Enable the IDYNTREE_USES_IRRLICHT option in pip/PyPI builds (#1045)

Author: traversaro

.github/workflows/gh-pages.yml

@@ -13,9 +13,8 @@ jobs:
 
       - uses: conda-incubator/setup-miniconda@v2
         with:
-          mamba-version: "*"
-          channels: conda-forge
-          channel-priority: true
+          miniforge-variant: Mambaforge
+          miniforge-version: latest
 
       - name: Dependencies [apt]
         shell: bash -l {0}

.github/workflows/python.yml

@@ -44,7 +44,8 @@ jobs:
             libeigen3-dev \
             swig \
             libxml2-dev \
-            libassimp-dev
+            libassimp-dev \
+            libirrlicht-dev
           pip install build
 
       - name: Build sdist
@@ -96,7 +97,7 @@ jobs:
           CIBW_ENVIRONMENT_LINUX: AUDITWHEEL_PLAT=manylinux_2_24_x86_64
           CIBW_BEFORE_BUILD_LINUX: |
             apt-get update &&\
-            apt-get install -y libeigen3-dev libassimp-dev libxml2-dev coinor-libipopt-dev
+            apt-get install -y libeigen3-dev libassimp-dev libxml2-dev coinor-libipopt-dev libirrlicht-dev
           CIBW_TEST_COMMAND: "python -c 'import idyntree.bindings'"
 
       - uses: actions/upload-artifact@v2

CHANGELOG.md

@@ -8,6 +8,12 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ## [Unreleased]
 
+## [8.1.0] - 2023-01-16
+
+### Added
+- Enabled the use of irrlicht dependency in PyPI builds (https://github.com/robotology/idyntree/pull/1045).
+
+
 ## [8.0.1] - 2023-01-10
 
 ### Fix

CMakeLists.txt

@@ -8,7 +8,7 @@
 
 cmake_minimum_required(VERSION 3.16)
 
-project(iDynTree VERSION 8.0.1
+project(iDynTree VERSION 8.1.0
                  LANGUAGES C CXX)
 
 # Disable in source build, unless Eclipse is used

setup.py

@@ -22,7 +22,7 @@
                 "-DIDYNTREE_PACKAGE_FOR_PYPI:BOOL=ON",
                 "-DIDYNTREE_USES_IPOPT:BOOL=ON",
                 "-DIDYNTREE_USES_ASSIMP:BOOL=ON",
-                "-DIDYNTREE_USES_IRRLICHT:BOOL=OFF",
+                "-DIDYNTREE_USES_IRRLICHT:BOOL=ON",
                 "-DIDYNTREE_USES_OSQPEIGEN:BOOL=OFF",
                 "-DIDYNTREE_USES_ALGLIB:BOOL=OFF",
                 "-DIDYNTREE_USES_WORHP:BOOL=OFF",

src/visualization/CMakeLists.txt

@@ -73,8 +73,10 @@ if(IDYNTREE_USES_IRRLICHT)
     find_package(OpenGL)
     find_package(Irrlicht REQUIRED)
 
-    target_include_directories(${libraryname} PRIVATE SYSTEM ${OPENGL_INCLUDE_DIR})
-    target_link_libraries(${libraryname} PRIVATE Irrlicht::Irrlicht ${OPENGL_LIBRARIES})
+    target_link_libraries(${libraryname} PRIVATE Irrlicht::Irrlicht)
+    if(TARGET OpenGL::GL)
+      target_link_libraries(${libraryname} PRIVATE OpenGL::GL)
+    endif()
     if(MSVC)
        add_definitions(-D_USE_MATH_DEFINES)
     endif()