Sling osim into tree

.gitmodules

@@ -19,9 +19,6 @@
 [submodule "third_party/tomlplusplus"]
 	path = third_party/tomlplusplus
 	url = https://github.com/ComputationalBiomechanicsLab/tomlplusplus
-[submodule "third_party/opensim-core"]
-	path = third_party/opensim-core
-	url = https://github.com/ComputationalBiomechanicsLab/opensim-core
 [submodule "third_party/lunasvg"]
 	path = third_party/lunasvg
 	url = https://github.com/ComputationalBiomechanicsLab/lunasvg
@@ -34,3 +31,15 @@
 [submodule "third_party/ImGuiColorTextEdit"]
 	path = third_party/ImGuiColorTextEdit
 	url = https://github.com/ComputationalBiomechanicsLab/ImGuiColorTextEdit.git
+[submodule "third_party/OpenBLAS"]
+	path = third_party/OpenBLAS
+	url = https://github.com/OpenMathLib/OpenBLAS
+[submodule "ak"]
+	path = third_party/opensim-core
+	url = https://github.com/adamkewley/opensim-core
+[submodule "third_party/simbody"]
+	path = third_party/simbody
+	url = https://github.com/adamkewley/simbody
+[submodule "third_party/spdlog"]
+	path = third_party/spdlog
+	url = https://github.com/gabime/spdlog

CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(osc VERSION 0.5.15 LANGUAGES CXX)
+project(osc VERSION 0.5.15 LANGUAGES C CXX)
 
 
 # -------------- gather user-facing build cache vars ---------------- #

src/CMakeLists.txt

@@ -2,6 +2,7 @@ add_subdirectory(oscar_compiler_configuration)
 add_subdirectory(oscar)
 add_subdirectory(oscar_demos)
 if (${OSC_BUILD_OPENSIMCREATOR})
+    add_subdirectory(osim)
     add_subdirectory(oscar_simbody)
     add_subdirectory(OpenSimThirdPartyPlugins)
     add_subdirectory(OpenSimCreator)

src/OpenSimThirdPartyPlugins/CMakeLists.txt

@@ -1,5 +1,3 @@
-find_package(OpenSim REQUIRED CONFIG)
-
 add_library(OpenSimThirdPartyPlugins STATIC
 
     opensim-jam-org/jam-plugin/Smith2018ArticularContactForce.cpp

src/osim/README.md

@@ -0,0 +1,64 @@
+# `osim.{a,lib}`
+
+> A hack to make using/building OpenSim easier.
+
+`osim` attempts to provide a build(system) for OpenSim where:
+
+- All of its dependencies *may* be built as static libraries from source
+  using only Cmake and a  C/C++ compiler, with the ability to choose where
+  to source `libBLAS` and `libLACK` via cmake's `find_package`'s customization
+  points.
+
+- Simbody and OpenSim are unified into a single `CMakeLists.txt` file
+  that produces a single statically-linkable target: `osim.{a,lib}`
+
+- No compiler flags are performed by the build, so that downstream code
+  can easily modify the build with the appropriate environment variables
+  (e.g. `CXXFLAGS`)
+
+- The `CMakeLists.txt` file is compatible with downstream projects building
+  it via `add_subdirectory` (+`target_link_libraries(... osim)`), which
+  is useful for downstream developers that want to modify Simbody/OpenSim
+  in-place while building their project.
+
+Secondarily, the longer-term goal of this project would be to provide simplified
+CPython bindings to OpenSim that are compatible with numpy, pandas, and matplotlib,
+because I know the researchers <3 that.
+
+# Differences from OpenSim
+
+- **Moco is not supported**. It pulls in a bunch of additional third-party code,
+  which makes building OpenSim much more complicated than necessary. [OpenSim Creator](https://github.com/ComputationalBiomechanicsLab/opensim-creator)
+  doesn't use Moco, so it was dropped entirely.
+
+- **The API must be manually initialized**. OpenSim's library initialization code now
+  no longer automatically runs during static initialization. It is incompatible
+  with static linking, which can muddle up static initialization order. Instead,
+  downstream code should manually call the `RegisterTypes_` when the application
+  starts. See `src/example_app.cpp` for an example of this.
+
+
+# Building
+
+```bash
+# get simbody, opensim, OpenBLAS (optional), and spdlog sources
+git submodule update --init --recursive
+
+# configure third-party dependencies build
+cmake -S third_party -B deps-build -DCMAKE_INSTALL_PREFIX=${PWD}/deps-install
+# optional: use `-DOSIMDEPS_GET_OPENBLAS=OFF` to skip OpenBLAS if you're
+#           planning on using an OS-provided BLAS+LAPACK
+
+# build + install third-party dependencies
+cmake --build deps-build
+
+# configure osim (Simbody + OpenSim) build
+cmake -S . -B build -DCMAKE_PREFIX_PATH=${PWD}/deps-install
+
+# build osim
+cmake --build build
+
+# e.g.: this is why it's handy to build OpenBLAS /w static linking etc.
+lddtree build/example_app
+```
+

