w

CMakeLists.txt

@@ -88,6 +88,7 @@ dart_option(DART_ENABLE_SIMD
   "Build DART with all SIMD instructions on the current local machine" ON)
 dart_option(DART_BUILD_GUI_OSG "Build osgDart library" ON)
 dart_option(DART_BUILD_DARTPY "Build dartpy" ON)
+dart_option(DART_BUILD_DARTPY2 "[Experimental] Build Python binding (dartpy2) with nanobind" OFF)
 dart_option(DART_BUILD_PROFILE "Build DART with profiling options" OFF)
 dart_option(DART_CODECOV "Turn on codecov support" OFF)
 dart_option(DART_FAST_DEBUG "Add -O1 option for DEBUG mode build" OFF)
@@ -162,8 +163,9 @@ endif()
 #===============================================================================
 # Build type settings
 #===============================================================================
-if(NOT CMAKE_BUILD_TYPE)
-  set(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build, options are: Debug | Release | RelWithDebInfo | MinSizeRel" FORCE)
+if (NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+  set(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build." FORCE)
+  set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
 endif()
 string(TOUPPER ${CMAKE_BUILD_TYPE} CMAKE_BUILD_TYPE_UPPERCASE)
 

cmake/DARTFindDependencies.cmake

@@ -110,6 +110,19 @@ endif()
 # Optional dependencies
 #=======================
 
+find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
+
+if(DART_BUILD_DARTPY2)
+  include(FetchContent)
+  FetchContent_Declare(nanobind
+    GIT_REPOSITORY https://github.com/wjakob/nanobind.git
+    GIT_TAG master
+    GIT_SHALLOW TRUE
+    GIT_PROGRESS TRUE
+  )
+  FetchContent_MakeAvailable(nanobind)
+endif()
+
 if(DART_BUILD_PROFILE)
   include(FetchContent)
   FetchContent_Declare(tracy
@@ -126,8 +139,6 @@ if(DART_BUILD_PROFILE)
   endif()
 endif()
 
-find_package(Python3 COMPONENTS Interpreter Development)
-
 option(DART_SKIP_spdlog "If ON, do not use spdlog even if it is found." OFF)
 mark_as_advanced(DART_SKIP_spdlog)
 dart_find_package(spdlog)

pixi.toml

@@ -13,6 +13,17 @@ install-local = { cmd = "cmake --install build --prefix $CONDA_PREFIX", depends_
     "configure_local",
     "build",
 ] }
+
+configure-unix = { cmd = "cmake -G Ninja -S . -B build -DDART_VERBOSE=ON -DDART_USE_SYSTEM_IMGUI=ON -DDART_BUILD_DARTPY2=ON" }
+configure-win = { cmd = "cmake -S . -B build -G 'Visual Studio 17 2022' -DCMAKE_BUILD_TYPE=Release -DDART_MSVC_DEFAULT_OPTIONS=ON -DBUILD_SHARED_LIBS=OFF -DDART_VERBOSE=ON -DDART_USE_SYSTEM_IMGUI=OFF -DDART_BUILD_DARTPY2=ON" }
+
+build-dartpy2-unix = { cmd = "cmake --build build -j --target dartpy2", depends_on = [
+    "configure",
+] }
+build-dartpy2-win = { cmd = "cmake --build build -j --target dartpy2 --config Release", depends_on = [
+    "configure",
+] }
+
 example-hello-world = { cmd = "cmake --build build --target hello_world --parallel && ./build/bin/hello_world", depends_on = [
     "configure",
 ] }
@@ -47,6 +58,7 @@ nlopt = ">=2.7.1,<2.8"
 pagmo = ">=2.19.0,<2.20"
 numpy = ">=1.26.4,<1.27"
 nanobind = ">=1.9.2,<1.10"
+python = ">=3.12.2,<3.13"
 
 [build-dependencies]
 cmake = "3.22.*"
@@ -65,7 +77,7 @@ freeglut = ">=3.2.2,<3.3"
 imgui = ">=1.90.4,<1.91"
 
 [target.linux-64.tasks]
-configure = "cmake -G Ninja -S . -B build -DDART_VERBOSE=ON -DDART_USE_SYSTEM_IMGUI=ON"
+configure = { depends_on = ["configure-unix"] }
 lint = { cmd = "cmake --build build --target format && black . && isort .", depends_on = [
     "configure",
 ] }
@@ -81,6 +93,7 @@ build-tests = { cmd = "cmake --build build -j --target tests", depends_on = [
 build-dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [
     "configure",
 ] }
+build-dartpy2 = { depends_on = ["build-dartpy2-unix"] }
 test = { cmd = "ctest --test-dir build --output-on-failure", depends_on = [
     "build-tests",
 ] }
@@ -95,7 +108,7 @@ test-all = { cmd = "cmake --build build -j --target ALL", depends_on = [
 clang-format-14 = ">=14.0.6,<14.1"
 
