Add BUILD_PYTHON_WHEELS option, use it to control installation of libraries int…

.github/workflows/continuous_integration.yml

@@ -38,8 +38,12 @@ jobs:
         python-version: '3.11'
 
     - name: Install numpy
-      # Need numpy to use SWIG numpy typemaps.
-      run: python3 -m pip install numpy==2.0
+      #Need numpy to use SWIG numpy typemaps.
+      run: |
+        python3 -m pip install numpy==2.0
+        python3 -m pip install wheel
+        python3 -m pip install build
+
 
     - name: Install SWIG
       run: |
@@ -68,7 +72,7 @@ jobs:
         # /W0 disables warnings.
         # https://msdn.microsoft.com/en-us/library/19z1t1wy.aspx
         # TODO: CMake provides /W3, which overrides our /W0
-        cmake -E env CXXFLAGS="/W0 /MD" cmake $env:GITHUB_WORKSPACE/dependencies -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install -DSUPERBUILD_ezc3d=ON -DOPENSIM_WITH_CASADI=ON
+        cmake -E env CXXFLAGS="/W0 /MD" cmake $env:GITHUB_WORKSPACE/dependencies -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install -DSUPERBUILD_ezc3d=ON -DOPENSIM_WITH_CASADI=ON -DOPENSIM_PYTHON_STANDALONE=ON
         cmake --build . --config Release -- /maxcpucount:4
 
     - name: Configure opensim-core
@@ -79,7 +83,7 @@ jobs:
         # TODO: Can remove /WX when we use that in CMakeLists.txt.
         # Set the CXXFLAGS environment variable to turn warnings into errors.
         # Skip timing test section included by default.
-        cmake -E env CXXFLAGS="/WX /MD -DSKIP_TIMING" cmake $env:GITHUB_WORKSPACE -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim-core-install -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DOPENSIM_C3D_PARSER=ezc3d -DOPENSIM_WITH_CASADI=on -DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on -DPython3_ROOT_DIR=C:\hostedtoolcache\windows\Python\3.11.9\x64
+        cmake -E env CXXFLAGS="/WX /MD -DSKIP_TIMING" cmake $env:GITHUB_WORKSPACE -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim-core-install -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DOPENSIM_C3D_PARSER=ezc3d -DOPENSIM_WITH_=on -DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on -DPython3_ROOT_DIR=C:\hostedtoolcache\windows\Python\3.11.9\x64
         $env:match = cmake -L . | Select-String -Pattern OPENSIM_QUALIFIED_VERSION
         $version = $env:match.split('=')[1]
         echo $version
@@ -106,13 +110,22 @@ jobs:
         Copy-Item -Path "~/opensim-core-install" -Destination "opensim-core-${{ steps.configure.outputs.version }}" -Recurse
         7z a "opensim-core-${{ steps.configure.outputs.version }}.zip" "opensim-core-${{ steps.configure.outputs.version }}"
 
-    # - name: Test Python bindings
-    #   run: |
-    #     echo "PYTHONPATH= $env:USERPROFILE/opensim-core-install/bin">> $GITHUB_ENV
-    #     # Move to the installed location of the python package.
-    #     cd ~/opensim-core-install/sdk/python
-    #     # Run python tests.
-    #     python -m unittest discover --start-directory opensim/tests --verbose
+    - name: Build wheel
+      run: |
+        cd ~/opensim-core-install/sdk/python
+        python -m build --wheel 
+
+    - name: Upload windows wheel
+      uses: actions/upload-artifact@v4
+      with:
+        name: opensim-4.5.2-cp311-cp311-win_amd64.whl
+        path: ~/opensim-core-install/sdk/python/dist/opensim-4.5.2-cp311-cp311-win_amd64.whl
+
+    - name: Test Python bindings
+      run: |
+        cd ~/opensim-core-install/sdk/python
+        # Run the python tests, verbosely.
+        python3 -m unittest discover --start-directory opensim/tests --verbose
 
