78 lines
2.0 KiB
Nix
78 lines
2.0 KiB
Nix
{ lib
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, stdenv
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, fetchFromGitHub
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, cmake
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, boost
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, eigen
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, example-robot-data
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, collisionSupport ? !stdenv.isDarwin
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, jrl-cmakemodules
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, hpp-fcl
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, urdfdom
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, pythonSupport ? false
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, python3Packages
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}:
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stdenv.mkDerivation (finalAttrs: {
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pname = "pinocchio";
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version = "2.7.1";
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src = fetchFromGitHub {
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owner = "stack-of-tasks";
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repo = finalAttrs.pname;
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rev = "v${finalAttrs.version}";
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hash = "sha256-Ks5dvKi5iutjM+iovDOYGx3vsr45JWRqGOXV8+Ko4gg=";
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};
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# example-robot-data models are used in checks.
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# Upstream provide them as git submodule, but we can use our own version instead.
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postPatch = ''
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rmdir models/example-robot-data
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ln -s ${example-robot-data.src} models/example-robot-data
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'';
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strictDeps = true;
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nativeBuildInputs = [
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cmake
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];
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propagatedBuildInputs = [
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jrl-cmakemodules
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urdfdom
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] ++ lib.optionals (!pythonSupport) [
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boost
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eigen
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] ++ lib.optionals (!pythonSupport && collisionSupport) [
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hpp-fcl
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] ++ lib.optionals pythonSupport [
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python3Packages.boost
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python3Packages.eigenpy
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] ++ lib.optionals (pythonSupport && collisionSupport) [
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python3Packages.hpp-fcl
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];
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cmakeFlags = [
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(lib.cmakeBool "BUILD_PYTHON_INTERFACE" pythonSupport)
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(lib.cmakeBool "BUILD_WITH_LIBPYTHON" pythonSupport)
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(lib.cmakeBool "BUILD_WITH_COLLISION_SUPPORT" collisionSupport)
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] ++ lib.optionals (pythonSupport && stdenv.isDarwin) [
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# AssertionError: '.' != '/tmp/nix-build-pinocchio-2.7.0.drv/sou[84 chars].dae'
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"-DCMAKE_CTEST_ARGUMENTS='--exclude-regex;test-py-bindings_geometry_model_urdf'"
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];
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doCheck = true;
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pythonImportsCheck = lib.optionals (!pythonSupport) [
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"pinocchio"
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];
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meta = {
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description = "A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives";
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homepage = "https://github.com/stack-of-tasks/pinocchio";
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license = lib.licenses.bsd2;
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maintainers = with lib.maintainers; [ nim65s wegank ];
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platforms = lib.platforms.unix;
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};
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})
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