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setup.py
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setup.py
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1#
# Copyright 2020 Google LLC
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from setuptools import find_packages
from sys import platform as _platform
import sys
import glob
import os
from distutils.core import setup
from distutils.extension import Extension
from distutils.util import get_platform
from glob import glob
# monkey-patch for parallel compilation
import multiprocessing
import multiprocessing.pool
def parallelCCompile(self,
sources,
output_dir=None,
macros=None,
include_dirs=None,
debug=0,
extra_preargs=None,
extra_postargs=None,
depends=None):
# those lines are copied from distutils.ccompiler.CCompiler directly
macros, objects, extra_postargs, pp_opts, build = self._setup_compile(
output_dir, macros, include_dirs, sources, depends, extra_postargs)
cc_args = self._get_cc_args(pp_opts, debug, extra_preargs)
# parallel code
N = 2 * multiprocessing.cpu_count() # number of parallel compilations
try:
# On Unix-like platforms attempt to obtain the total memory in the
# machine and limit the number of parallel jobs to the number of Gbs
# of RAM (to avoid killing smaller platforms like the Pi)
mem = os.sysconf('SC_PHYS_PAGES') * os.sysconf('SC_PAGE_SIZE') # bytes
except (AttributeError, ValueError):
# Couldn't query RAM; don't limit parallelism (it's probably a well
# equipped Windows / Mac OS X box)
pass
else:
mem = max(1, int(round(mem / 1024 ** 3))) # convert to Gb
N = min(mem, N)
def _single_compile(obj):
try:
src, ext = build[obj]
except KeyError:
return
newcc_args = cc_args
if _platform == "darwin":
if src.endswith('.cpp') or src.endswith('.cc'):
newcc_args = cc_args + ["-mmacosx-version-min=10.15", "-std=c++17", "-stdlib=libc++"]
self._compile(obj, src, ext, newcc_args, extra_postargs, pp_opts)
# convert to list, imap is evaluated on-demand
pool = multiprocessing.pool.ThreadPool(N)
list(pool.imap(_single_compile, objects))
return objects
import distutils.ccompiler
distutils.ccompiler.CCompiler.compile = parallelCCompile
# see http://stackoverflow.com/a/8719066/295157
import os
platform = get_platform()
print(platform)
CXX_FLAGS = ''
CXX_FLAGS += '-fpermissive '
CXX_FLAGS += '-D_USE_MATH_DEFINES '
CXX_FLAGS += '-DUSE_EIGEN '
# libraries += [current_python]
libraries = []
include_dirs = ['src', '.','python', 'third_party/eigen3', 'third_party/tinyxml2/include', 'third_party/pybind11/include']
pytinyopengl3_libraries = []
pytinyopengl3_include_dirs = ['src', 'third_party/tinyobjloader', 'third_party/tinyxml2/include']
try:
import numpy
NP_DIRS = [numpy.get_include()]
except:
print("numpy is disabled. getCameraImage maybe slower.")
else:
print("numpy is enabled.")