     - name: Upload opensim-core
       uses: actions/upload-artifact@v4
@@ -180,7 +193,7 @@ jobs:
         DEP_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install)
         DEP_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release)
         DEP_CMAKE_ARGS+=(-DSUPERBUILD_ezc3d=ON)
-        DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=ON)
+        DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_=ON)
         DEP_CMAKE_ARGS+=(-DOPENSIM_DISABLE_LOG_FILE=ON)
         DEP_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11)
         printf '%s\n' "${DEP_CMAKE_ARGS[@]}"
@@ -231,7 +244,7 @@ jobs:
         mv $GITHUB_WORKSPACE/../opensim-core-install opensim-core-${{ steps.configure.outputs.version }}
         zip --symlinks --recurse-paths --quiet opensim-core-${{ steps.configure.outputs.version }}.zip opensim-core-${{ steps.configure.outputs.version }}
         mv opensim-core-${{ steps.configure.outputs.version }} $GITHUB_WORKSPACE/../opensim-core-install
-
+        
     - name: Test Python bindings
       run: |
         cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python
@@ -267,6 +280,8 @@ jobs:
         brew install pkgconfig autoconf libtool automake wget pcre doxygen llvm
         brew reinstall gcc
         pip3 install numpy==2.0
+        pip3 install wheel
+        pip3 install build
         gfortran -v
         mkdir gfortran_version
         gfortran -v &> gfortran_version/gfortran_version.txt
@@ -306,9 +321,10 @@ jobs:
         DEP_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install)
         DEP_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release)
         DEP_CMAKE_ARGS+=(-DSUPERBUILD_ezc3d=ON)
-        DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=ON)
+        DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_=ON)
         DEP_CMAKE_ARGS+=(-DOPENSIM_DISABLE_LOG_FILE=ON)
         DEP_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11)
+
         printf '%s\n' "${DEP_CMAKE_ARGS[@]}"
         cmake "${DEP_CMAKE_ARGS[@]}"
         make --jobs 4
@@ -325,6 +341,8 @@ jobs:
         OSIM_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11)
         OSIM_CMAKE_ARGS+=(-DOPENSIM_C3D_PARSER=ezc3d)
         OSIM_CMAKE_ARGS+=(-DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on)
+        OSIM_CMAKE_ARGS+=(-DBUILD_PYPI=on)
+        OSIM_CMAKE_ARGS+=(-DOPENSIM_WITH_=ON)
         OSIM_CMAKE_ARGS+=(-DSWIG_EXECUTABLE=$HOME/swig/bin/swig)
         OSIM_CMAKE_ARGS+=(-DOPENSIM_INSTALL_UNIX_FHS=OFF)
         OSIM_CMAKE_ARGS+=(-DOPENSIM_DOXYGEN_USE_MATHJAX=off)
@@ -358,6 +376,17 @@ jobs:
         zip --symlinks --recurse-paths --quiet opensim-core-${{ steps.configure.outputs.version }}.zip opensim-core-${{ steps.configure.outputs.version }}
         mv opensim-core-${{ steps.configure.outputs.version }} $GITHUB_WORKSPACE/../opensim-core-install
 
+    - name: Build wheel
+      run: |
+        cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python
+        python3 -m build --wheel
+
+    - name: Upload osx wheel
+      uses: actions/upload-artifact@v4
+      with:
+        name: opensim-4.5.2-cp311-cp311-macosx_15_0_universal2.whl
+        path: /Users/runner/work/opensim-core/opensim-core-install/sdk/python/dist/opensim-4.5.2-cp311-cp311-macosx_15_0_universal2.whl
+
     - name: Test Python bindings
       run: |
         cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python
@@ -508,6 +537,8 @@ jobs:
       run: |
         pip install pip --upgrade
         pip install numpy==2.0
+        pip install build
+        pip install wheel
 
     - name: Install packages
       run: sudo apt-get update && sudo apt-get install --yes build-essential libtool autoconf pkg-config gfortran libopenblas-dev liblapack-dev freeglut3-dev libxi-dev libxmu-dev doxygen patchelf
@@ -561,9 +592,11 @@ jobs:
         OSIM_CMAKE_ARGS+=(-DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install)
         OSIM_CMAKE_ARGS+=(-DOPENSIM_C3D_PARSER=ezc3d)
         OSIM_CMAKE_ARGS+=(-DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on)
+        OSIM_CMAKE_ARGS+=(-DBUILD_PYPI=on)
+        OSIM_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=ON)
         OSIM_CMAKE_ARGS+=(-DSWIG_DIR=~/swig/share/swig)
         OSIM_CMAKE_ARGS+=(-DSWIG_EXECUTABLE=~/swig/bin/swig)
-        OSIM_CMAKE_ARGS+=(-DOPENSIM_INSTALL_UNIX_FHS=OFF)
+        OSIM_CMAKE_ARGS+=(-DOPENSIM_INSTALL_UNIX_FHS=ON)
         OSIM_CMAKE_ARGS+=(-DOPENSIM_DOXYGEN_USE_MATHJAX=off)
         # TODO: Update to simbody.github.io/latest
         OSIM_CMAKE_ARGS+=(-DOPENSIM_SIMBODY_DOXYGEN_LOCATION="https://simbody.github.io/simtk.org/api_docs/simbody/latest/")
@@ -596,13 +629,23 @@ jobs:
         mv $GITHUB_WORKSPACE/../opensim-core-install opensim-core-${{ steps.configure.outputs.version }}
         zip --symlinks --recurse-paths --quiet opensim-core-${{ steps.configure.outputs.version }}-ubuntu22.zip opensim-core-${{ steps.configure.outputs.version }}
         mv opensim-core-${{ steps.configure.outputs.version }} $GITHUB_WORKSPACE/../opensim-core-install
+
+    - name: Build wheel
+      run: |
+        cd $GITHUB_WORKSPACE/../opensim-core-install/lib/python3.11/site-packages
+        python3 -m build --wheel
+
+    - name: Upload linux wheel
+      uses: actions/upload-artifact@v4
+      with:
+        name: opensim-4.5.2-cp311-cp311-linux_x86_64.whl
+        path: /home/runner/work/opensim-core/opensim-core-install/lib/python3.11/site-packages/dist/opensim-4.5.2-cp311-cp311-linux_x86_64.whl
 
