Merge branch 'ign-math6' into cmake_python3_fixes

gazebosim · May 9, 2023 · 2b82268 · 2b82268
2 parents 6b4ee27 + d0b6179
commit 2b82268
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Showing 11 changed files with 318 additions and 245 deletions.
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -8,7 +8,7 @@ jobs:
     name: Ubuntu Bionic CI
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
       - name: Compile and test
         id: ci
         uses: ignition-tooling/action-ignition-ci@bionic
@@ -20,7 +20,7 @@ jobs:
     name: Ubuntu Focal CI
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
       - name: Compile and test
         id: ci
         uses: ignition-tooling/action-ignition-ci@focal
@@ -29,7 +29,7 @@ jobs:
     name: Ubuntu Jammy CI
     steps:
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
       - name: Compile and test
         id: ci
         uses: ignition-tooling/action-ignition-ci@jammy
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(ignition-math6 VERSION 6.13.0)
+project(ignition-math6 VERSION 6.14.0)
 
 #============================================================================
 # Find ignition-cmake
@@ -25,17 +25,31 @@ ign_configure_project(
 # Set project-specific options
 #============================================================================
 
-option(USE_SYSTEM_PATHS_FOR_RUBY_INSTALLATION
-      "Install ruby modules in standard system paths in the system"
+option(SKIP_SWIG
+      "Skip generating ruby bindings via Swig"
       OFF)
 
-option(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION
+set(skip_pybind11_default_value OFF)
+if (MSVC)
+  set(skip_pybind11_default_value ON)
+endif()
+
+option(SKIP_PYBIND11
+      "Skip generating Python bindings via pybind11"
+      ${skip_pybind11_default_value})
+
+include(CMakeDependentOption)
+cmake_dependent_option(USE_SYSTEM_PATHS_FOR_RUBY_INSTALLATION
+      "Install ruby modules in standard system paths in the system"
+      OFF "NOT SKIP_SWIG" OFF)
+
+cmake_dependent_option(USE_SYSTEM_PATHS_FOR_PYTHON_INSTALLATION
       "Install python modules in standard system paths in the system"
-      OFF)
+      OFF "NOT SKIP_PYBIND11" OFF)
 
-option(USE_DIST_PACKAGES_FOR_PYTHON
+cmake_dependent_option(USE_DIST_PACKAGES_FOR_PYTHON
       "Use dist-packages instead of site-package to install python modules"
-      OFF)
+      OFF "NOT SKIP_PYBIND11" OFF)
 
 #============================================================================
 # Search for project-specific dependencies
@@ -51,54 +65,62 @@ ign_find_package(
 
 ########################################
 # Include swig
-find_package(SWIG QUIET)
-if (NOT SWIG_FOUND)
-  IGN_BUILD_WARNING("Swig is missing: Language interfaces are disabled.")
-  message (STATUS "Searching for swig - not found.")
+if (SKIP_SWIG)
+  message(STATUS "SKIP_SWIG set - disabling SWIG Ruby support")
 else()
-  message (STATUS "Searching for swig - found version ${SWIG_VERSION}.")
-endif()
-
-# Include other languages if swig was found
-if (SWIG_FOUND)
-  ########################################
-  # Include ruby
-  find_package(Ruby 1.9 QUIET)
-  if (NOT RUBY_FOUND)
-    IGN_BUILD_WARNING("Ruby is missing: Install ruby-dev to enable ruby interface to ignition math.")
-    message (STATUS "Searching for Ruby - not found.")
+  find_package(SWIG QUIET)
+  if (NOT SWIG_FOUND)
+    IGN_BUILD_WARNING("Swig is missing: Language interfaces are disabled.")
+    message (STATUS "Searching for swig - not found.")
   else()
-    message (STATUS "Searching for Ruby - found version ${RUBY_VERSION}.")
+    message (STATUS "Searching for swig - found version ${SWIG_VERSION}.")
+  endif()
+
+  # Include other languages if swig was found
+  if (SWIG_FOUND)
+    ########################################
+    # Include ruby
+    find_package(Ruby 1.9 QUIET)
+    if (NOT RUBY_FOUND)
+      IGN_BUILD_WARNING("Ruby is missing: Install ruby-dev to enable ruby interface to ignition math.")
+      message (STATUS "Searching for Ruby - not found.")
+    else()
+      message (STATUS "Searching for Ruby - found version ${RUBY_VERSION}.")
+    endif()
   endif()
 endif()
 