third_party/CMakeLists.txt

@@ -15,8 +15,11 @@ set(OSCDEPS_GET_IMGUI ON CACHE BOOL "enable getting imgui")
 set(OSCDEPS_GET_IMGUICOLORTEXTEDIT ON CACHE BOOL "enable getting ImGuiColorTextEdit")
 set(OSCDEPS_GET_IMPLOT ON CACHE BOOL "enable gettting implot")
 set(OSCDEPS_GET_LUA ON CACHE BOOL "enable getting lua scripting language library")
-set(OSCDEPS_GET_OPENSIM ON CACHE BOOL "enable getting OpenSim (+its dependencies)")
+set(OSCDEPS_GET_OPENBLAS ON CACHE BOOL "enable getting OpenBLAS")
+set(OSCDEPS_GET_SPDLOG ON CACHE BOOL "enable getting spdlog")
 set(OSCDEPS_BUILD_ALWAYS OFF CACHE BOOL "set BUILD_ALWAYS on all dependency targets, useful when editing dependencies")
+# note: no `OSCDEPS_GET_SIMBODY`, because it's built in-tree by `src/osim`
+# note: no `OSCDEPS_GET_OPENSIM`, because it's built in-tree by `src/osim`
 
 include(ExternalProject)  # ExternalProject_Add
 include(GNUInstallDirs)  # CMAKE_INSTALL_LIBDIR
@@ -193,37 +196,33 @@ if(${OSCDEPS_GET_LUA})
     )
 endif()
 
-if(${OSCDEPS_GET_OPENSIM})
-    ExternalProject_Add(opensim-core-dependencies
-        SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/opensim-core/dependencies
-        INSTALL_DIR ${CMAKE_CURRENT_BINARY_DIR}/opensim-core-dependencies-install
-        INSTALL_COMMAND ""  # OpenSim's dependency build installs during its build step
+if(${OSCDEPS_GET_OPENBLAS})
+    ExternalProject_Add(OpenBLAS
+        SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/OpenBLAS
         BUILD_ALWAYS ${OSCDEPS_BUILD_ALWAYS}
         CMAKE_CACHE_ARGS
             ${OSCDEPS_DEPENDENCY_CMAKE_ARGS}
-            -DOPENSIM_WITH_CASADI:BOOL=OFF
-            -DOPENSIM_WITH_TROPTER:BOOL=OFF
-            -DCMAKE_INSTALL_PREFIX:STRING=<INSTALL_DIR>
-            "-DSIMBODY_EXTRA_CMAKE_ARGS:STRING=-DBUILD_VISUALIZER:BOOL=OFF"
+            -DC_LAPACK:BOOL=ON
+            -DBUILD_STATIC_LIBS:BOOL=ON
     )
+endif()
 
-    ExternalProject_Add(opensim-core
-        DEPENDS opensim-core-dependencies
-        SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/opensim-core
-        TEST_EXCLUDE_FROM_MAIN ON
+if(${OSCDEPS_GET_SPDLOG})
+    set(OSCDEPS_SPDLOG_CXX_FLAGS "${CMAKE_CXX_FLAGS}")
+    if(MSVC)
+        # `spdlog` transitively uses a deprecated `stdext::checked_array_iterator`
+	set(OSCDEPS_SPDLOG_CXX_FLAGS "${OSCDEPS_SPDLOG_CXX_FLAGS} /D_SILENCE_STDEXT_ARR_ITERS_DEPRECATION_WARNING")
+    endif()
+    ExternalProject_Add(spdlog
+        SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/spdlog
         BUILD_ALWAYS ${OSCDEPS_BUILD_ALWAYS}
         CMAKE_CACHE_ARGS
             ${OSCDEPS_DEPENDENCY_CMAKE_ARGS}
-            -DOPENSIM_WITH_CASADI:BOOL=OFF
-            -DOPENSIM_WITH_TROPTER:BOOL=OFF
-            -DBUILD_API_ONLY:BOOL=ON
-            -DOPENSIM_DISABLE_LOG_FILE:BOOL=ON
-            -DOPENSIM_BUILD_INDIVIDUAL_APPS:BOOL=OFF
-            -DOPENSIM_DEPENDENCIES_DIR:PATH=${CMAKE_CURRENT_BINARY_DIR}/opensim-core-dependencies-install
-            -DBUILD_JAVA_WRAPPING:BOOL=OFF
-            -DOPENSIM_INSTALL_UNIX_FHS:BOOL=ON
-            -DOPENSIM_BUILD_INDIVIDUAL_APPS_DEFAULT:BOOL=OFF
-            -DBUILD_TESTING:BOOL=OFF
-            -DBUILD_API_EXAMPLES:BOOL=OFF
+            -DSPDLOG_BUILD_BENCH:BOOL=OFF
+            -DSPDLOG_BUILD_TESTS:BOOL=OFF
+            -DSPDLOG_BUILD_EXAMPLE:BOOL=OFF
+            -DSPDLOG_BUILD_SHARED:BOOL=OFF
+            -DCMAKE_CXX_FLAGS:STRING=${OSCDEPS_SPDLOG_CXX_FLAGS}
     )
 endif()
+