CXX_FLAGS += '-DPYBULLET_USE_NUMPY '
for d in NP_DIRS:
print("numpy_include_dirs = %s" % d)
include_dirs += NP_DIRS
sources = ["third_party/tinyxml2/tinyxml2.cpp"]
pytinyopengl3_sources = ["python/pytinyopengl3.cc",\
"src/visualizer/opengl/tiny_camera.cpp",\
"src/visualizer/opengl/tiny_font_stash.cpp",\
"src/visualizer/opengl/tiny_fonts.cpp",\
"src/visualizer/opengl/tiny_gl_instancing_renderer.cpp",\
"src/visualizer/opengl/tiny_gl_primitive_renderer.cpp",\
"src/visualizer/opengl/tiny_gl_render_to_texture.cpp",\
"src/visualizer/opengl/tiny_glfw_opengl_window.cpp",\
"src/visualizer/opengl/tiny_load_shader.cpp",\
"src/visualizer/opengl/tiny_open_sans.cpp",\
"src/visualizer/opengl/tiny_opengl_fontstashcallbacks.cpp",\
"src/visualizer/opengl/tiny_opengl3_app.cpp",\
"third_party/stb_image/stb_image_write.cpp",\
"third_party/glad/gl.c",\
"third_party/stb_image/stb_image.cpp",\
"third_party/tinyobjloader/tiny_obj_loader.cc",\
"third_party/tinyxml2/tinyxml2.cpp",\
]
if _platform == "linux" or _platform == "linux2":
print("linux")
libraries = ['dl', 'pthread', 'stdc++fs']
CXX_FLAGS += '-D_LINUX '
CXX_FLAGS += '-DGLEW_STATIC '
CXX_FLAGS += '-DGLEW_INIT_OPENGL11_FUNCTIONS=1 '
CXX_FLAGS += '-DGLEW_DYNAMIC_LOAD_ALL_GLX_FUNCTIONS=1 '
CXX_FLAGS += '-DDYNAMIC_LOAD_X11_FUNCTIONS '
CXX_FLAGS += '-DHAS_SOCKLEN_T '
CXX_FLAGS += '-fno-inline-functions-called-once '
CXX_FLAGS += '-fvisibility=hidden '
CXX_FLAGS += '-fvisibility-inlines-hidden '
CXX_FLAGS += '-std=c++1z '
CXX_FLAGS += '-Wno-sign-compare '
CXX_FLAGS += '-Wno-reorder '
CXX_FLAGS += '-Wno-unused-local-typedefs '
CXX_FLAGS += '-Wno-unused-variable '
CXX_FLAGS += '-Wno-unused-but-set-variable '
pytinyopengl3_libraries += ['dl','pthread']
pytinyopengl3_sources += ["src/visualizer/opengl/tiny_x11_opengl_window.cpp",\
"third_party/glad/glx.c"]
elif _platform == "win32":
print("win32!")
libraries = ['User32', 'kernel32']
CXX_FLAGS += '-DWIN32 '
CXX_FLAGS += '-DGLEW_STATIC '
CXX_FLAGS += '/std:c++17 '
pytinyopengl3_libraries = ['Ws2_32', 'Winmm', 'User32', 'Opengl32', 'kernel32', 'glu32', 'Gdi32', 'Comdlg32']
pytinyopengl3_sources += ["src/visualizer/opengl/tiny_win32_opengl_window.cpp",\
"src/visualizer/opengl/tiny_win32_window.cpp"]
elif _platform == "darwin":
print("darwin!")
os.environ['LDFLAGS'] = '-framework Cocoa -mmacosx-version-min=10.15 -stdlib=libc++ -framework OpenGL'
CXX_FLAGS += '-DB3_NO_PYTHON_FRAMEWORK '
CXX_FLAGS += '-DHAS_SOCKLEN_T '
CXX_FLAGS += '-D_DARWIN '
CXX_FLAGS += '-mmacosx-version-min=10.15 '
# CXX_FLAGS += '-framework Cocoa '
pytinyopengl3_sources += ["src/visualizer/opengl/tiny_mac_opengl_window.cpp",\
"src/visualizer/opengl/tiny_mac_opengl_window_objc.m"]
else:
print("bsd!")
libraries = ['GL', 'GLEW', 'pthread']
os.environ['LDFLAGS'] = '-L/usr/X11R6/lib'
CXX_FLAGS += '-D_BSD '
CXX_FLAGS += '-I/usr/X11R6/include '
CXX_FLAGS += '-DHAS_SOCKLEN_T '
CXX_FLAGS += '-fno-inline-functions-called-once'
setup_py_dir = os.path.dirname(os.path.realpath(__file__))
need_files = []
datadir = "diffphys_data"
hh = setup_py_dir + "/" + datadir
for root, dirs, files in os.walk(hh):
for fn in files:
ext = os.path.splitext(fn)[1][1:]
if ext and ext in 'yaml index meta data-00000-of-00001 png gif jpg urdf sdf obj txt mtl dae off stl STL xml '.split(
):
fn = root + "/" + fn
need_files.append(fn[1 + len(hh):])
print("found resource files: %i" % len(need_files))
for n in need_files:
print("-- %s" % n)
print("packages")
print(find_packages('examples/pybullet'))
print("-----")
extensions = []
CXX_FLAGS_TDS = CXX_FLAGS + '-DENABLE_TEST_ENVS ' + '-DNOMINMAX '
pytinydiffsim_ext = Extension(
"pytinydiffsim",
sources=sources+["python/pytinydiffsim.cc"],
libraries=libraries,
extra_compile_args=CXX_FLAGS_TDS.split(),
include_dirs=include_dirs + ["."])