     - name: Test Python bindings
       run: |
-        export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$HOME/opensim_dependencies_install/simbody/lib
-        cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python
-        # Run the python tests, verbosely.
-        python3 -m unittest discover --start-directory opensim/tests --verbose
+        pip install /home/runner/work/opensim-core/opensim-core-install/lib/python3.11/site-packages/dist/opensim-4.5.2-cp311-cp311-linux_x86_64.whl
+        # Run the python tests, verbosely
+        python3 -m unittest discover --start-directory /home/runner/work/opensim-core/opensim-core-install/lib/python3.11/site-packages/opensim/tests --verbose
 
     - name: Upload opensim-core
       uses: actions/upload-artifact@v4

Bindings/Python/CMakeLists.txt

@@ -251,6 +251,7 @@ OpenSimPutFileInPythonPackage("${CMAKE_CURRENT_BINARY_DIR}/version.py" opensim)
 
 # Copy setup.py for each build configuration.
 OpenSimPutFileInPythonPackage("${CMAKE_CURRENT_SOURCE_DIR}/setup.py" ".")
+OpenSimPutFileInPythonPackage("${CMAKE_CURRENT_SOURCE_DIR}/pyproject.tom1" ".")
 
 # __init__.py.
 OpenSimPutFileInPythonPackage("${CMAKE_CURRENT_SOURCE_DIR}/__init__.py" opensim)

Bindings/Python/pyproject.tom1

@@ -0,0 +1,33 @@
+[build-system]
+requires = ["setuptools>=61.0", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "opensim"
+version = "0.1.0"  # You may want to dynamically inject this from version.py
+description = "OpenSim Simulation Framework"
+authors = [{ name = "OpenSim Team", email = "[email protected]" }]
+license = { text = "Apache 2.0" }
+dynamic = ["version"]
+readme = "README.md"
+urls = { homepage = "http://opensim.stanford.edu/" }
+classifiers = [
+  "Intended Audience :: Science/Research",
+  "Operating System :: OS Independent",
+  "Programming Language :: Python :: 3",
+  "Topic :: Scientific/Engineering :: Physics"
+]
+dependencies = [ "numpy>=2.0" ]
+
+[project.scripts]
+opensim-moco-generate-report = "opensim.report:main"
+
+[tool.setuptools]
+include-package-data = true
+
+[tool.setuptools.packages.find]
+where = ["."]
+include = ["opensim"]
+
+[tool.setuptools.package-data]
+opensim = ["_*.*", "*.dylib", "*.dll", "*.so*"]

Bindings/Python/setup.py

@@ -3,6 +3,7 @@
 import os
 import sys
 from setuptools import setup
+from setuptools.dist import Distribution
 
 # This provides a list of relative paths to all the dependencies in the bin folder.
 # Only when installed locally via "python -m pip install ." in Windows
@@ -24,6 +25,10 @@
     execfile('opensim/version.py')
 else:
     exec(compile(open('opensim/version.py').read(), 'opensim/version.py', 'exec'))
+class BinaryDistribution(Distribution):
+    """Distribution which always forces a binary package with platform name"""
+    def has_ext_modules(foo):
+        return True
 
 setup(name='opensim',
       version=__version__,
@@ -35,8 +40,7 @@
       packages=['opensim'],
       # Copy the bin_files and geometry_files into the opensim package directory
       data_files=[
-            ('Lib/site-packages/opensim', bin_files), 
-            ('Lib/site-packages/opensim/Geometry', geometry_files)
+            ('opensim', bin_files)
       ],
       # The last 3 entries are for if OPENSIM_PYTHON_STANDALONE is ON.
       # The asterisk after the extension is to handle version numbers on Linux.
@@ -51,8 +55,13 @@
       classifiers=[
           'Intended Audience :: Science/Research',
           'Operating System :: OS Independent',
-          'Programming Language :: Python :: 2.7',
           'Programming Language :: Python :: 3',
           'Topic :: Scientific/Engineering :: Physics',
           ],
+          install_requires=[
+              "numpy>=2.0"
+          ],
+          distclass=BinaryDistribution
       )
+
+#python setup.py bdist_wheel --python-tag cp310