
# Generate the C source file (if necessary)
def generate(name, trimesh_support):
"""Run Cython to generate the extension module source code.
"""
# Generate the trimesh_switch file
f = open("_trimesh_switch.pyx", "wt")
print('# This file was generated by the setup script and is included in ode.pyx.\n', file=f)
if (trimesh_support):
print('include "trimeshdata.pyx"', file=f)
print('include "trimesh.pyx"', file=f)
else:
print('include "trimesh_dummy.pyx"', file=f)
f.close()
cmd = "cython3 -3 -o %s -I. -Isrc src/ode.pyx" % name
cython_out = name
# Check if the cython output is still up to date or if it has to be generated
# (ode.c will be updated if any of the *.pyx files in the directory "src"
# is newer than ode.c)
if os.access(cython_out, os.F_OK):
ctime = os.stat(cython_out)[ST_MTIME]
for pyx in glob.glob("src/*.pyx"):
pytime = os.stat(pyx)[ST_MTIME]
if pytime>ctime:
info("Updating %s"%cython_out)
print(cmd)
err = os.system(cmd)
break
else:
info("%s is up to date"%cython_out)
err = 0
else:
info("Creating %s"%cython_out)
print(cmd)
err = os.system(cmd)
# Check if calling cython produced an error
if err!=0:
error("An error occured while generating the C source file.", err)
def install_ode(install_dir='${HOME}/ode'):
"""Download and install ODE.
"""
if install_dir:
os.makedirs(install_dir, exist_ok=True)
######################################################################
# Check if ode.h can be found
# (if it is not found it might not be an error because it may be located
# in any of the include paths that are built into the compiler)
num = 0
for path in INC_DIRS:
ode_h = os.path.join(path, "ode", "ode.h")
if os.path.exists(ode_h):
info("<ode/ode.h> found in %s"%path)
num += 1
if num==0:
warning("<ode/ode.h> not found. Downloading and installing it now to your home directory."
"\nIf it's already installed you may have to adjust INC_DIRS in setup.py.")
install_ode()
elif num>1:
warning("ode.h was found more than once. Make sure the header and lib matches.")
# Generate all possible source code versions so that they can be
# packaged with the source archive and a user doesn't require Cython
generate('ode_trimesh.c', True)
generate('ode_notrimesh.c', False)
if (TRIMESH_ENABLE):
info("Installing with trimesh support.")
install = 'ode_trimesh.c'
else:
info("INFO: Installing without trimesh support.")
install = 'ode_notrimesh.c'
# Compile the module
setup(name = "Py3ODE",
version = "1.2.0.dev15",
description = "Port of PyODE for Python 3",
author = "see file AUTHORS",
author_email = "filipeabperes@gmail.com",
license = "BSD or LGPL",
url = "https://github.com/filipeabperes/Py3ODE",
packages = ["xode"],
python_requires='>=3',
install_requires=['cython3'],
ext_modules = [Extension("ode", [install]
,libraries=LIBS
,include_dirs=INC_DIRS
,library_dirs=LIB_DIRS
,extra_compile_args=CC_ARGS
,extra_link_args=LINK_ARGS)
])
|
