pixi.toml

[workspace]
name = "loik"
version = "1.0.0"
description = "LoIK is a simple yet efficient (constrained) differential inverse kinematics solver for robotics"
authors = ["Bruce Wingo <wingobruce47@gmail.com>"]
channels = ["conda-forge"]
platforms = ["linux-64", "osx-64", "osx-arm64", "win-64"]
license = "BSD-2-Clause"
license-file = "LICENSE"
preview = ["pixi-build"]

[package]
name = { workspace = true }
version = { workspace = true }

[package.build]
backend = { name = "pixi-build-cmake", version = "0.3.*" }

[package.build.config]
extra-args = ["-DBUILD_TESTING=OFF"]

[package.build-dependencies]
pkg-config = ">=0.29.2"

[package.host-dependencies]
eigen = ">=3.4.0"
eigen-abi-devel = ">=3.4.0"
pinocchio = ">=3.0.0"
libboost-devel = ">=1.84.0"

[package.run-dependencies]
libboost-devel = ">=1.80.0"
eigen = ">=3.4.0"

[dependencies]
ccache = ">=4.9.1"
cxx-compiler = ">=1.7.0"
pkg-config = ">=0.29.2"
cmake = ">=3.29.6"
ninja = ">=1.12.1"
eigen = ">=3.4.0"
pinocchio = ">=3.0.0"
libboost-devel = ">=1.84.0"
example-robot-data = ">=4.1.0,<4.2"

[tasks]
configure = { cmd = [
  "CXXFLAGS=$LOIK_CXX_FLAGS",
  "cmake",
  "-G",
  "Ninja",
  "-B",
  "build",
  "-S",
  ".",
  "-DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX",
  "-DCMAKE_BUILD_TYPE=$LOIK_BUILD_TYPE",
] }
build = { cmd = "cmake --build build --target all", depends-on = ["configure"] }
clean = { cmd = "rm -rf build" }
test = { cmd = "ctest --test-dir build --output-on-failure", depends-on = [
  "build",
] }

[activation.env]
# Setup ccache
CMAKE_CXX_COMPILER_LAUNCHER = "ccache"
# Create compile_commands.json for language server
CMAKE_EXPORT_COMPILE_COMMANDS = "ON"
# Activate color output with Ninja
CMAKE_COLOR_DIAGNOSTICS = "ON"
# Help ccache manage generated files and PCH (https://ccache.dev/manual/latest.html#_precompiled_headers)
CCACHE_SLOPPINESS = "include_file_ctime,include_file_mtime,pch_defines,time_macros"

[target.unix.activation]
scripts = ["development/scripts/pixi/activation.sh"]

[target.win-64.activation]
scripts = ["development/scripts/pixi/activation.bat"]


# Increment the version number with LOIK_VERSION variable
[feature.new-version.dependencies]
tomlkit = ">=0.13.2"

[feature.new-version.tasks]
configure-new-version = { cmd = [
  "CXXFLAGS=$LOIK_CXX_FLAGS",
  "cmake",
  "-G",
  "Ninja",
  "-B",
  "build_new_version",
  "-S",
  ".",
  "-DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX",
  "-DCMAKE_BUILD_TYPE=$LOIK_BUILD_TYPE",
] }
release-new-version = { cmd = "VERSION=$LOIK_VERSION cmake --build build_new_version --target release", depends-on = [
  "configure-new-version",
] }

[feature.lint]
dependencies = { pre-commit = ">=3.6.2" }
tasks = { lint = { cmd = "pre-commit run --all" } }

# Use clang-cl on Windows
# If something go wrong, we can check this repository:
# https://github.com/conda-forge/clang-win-activation-feedstock/tree/main
[feature.clang-cl]
platforms = ["win-64"]
dependencies = { clangxx = "*", lld = "*" }

# Absolute path is needed to avoid using system clang-cl
[feature.clang-cl.activation.env]
CC = "%CONDA_PREFIX%\\Library\\bin\\clang-cl"
CXX = "%CONDA_PREFIX%\\Library\\bin\\clang-cl"

# Use clang on GNU/Linux
[feature.clang]
platforms = ["linux-64"]
activation = { env = { CC = "clang", CXX = "clang++" } }
dependencies = { clangxx = "*" }

[feature.python-latest.dependencies]
python = "3.14.*"

[feature.python-oldest.dependencies]
python = "3.10.*"

# [feature.test-pixi-build.dependencies]
# loik = { path = "." }
# cmake = ">=3.22"
# cxx-compiler = "*"
# cmake-package-check = "*"

# [feature.test-pixi-build.tasks]
# test-cmake = "cmake-package-check loik --targets loik::loik"
# test = { depends-on = ["test-cmake"] }

[environments]
default = { features = ["python-latest"], solve-group = "python-latest" }
clang = { features = ["clang", "python-latest"] }
lint = { features = ["lint"], solve-group = "python-latest" }
python-oldest = { features = ["python-oldest"], solve-group = "python-oldest" }
# Release a new software version
new-version = { features = [
  "new-version",
  "python-latest",
], solve-group = "python-latest" }
clang-cl = { features = ["clang-cl", "python-latest"] }
# test-pixi-build = { features = ["test-pixi-build"], no-default-feature = true }