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{ lib
, stdenv
, fetchFromGitHub
, cmake
, boost
, eigen
, example-robot-data
, collisionSupport ? !stdenv.isDarwin
, console-bridge
, jrl-cmakemodules
, hpp-fcl
, urdfdom
, pythonSupport ? false
, python3Packages
}:
stdenv.mkDerivation (finalAttrs: {
pname = "pinocchio";
version = "3.0.0";
src = fetchFromGitHub {
owner = "stack-of-tasks";
repo = finalAttrs.pname;
rev = "v${finalAttrs.version}";
hash = "sha256-h4NzfS27+jWyHbegxF+pgN6JzJdVAoM16J6G/9uNJc4=";
};
# test failure, ref https://github.com/stack-of-tasks/pinocchio/issues/2277
prePatch = lib.optionalString (stdenv.isLinux && stdenv.isAarch64) ''
substituteInPlace unittest/algorithm/utils/CMakeLists.txt \
--replace-fail "add_pinocchio_unit_test(force)" ""
'';
# example-robot-data models are used in checks.
# Upstream provide them as git submodule, but we can use our own version instead.
postPatch = ''
rmdir models/example-robot-data
ln -s ${example-robot-data.src} models/example-robot-data
'';
strictDeps = true;
nativeBuildInputs = [
cmake
];
propagatedBuildInputs = [
console-bridge
jrl-cmakemodules
urdfdom
] ++ lib.optionals (!pythonSupport) [
boost
eigen
] ++ lib.optionals (!pythonSupport && collisionSupport) [
hpp-fcl
] ++ lib.optionals pythonSupport [
python3Packages.boost
python3Packages.eigenpy
] ++ lib.optionals (pythonSupport && collisionSupport) [
python3Packages.hpp-fcl
];
cmakeFlags = [
(lib.cmakeBool "BUILD_PYTHON_INTERFACE" pythonSupport)
(lib.cmakeBool "BUILD_WITH_LIBPYTHON" pythonSupport)
(lib.cmakeBool "BUILD_WITH_COLLISION_SUPPORT" collisionSupport)
] ++ lib.optionals (pythonSupport && stdenv.isDarwin) [
# AssertionError: '.' != '/tmp/nix-build-pinocchio-2.7.0.drv/sou[84 chars].dae'
"-DCMAKE_CTEST_ARGUMENTS='--exclude-regex;test-py-bindings_geometry_model_urdf'"
];
doCheck = true;
pythonImportsCheck = lib.optionals (!pythonSupport) [
"pinocchio"
];
meta = {
description = "Fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives";
homepage = "https://github.com/stack-of-tasks/pinocchio";
license = lib.licenses.bsd2;
maintainers = with lib.maintainers; [ nim65s wegank ];
platforms = lib.platforms.unix;
};
})
|