extensions.append(pytinydiffsim_ext)
pytinydiffsim_dual_ext = Extension(
"pytinydiffsim_dual",
sources=sources+["python/pytinydiffsim_dual.cc"],
libraries=libraries,
extra_compile_args=CXX_FLAGS.split(),
include_dirs=include_dirs + ["."])
extensions.append(pytinydiffsim_dual_ext)
if os.path.exists("third_party/CppAD/include"):
platform_include_dirs = []
if _platform == "win32":
platform_include_dirs=["third_party/patches/CppADCodeGenWindows/include"]
if _platform == "linux" or _platform == "linux2":
platform_include_dirs=["third_party/patches/CppADCodeGenLinux/include"]
if _platform == "darwin":
platform_include_dirs=["third_party/patches/CppADCodeGenOSXIntel/include"]
pytinydiffsim_ad_ext = Extension(
"pytinydiffsim_ad",
sources=sources+["python/pytinydiffsim_ad.cc"],
libraries=libraries,
extra_compile_args=CXX_FLAGS.split(),
include_dirs=include_dirs + platform_include_dirs + [".",
"third_party/CppADCodeGen/include",
"third_party/CppAD/include" ])
extensions.append(pytinydiffsim_ad_ext)
else:
print("Skipping pytinydiffsim_ad extension since CppAD is missing.")
pytinyopengl3_ext = Extension(
"pytinyopengl3",
sources=pytinyopengl3_sources,
libraries=pytinyopengl3_libraries,
extra_compile_args=CXX_FLAGS.split(),
include_dirs=pytinyopengl3_include_dirs + [
".", "third_party/pybind11/include",
"third_party/optionalX11",
"third_party/glad",
"third_party",
])
extensions.append(pytinyopengl3_ext)
setup(
name='pytinydiffsim',
version='0.1.1',
description=
'Tiny Differentiable Physics Library for Robotics Simulation and Reinforcement Learning',
long_description=
'Tiny Differentiable Physics Library for Robotics Simulation and Reinforcement Learning',
url='https://github.com/google-research/tiny-differentiable-simulator',
author='Eric Heiden, David Millard, Erwin Coumans',
author_email='erwincoumans@google.com',
license='Apache License 2.0',
platforms='any',
keywords=[
'physics simulation', 'optimal control',
'robotics', 'collision detection', 'opengl',
'reinforcement learning'
],
install_requires=[
'numpy',
],
ext_modules=extensions,
classifiers=[
'Development Status :: 5 - Production/Stable',
'License :: OSI Approved :: zlib/libpng License',
'Operating System :: Microsoft :: Windows', 'Operating System :: POSIX :: Linux',
'Operating System :: MacOS', 'Intended Audience :: Science/Research',
"Programming Language :: Python", 'Programming Language :: Python :: 2.7',
'Programming Language :: Python :: 3.4', 'Programming Language :: Python :: 3.5',
'Programming Language :: Python :: 3.6', 'Programming Language :: Python :: 3.7',
'Programming Language :: Python :: 3.8', 'Topic :: Games/Entertainment :: Simulation',
'Topic :: Scientific/Engineering :: Artificial Intelligence',
'Framework :: Robot Framework'
],
package_dir={'': 'python'},
packages=[x for x in find_packages('python')],
package_data={'pytinydiffsim_data': need_files})