 [target.osx-64.tasks]
-configure = "cmake -G Ninja -S . -B build -DDART_VERBOSE=ON -DDART_USE_SYSTEM_IMGUI=ON"
+configure = { depends_on = ["configure-unix"] }
 lint = { cmd = "cmake --build build --target format && black . && isort .", depends_on = [
     "configure",
 ] }
@@ -111,6 +124,7 @@ build-tests = { cmd = "cmake --build build -j --target tests", depends_on = [
 build-dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [
     "configure",
 ] }
+build-dartpy2 = { depends_on = ["build-dartpy2-unix"] }
 test = { cmd = "ctest --test-dir build --output-on-failure", depends_on = [
     "build-tests",
 ] }
@@ -128,7 +142,7 @@ clang-format-14 = ">=14.0.6,<14.1"
 imgui = ">=1.90.4,<1.91"
 
 [target.osx-arm64.tasks]
-configure = "cmake -G Ninja -S . -B build -DDART_VERBOSE=ON -DDART_USE_SYSTEM_IMGUI=ON"
+configure = { depends_on = ["configure-unix"] }
 lint = { cmd = "cmake --build build --target format && black . && isort .", depends_on = [
     "configure",
 ] }
@@ -142,6 +156,7 @@ build-tests = { cmd = "cmake --build build -j --target tests", depends_on = [
 build-dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [
     "configure",
 ] }
+build-dartpy2 = { depends_on = ["build-dartpy2-unix"] }
 test = { cmd = "ctest --test-dir build --output-on-failure", depends_on = [
     "build-tests",
 ] }
@@ -162,7 +177,7 @@ imgui = ">=1.90.4,<1.91"
 freeglut = ">=3.2.2,<3.3"
 
 [target.win-64.tasks]
-configure = "cmake -S . -B build -G 'Visual Studio 17 2022' -DCMAKE_BUILD_TYPE=Release -DDART_MSVC_DEFAULT_OPTIONS=ON -DBUILD_SHARED_LIBS=OFF -DDART_VERBOSE=ON -DDART_USE_SYSTEM_IMGUI=OFF"
+configure = { depends_on = ["configure-win"] }
 lint = { cmd = "black . && isort .", depends_on = ["configure"] }
 check-lint = { cmd = "black . --check && isort . --check", depends_on = [
     "configure",
@@ -176,6 +191,7 @@ build-tests = { cmd = "cmake --build build --config Release -j --target tests",
 build-dartpy = { cmd = "cmake --build build -j --target dartpy", depends_on = [
     "configure",
 ] }
+build-dartpy2 = { depends_on = ["build-dartpy2-win"] }
 test = { cmd = "ctest --test-dir build --build-config Release --output-on-failure", depends_on = [
     "build-tests",
 ] }

python/CMakeLists.txt

@@ -22,6 +22,9 @@ endif()
 set(DART_DARTPY_BUILD_DIR "${CMAKE_CURRENT_BINARY_DIR}/dartpy")
 
 add_subdirectory(dartpy)
+if(DART_BUILD_DARTPY2)
+  add_subdirectory(dartpy2)
+endif()
 add_subdirectory(tests)
 add_subdirectory(examples)
 add_subdirectory(tutorials)

python/dartpy2/CMakeLists.txt

@@ -0,0 +1,10 @@
+# Copyright (c) 2011-2024, The DART development contributors
+# All rights reserved.
+#
+# The list of contributors can be found at:
+#   https://github.com/dartsim/dart/blob/main/LICENSE
+#
+# This file is provided under the "BSD-style" License
+
+find_package(Python3 COMPONENTS Interpreter Development.Module REQUIRED)
+nanobind_add_module(dartpy2 dartpy2.cpp)

python/dartpy2/dartpy2.cpp

@@ -0,0 +1,49 @@
+/*
+ * Copyright (c) 2011-2024, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <nanobind/nanobind.h>
+
+namespace dart::python {
+
+NB_MODULE(dartpy2, m)
+{
+  //   m.doc() = "dartpy2: Python API of Dynamic Animation and Robotics
+  //   Toolkit";
+
+  // #ifdef DARTPY_VERSION_INFO
+  //   m.attr("__version__") = DARTPY_VERSION_INFO;
+  // #else
+  //   m.attr("__version__") = "dev";
+  // #endif
+}
+
+} // namespace dart::python