98051ba0c9
- Move existing OndselSolver, GNN ML layer, and tooling into GNN/ directory for integration in later phases - Add Create addon scaffold: package.xml, Init.py - Add expression DAG with eval, symbolic diff, simplification - Add parameter table with fixed/free variable tracking - Add quaternion rotation as polynomial Expr trees - Add RigidBody entity (7 DOF: position + unit quaternion) - Add constraint classes: Coincident, DistancePointPoint, Fixed - Add Newton-Raphson solver with symbolic Jacobian + numpy lstsq - Add pre-solve passes: substitution + single-equation - Add DOF counting via Jacobian SVD rank - Add KindredSolver IKCSolver bridge for kcsolve integration - Add 82 unit tests covering all modules Registers as 'kindred' solver via kcsolve.register_solver() when loaded by Create's addon_loader.
69 lines
1.8 KiB
YAML
69 lines
1.8 KiB
YAML
name: cmake-multiplatform-build
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on:
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push:
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pull_request:
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branches: [ "main" ]
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concurrency:
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group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
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cancel-in-progress: true
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jobs:
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build:
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runs-on: ${{ matrix.os }}
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strategy:
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fail-fast: false
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matrix:
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os: [ubuntu-latest, windows-latest, macos-latest]
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build_type: [Release]
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c_compiler: [gcc, clang, cl]
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include:
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- os: windows-latest
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c_compiler: cl
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cpp_compiler: cl
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- os: ubuntu-latest
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c_compiler: gcc
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cpp_compiler: g++
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- os: ubuntu-latest
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c_compiler: clang
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cpp_compiler: clang++
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- os: macos-latest
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c_compiler: clang
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cpp_compiler: clang++
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exclude:
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- os: windows-latest
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c_compiler: gcc
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- os: windows-latest
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c_compiler: clang
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- os: ubuntu-latest
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c_compiler: cl
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- os: macos-latest
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c_compiler: gcc
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- os: macos-latest
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c_compiler: cl
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steps:
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- uses: actions/checkout@v4
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- name: Set reusable strings
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id: strings
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shell: bash
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run: |
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echo "build-output-dir=${{ github.workspace }}/build" >> "$GITHUB_OUTPUT"
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- name: Configure CMake
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run: >
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cmake -B ${{ steps.strings.outputs.build-output-dir }}
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-DCMAKE_CXX_COMPILER=${{ matrix.cpp_compiler }}
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-DCMAKE_C_COMPILER=${{ matrix.c_compiler }}
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-DCMAKE_BUILD_TYPE=${{ matrix.build_type }}
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-S ${{ github.workspace }}
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- name: Build
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# Note that --config is needed because the default Windows generator is a multi-config generator (Visual Studio generator).
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run: cmake --build ${{ steps.strings.outputs.build-output-dir }} --config ${{ matrix.build_type }} -j 2
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