Remove CI for homebrew

Change mac runner name Remove CI for vcpkg Remove CI for ubuntu docker Fix rpath warnings on linux Build for both Release and Debug modes Attempt to fix rpath issue wip wip2 w w w w2 w3 w4 w5 w6
dartsim · Nov 11, 2024 · 77c9840 · 77c9840
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commit 77c9840
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diff --git a/.github/workflows/ci_macos.yml b/.github/workflows/ci_macos.yml
@@ -22,38 +22,13 @@ on:
 
 jobs:
   build:
-    name: ${{ matrix.os }}-${{ matrix.build_type }}
-    runs-on: ${{ matrix.os }}
-    strategy:
-      fail-fast: false
-      matrix:
-        os: [macos-latest]
-        build_type: [Release]
-        enable_simd: [ON]
-    env:
-      COMPILER: clang
-      BUILD_TYPE: ${{ matrix.build_type }}
-      BUILD_DARTPY: OFF
-      DART_USE_SYSTEM_IMGUI: OFF
-      IN_CI: ON
-      ENABLE_SIMD: ${{ matrix.enable_simd }}
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-      - name: Install Dependencies
-        env:
-          INSTALL_OSG_HEAD: OFF # To avoid building OSG, until 3.7 is released.
-        run: scripts/install_osx.sh
-      - name: Build
-        run: sudo -E scripts/build.sh
-
-  build_on_pixi:
-    name: ${{ matrix.os }}-pixi
+    name: ${{ matrix.os == 'macos-latest-large' && 'x86_64' || 'arm64' }}-${{ matrix.build_type }}
     runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false
       matrix:
         os: [macos-latest]
+        build_type: ["Release", "Debug"]
     steps:
       - name: Checkout
         uses: actions/checkout@v4
@@ -64,12 +39,19 @@ jobs:
           cache: true
 
       - name: Check Lint
-        run: pixi run check-lint
+        run: |
+          DART_VERBOSE=ON \
+          BUILD_TYPE=${{ matrix.build_type }} \
+          pixi run check-lint
 
       - name: Test DART and dartpy
         run: |
+          DART_VERBOSE=ON \
+          BUILD_TYPE=${{ matrix.build_type }} \
           pixi run test-all
 
       - name: Install
         run: |
+          DART_VERBOSE=ON \
+          BUILD_TYPE=${{ matrix.build_type }} \
           pixi run install
diff --git a/.github/workflows/ci_ubuntu.yml b/.github/workflows/ci_ubuntu.yml
@@ -21,20 +21,13 @@ on:
   workflow_dispatch:
 
 jobs:
-  build_on_docker:
+  coverage:
     if: github.event_name != 'workflow_dispatch'
-    name: linux-docker-${{ matrix.os }}-${{ matrix.build_type }}
+    name: coverage-${{ matrix.os }}-${{ matrix.build_type }}
     runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
-        # Supported LTS versions
-        os: [ubuntu-jammy, ubuntu-noble, ubuntu-oracular]
-        build_type: [Release]
-        codecov: [OFF]
-        check_format: [OFF]
-        build_dartpy: [ON]
-        enable_simd: [ON]
         include:
           # For code coverage report to Codecov
           - os: ubuntu-jammy
@@ -79,9 +72,13 @@ jobs:
             $DART_DEV_IMAGE:$DOCKER_TAG \
             /bin/sh -c "cd $GITHUB_WORKSPACE && ./scripts/build.sh"
 
-  build_on_pixi:
-    name: ubuntu-pixi
+  build:
+    name: ${{ matrix.build_type }}
     runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        build_type: ["Release", "Debug"]
     steps:
       - name: Checkout
         uses: actions/checkout@v4
@@ -97,12 +94,19 @@ jobs:
           version: 1.0
 
       - name: Check Lint
-        run: pixi run check-lint
+        run: |
+          DART_VERBOSE=ON \
+          BUILD_TYPE=${{ matrix.build_type }} \
+          pixi run check-lint
 
       - name: Test DART and dartpy
         run: |
+          DART_VERBOSE=ON \
+          BUILD_TYPE=${{ matrix.build_type }} \
           pixi run test-all
-  
+
       - name: Install
         run: |
+          DART_VERBOSE=ON \
+          BUILD_TYPE=${{ matrix.build_type }} \
           pixi run install
diff --git a/.github/workflows/ci_windows.yml b/.github/workflows/ci_windows.yml
@@ -22,80 +22,12 @@ on:
 
 jobs:
   build:
-    name: win-${{ matrix.build_type }}
+    name: ${{ matrix.build_type }}
     runs-on: windows-latest
     strategy:
       fail-fast: false
       matrix:
-        toolset: [""]
-        build_type: [Release]
-        build_shared_libs: [OFF] # TODO(JS): Add ON once shared lib build is resolved
-
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-
-      - uses: johnwason/vcpkg-action@v6
-        with:
-          # TODO: Add ode and coin-or-ipopt
-          pkgs: >
-            assimp
-            eigen3
-            fcl
-            fmt
-            spdlog
-            bullet3
-            freeglut
-            glfw3
-            imgui[opengl2-binding]
-            nlopt
-            opengl
-            osg
-            pagmo2
-            tinyxml2
-            tracy
-            urdfdom
-          triplet: x64-windows
-          revision: "2024.06.15"
-          github-binarycache: true
-          token: ${{ github.token }}
-
-      - name: Install Python dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install -U pytest
-
-      - name: Build
-        shell: cmd
-        run: |
-          cmake ^
-            -S . ^
-            -B build ^
-            -G "Visual Studio 17 2022" ^
-            -A x64 ^
-            -Wno-dev ${{ matrix.toolset }} ^
-            -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} ^
-            -DCMAKE_TOOLCHAIN_FILE="${{ github.workspace }}/vcpkg/scripts/buildsystems/vcpkg.cmake" ^
-            -DDART_MSVC_DEFAULT_OPTIONS=ON ^
-            -DDART_VERBOSE=ON ^
-            -DBUILD_SHARED_LIBS=${{ matrix.build_shared_libs }} ^
-            -DDART_USE_SYSTEM_IMGUI=ON ^
-            || exit /b
-          cmake ^
-            --build build ^
-            --config ${{ matrix.build_type }} ^
-            --target ALL_BUILD ^
-            --parallel ^
-            || exit /b
-          ctest ^
-            --test-dir build ^
-            --output-on-failure ^
-            --build-config ${{ matrix.build_type }} ^
-            || exit /b
-
-  build_on_pixi:
-    name: win-pixi
-    runs-on: windows-latest
+        build_type: ["Release", "Debug"]
     steps:
       - name: Checkout
         uses: actions/checkout@v4
@@ -106,12 +38,17 @@ jobs:
           cache: true
 
       - name: Check Lint
-        run: pixi run check-lint
+        run: |
+          pixi run check-lint
 
       - name: Test DART and dartpy
         run: |
-          pixi run test # TODO: Change to test-all
-  
+          $env:DART_VERBOSE = "ON"; `
+          $env:BUILD_TYPE = "${{ matrix.build_type }}"; `
+          pixi run test-all
+
       - name: Install
         run: |
+          $env:DART_VERBOSE = "ON"; `
+          $env:BUILD_TYPE = "${{ matrix.build_type }}"; `
           pixi run install