add damping and friction in rnea #1
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| name: CI - Windows via Conda | |
| on: | |
| push: | |
| paths-ignore: | |
| - doc/** | |
| - .gitlab-ci.yml | |
| - .gitignore | |
| - '*.md' | |
| - CITATION.* | |
| - COPYING.LESSER | |
| - colcon.pkg | |
| - .pre-commit-config.yaml | |
| pull_request: | |
| paths-ignore: | |
| - doc/** | |
| - .gitlab-ci.yml | |
| - .gitignore | |
| - '*.md' | |
| - CITATION.* | |
| - COPYING.LESSER | |
| - colcon.pkg | |
| - .pre-commit-config.yaml | |
| concurrency: | |
| group: ${{ github.workflow }}-${{ github.ref }} | |
| cancel-in-progress: true | |
| jobs: | |
| build: | |
| name: ${{ matrix.os }} - ${{ matrix.compiler }} with Conda | |
| runs-on: ${{ matrix.os }} | |
| env: | |
| CCACHE_BASEDIR: ${GITHUB_WORKSPACE} | |
| CCACHE_DIR: ${GITHUB_WORKSPACE}/.ccache | |
| CCACHE_COMPRESS: true | |
| CCACHE_COMPRESSLEVEL: 5 | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: [windows-2019] | |
| compiler: [cl, clang-cl] | |
| steps: | |
| - uses: actions/checkout@v4 | |
| with: | |
| submodules: recursive | |
| - uses: actions/cache@v4 | |
| with: | |
| path: .ccache | |
| save-always: true | |
| key: ccache-windows-conda-${{ matrix.compiler }}-${{ matrix.os }}-${{ github.sha }} | |
| restore-keys: ccache-windows-conda-${{ matrix.compiler }}-${{ matrix.os }}- | |
| - uses: conda-incubator/setup-miniconda@v3 | |
| with: | |
| activate-environment: pinocchio | |
| auto-update-conda: true | |
| environment-file: .github/workflows/conda/environment_windows.yml | |
| python-version: '3.10' | |
| auto-activate-base: false | |
| - name: Get Compilation Flags | |
| id: get_labels | |
| uses: actions/github-script@v7 | |
| with: | |
| script: | | |
| const script = require('./.github/workflows/scripts/get_label.js'); | |
| await script({github, context, core}) | |
| result-encoding: string | |
| - name: Build Pinocchio | |
| shell: cmd /C CALL {0} | |
| run: | | |
| :: Set compiler to use. | |
| :: This must be done here and not in env since | |
| :: cxx-compiler activation script set this variable | |
| :: and is called before. | |
| set CC=${{ matrix.compiler }}.exe | |
| set CXX=${{ matrix.compiler }}.exe | |
| echo Compiler set to: %CC% | |
| call conda list | |
| :: Create build directory | |
| mkdir build | |
| pushd build | |
| :: Configure (Ninja use CC and CXX to determine the compiler) | |
| cmake ^ | |
| -G "Ninja" ^ | |
| -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library ^ | |
| -DPYTHON_SITELIB=%CONDA_PREFIX%\Lib\site-packages ^ | |
| -DCMAKE_CXX_COMPILER_LAUNCHER=ccache ^ | |
| -DCMAKE_BUILD_TYPE=Release ^ | |
| ${{ steps.get_labels.outputs.cmakeFlags }} ^ | |
| .. | |
| :: Build | |
| cmake --build . -j2 | |
| if errorlevel 1 exit 1 | |
| :: Testing | |
| ctest --output-on-failure | |
| if errorlevel 1 exit 1 | |
| :: Install | |
| cmake --install . | |
| :: Test Python import | |
| cd .. | |
| python -c "import pinocchio" | |
| if errorlevel 1 exit 1 | |
| check: | |
| if: always() | |
| name: check-windows-conda | |
| needs: | |
| - build | |
| runs-on: Ubuntu-latest | |
| steps: | |
| - name: Decide whether the needed jobs succeeded or failed | |
| uses: re-actors/alls-green@release/v1 | |
| with: | |
| jobs: ${{ toJSON(needs) }} |