dartsim v6.14.0

recipe/bld.bat

@@ -9,10 +9,12 @@ cmake -G "Ninja" ^
     -DCMAKE_PREFIX_PATH=%LIBRARY_PREFIX% ^
     -DDART_MSVC_DEFAULT_OPTIONS=ON ^
     -DDART_VERBOSE=ON ^
-    -DBUILD_TESTING:BOOL=ON ^
     -DASSIMP_AISCENE_CTOR_DTOR_DEFINED:BOOL=ON ^
     -DASSIMP_AIMATERIAL_CTOR_DTOR_DEFINED:BOOL=ON ^
     -DDART_TREAT_WARNINGS_AS_ERRORS:BOOL=OFF ^
+    -DDART_ENABLE_SIMD:BOOL=ON ^
+    -DDART_BUILD_DARTPY:BOOL=OFF ^
+    -DDART_USE_SYSTEM_IMGUI:BOOL=ON ^
     %SRC_DIR%
 if errorlevel 1 exit 1
 

recipe/build.sh

@@ -2,37 +2,43 @@
 
 mkdir build && cd build
 
-if [ ${target_platform} == "linux-ppc64le" ]; then
-  # Disable tests
-  CMAKE_TEST_CMD=-DBUILD_TESTING:BOOL=OFF
+if [[ ${target_platform} == "linux-ppc64le" ]]; then
   NUM_PARALLEL=-j1
 else
-  CMAKE_TEST_CMD=-DBUILD_TESTING:BOOL=ON
   NUM_PARALLEL=-j${CPU_COUNT}
 fi
 
+# Disable SIMD for linux-ppc64le, linux_aarch64, and any OSX platform; enable for other platforms
+if [[ "${target_platform}" == "linux-ppc64le" ]] ||
+  [[ "${target_platform}" == "linux-aarch64" ]] ||
+  [[ "${target_platform}" == osx-* ]]; then
+  DART_ENABLE_SIMD=OFF
+else
+  DART_ENABLE_SIMD=ON
+fi
 
 if [[ "${target_platform}" == osx-* ]]; then
-    # See https://conda-forge.org/docs/maintainer/knowledge_base.html#newer-c-features-with-old-sdk
-    CXXFLAGS="${CXXFLAGS} -D_LIBCPP_DISABLE_AVAILABILITY"
+  # See https://conda-forge.org/docs/maintainer/knowledge_base.html#newer-c-features-with-old-sdk
+  CXXFLAGS="${CXXFLAGS} -D_LIBCPP_DISABLE_AVAILABILITY"
 fi
 
-
 cmake ${CMAKE_ARGS} $SRC_DIR \
-      -DCMAKE_INSTALL_PREFIX=$PREFIX \
-      -DCMAKE_PREFIX_PATH=$PREFIX \
-      -DCMAKE_BUILD_TYPE=Release \
-      -DCMAKE_INSTALL_LIBDIR=lib \
-      -DDART_VERBOSE:BOOL=ON \
-      -DDART_TREAT_WARNINGS_AS_ERRORS:BOOL=OFF \
-      ${CMAKE_TEST_CMD}
+  -DCMAKE_INSTALL_PREFIX=$PREFIX \
+  -DCMAKE_PREFIX_PATH=$PREFIX \
+  -DCMAKE_BUILD_TYPE=Release \
+  -DCMAKE_INSTALL_LIBDIR=lib \
+  -DDART_VERBOSE:BOOL=ON \
+  -DDART_TREAT_WARNINGS_AS_ERRORS:BOOL=OFF \
+  -DDART_ENABLE_SIMD:BOOL=${DART_ENABLE_SIMD} \
+  -DDART_BUILD_DARTPY:BOOL=OFF \
+  -DDART_USE_SYSTEM_IMGUI:BOOL=ON
 
 make ${NUM_PARALLEL}
 make ${NUM_PARALLEL} install
 
 if [ ${target_platform} != "linux-ppc64le" ]; then
   make ${NUM_PARALLEL} tests
-if [[ "${CONDA_BUILD_CROSS_COMPILATION:-}" != "1" || "${CROSSCOMPILING_EMULATOR}" != "" ]]; then
-  ctest --output-on-failure
-fi
+  if [[ "${CONDA_BUILD_CROSS_COMPILATION:-}" != "1" || "${CROSSCOMPILING_EMULATOR}" != "" ]]; then
+    ctest --output-on-failure
+  fi
 fi

recipe/disable_test_Issue1596.patch

@@ -1,25 +1,15 @@
-From 2748745b77df297d05aad941ae9c09f4a726143f Mon Sep 17 00:00:00 2001
-From: Silvio Traversaro <[email protected]>
-Date: Sun, 14 Nov 2021 17:22:57 +0100
-Subject: [PATCH] Disable test_Issue1596
-
----
- unittests/regression/CMakeLists.txt | 4 ++--
- 1 file changed, 2 insertions(+), 2 deletions(-)
-
-diff --git a/unittests/regression/CMakeLists.txt b/unittests/regression/CMakeLists.txt
-index ace85bafc91..6a976f6849c 100644
---- a/unittests/regression/CMakeLists.txt
-+++ b/unittests/regression/CMakeLists.txt
+diff --git a/tests/regression/CMakeLists.txt b/tests/regression/CMakeLists.txt
+index e0dd73c6a461..86c00b6a04ec 100644
+--- a/tests/regression/CMakeLists.txt
++++ b/tests/regression/CMakeLists.txt
 @@ -6,8 +6,8 @@ if(TARGET dart-utils)
    dart_add_test("regression" test_Issue1583)
    target_link_libraries(test_Issue1583 dart-utils)
 
 -  dart_add_test("regression" test_Issue1596)
 -  target_link_libraries(test_Issue1596 dart-utils)
-+  #dart_add_test("regression" test_Issue1596)
-+  #target_link_libraries(test_Issue1596 dart-utils)
++  # dart_add_test("regression" test_Issue1596)
++  # target_link_libraries(test_Issue1596 dart-utils)
  endif()
 
  if(TARGET dart-utils-urdf)
-

recipe/meta.yaml

@@ -1,21 +1,19 @@
 {% set name = "dartsim" %}
-{% set version = "6.13.2" %}
+{% set version = "6.14.0" %}
 
 package:
   name: {{ name }}
   version: {{ version }}
 
 source:
   - url: https://github.com/dartsim/dart/archive/v{{ version }}.tar.gz
-    sha256: 02699a8f807276231c80ffc5dbc3f66dc1c3612364340c91bcad63a837c01576
+    sha256: f3fdccb2781d6a606c031f11d6b1fdf5278708c6787e3ab9a67385d9a19a60ea
     patches:
-      - disable_imgui.patch
       - disable_gui.patch
       - disable_test_Issue1596.patch
-      - enable_windows_tests.patch
 
 build:
-  number: 3
+  number: 0
   run_exports:
     - {{ pin_subpackage(name, max_pin='x.x') }}