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wscript
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wscript
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#! /usr/bin/env python
import sys
import os
import sferes
sys.path.insert(0, sys.path[0]+'/src/hexapod_omnidirectional/waf_tools/')
from waflib.Configure import conf
import dart
import corrade
import magnum
import magnum_integration
import magnum_plugins
import robot_dart
def options(opt):
opt.load('dart')
opt.load('corrade')
opt.load('magnum')
opt.load('magnum_integration')
opt.load('magnum_plugins')
opt.load('robot_dart')
@conf
def configure(conf):
print('conf exp:')
conf.load('dart')
conf.load('corrade')
conf.load('magnum')
conf.load('magnum_integration')
conf.load('magnum_plugins')
conf.load('robot_dart')
conf.check_dart()
conf.check_corrade(components='Utility PluginManager', required=False)
conf.env['magnum_dep_libs'] = 'MeshTools Primitives Shaders SceneGraph GlfwApplication'
if conf.env['DEST_OS'] == 'darwin':
conf.env['magnum_dep_libs'] += ' WindowlessCglApplication'
else:
conf.env['magnum_dep_libs'] += ' WindowlessGlxApplication'
conf.check_magnum(components=conf.env['magnum_dep_libs'], required=False)
conf.check_magnum_plugins(components='AssimpImporter', required=False)
conf.check_magnum_integration(components='Dart', required=False)
if len(conf.env.INCLUDES_MagnumIntegration) > 0:
conf.get_env()['BUILD_MAGNUM'] = True
conf.env['magnum_libs'] = magnum.get_magnum_dependency_libs(conf, conf.env['magnum_dep_libs']) + magnum_integration.get_magnum_integration_dependency_libs(conf, 'Dart')
conf.check_robot_dart()
print('done')
def build(bld):
# Quick and dirty link to python C++
bld.env.LIBPATH_PYTHON = '/usr/lib/x86_64-linux-gnu/'
bld.env.LIB_PYTHON = [ 'python3.6m']
bld.env.INCLUDES_PYTHON = '/usr/include/python3.6m'
sferes.create_variants(bld,
source = 'src/main.cpp',
includes = '. ../../',
uselib = 'TBB BOOST EIGEN PTHREAD MPI KDTREE PYTHON DART ROBOTDART',
use = 'sferes2',
target = 'exp',
variants =
[
'HETERO HEXA_OMNI',
'HETERO HEXA_UNI',
'HETERO RARM',
'HETERO SPHERE',
'HETERO RASTRIGIN',
'HETERO RASTRIGIN_MULTI',
'HETERO UCB HEXA_OMNI',
'HETERO UCB HEXA_UNI',
'HETERO UCB RARM',
'HETERO UCB SPHERE',
'HETERO UCB RASTRIGIN',
'HETERO UCB RASTRIGIN_MULTI',
'CMAME RAND HEXA_OMNI',
'CMAME RAND HEXA_UNI',
'CMAME RAND RARM',
'CMAME RAND SPHERE',
'CMAME RAND RASTRIGIN',
'CMAME RAND RASTRIGIN_MULTI',
'CMAME OPT HEXA_OMNI',
'CMAME OPT HEXA_UNI',
'CMAME OPT RARM',
'CMAME OPT SPHERE',
'CMAME OPT RASTRIGIN',
'CMAME OPT RASTRIGIN_MULTI',
'CMAME IMP HEXA_OMNI',
'CMAME IMP HEXA_UNI',
'CMAME IMP RARM',
'CMAME IMP SPHERE',
'CMAME IMP RASTRIGIN',
'CMAME IMP RASTRIGIN_MULTI',
'CMAME RDW HEXA_OMNI',
'CMAME RDW HEXA_UNI',
'CMAME RDW RARM',
'CMAME RDW SPHERE',
'CMAME RDW RASTRIGIN',
'CMAME RDW RASTRIGIN_MULTI',
]
)