 ########################################
 # Python bindings
-#include(IgnPython) TODO: allow to specify for what it should search and then
-# the code below can be removed; e.g. pybind needs Interpreter and Development components
-# see https://pybind11.readthedocs.io/en/stable/cmake/index.html#new-findpython-mode
-if(${CMAKE_VERSION} VERSION_LESS "3.12.0")
-  find_package(PythonLibs QUIET)
-  set(Python3_FOUND ${PYTHONLIBS_FOUND})
-  set(Python3_VERSION ${PYTHONLIBS_VERSION_STRING})
+if (SKIP_PYBIND11)
+  message(STATUS "SKIP_PYBIND11 set - disabling python bindings")
 else()
-  find_package(Python3 QUIET COMPONENTS Interpreter Development)
-endif()
+  #include(IgnPython) TODO: allow to specify for what it should search and then
+  # the code below can be removed; e.g. pybind needs Interpreter and Development components
+  # see https://pybind11.readthedocs.io/en/stable/cmake/index.html#new-findpython-mode
+  if(${CMAKE_VERSION} VERSION_LESS "3.12.0")
+    find_package(PythonLibs QUIET)
+    set(Python3_FOUND ${PYTHONLIBS_FOUND})
+    set(Python3_VERSION ${PYTHONLIBS_VERSION_STRING})
+  else()
+    find_package(Python3 QUIET COMPONENTS Interpreter Development)
+  endif()
 
-if (NOT Python3_FOUND)
-  IGN_BUILD_WARNING("Python3 is missing: Python interfaces are disabled.")
-  message (STATUS "Searching for Python3 - not found.")
-else()
-  message (STATUS "Searching for Python3 - found version ${Python3_VERSION}.")
+  if (NOT Python3_FOUND)
+    IGN_BUILD_WARNING("Python3 is missing: Python interfaces are disabled.")
+    message (STATUS "Searching for Python3 - not found.")
+  else()
+    message (STATUS "Searching for Python3 - found version ${Python3_VERSION}.")
 
-  set(PYBIND11_PYTHON_VERSION 3)
-  find_package(pybind11 2.2 QUIET)
+    set(PYBIND11_PYTHON_VERSION 3)
+    find_package(pybind11 2.2 QUIET)
 
-  if (${pybind11_FOUND})
-    message (STATUS "Searching for pybind11 - found version ${pybind11_VERSION}.")
-  else()
-    IGN_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.")
-    message (STATUS "Searching for pybind11 - not found.")
+    if (${pybind11_FOUND})
+      message (STATUS "Searching for pybind11 - found version ${pybind11_VERSION}.")
+    else()
+      IGN_BUILD_WARNING("pybind11 is missing: Python interfaces are disabled.")
+      message (STATUS "Searching for pybind11 - not found.")
+    endif()
   endif()
 endif()
 

diff --git a/COPYING b/COPYING
diff --git a/Changelog.md b/Changelog.md
@@ -1,5 +1,20 @@
 ## Gazebo Math 6.x
 
+## Gazebo Math 6.14.0 (2023-04-14)
+
+1. Disable pybind11 on windows by default
+    * [Pull request #529](https://github.com/gazebosim/gz-math/pull/529)
+
+1. Add option to skip pybind11 and SWIG
+    * [Pull request #480](https://github.com/gazebosim/gz-math/pull/480)
+
+1. Custom PID error rate
+    * [Pull request #525](https://github.com/gazebosim/gz-math/pull/525)
+
+1. Infrastructure
+    * [Pull request #521](https://github.com/gazebosim/gz-math/pull/521)
+    * [Pull request #519](https://github.com/gazebosim/gz-math/pull/519)
+
 ## Gazebo Math 6.13.0 (2022-08-31)
 
 1. Support migration and migrate headers