[Moco] Add support for the Bordalba et al. (2023) projection method for kinematic constraints #4534

Workflow file for this run

.github/workflows/continuous_integration.yml at 7c4b195

	name: continuous-integration

	# syntax https://help.github.com/en/articles/workflow-syntax-for-github-actions
	on:
	# Run at 2am every night.
	schedule:
	- cron: '0 2 * * *'
	pull_request:
	branches:
	- '*'
	push:
	branches:
	- main
	tags:
	- '*'

	jobs:
	windows:
	name: Windows

	runs-on: windows-2019

	steps:
	- uses: actions/checkout@v3

	- name: Install Doxygen
	# choco install doxygen.portable # <-- too unreliable.
	run: \|
	(New-Object System.Net.WebClient).DownloadFile("https://sourceforge.net/projects/myosin/files/doxygen-1.8.14.windows.x64.bin.zip/download", "doxygen.zip")
	7z x $env:GITHUB_WORKSPACE/doxygen.zip -odoxygen
	echo "$env:GITHUB_WORKSPACE\\doxygen" >> $GITHUB_PATH

	- name: Install Python packages
	uses: actions/setup-python@v4
	with:
	python-version: '3.10'

	- name: Install numpy
	#Need numpy to use SWIG numpy typemaps.
	run: python3 -m pip install numpy==1.25

	- name: Install SWIG
	run: \|
	choco install swig --version 4.1.1 --yes --limit-output --allow-downgrade
	swig -swiglib

	- name: Cache dependencies
	id: cache-dependencies
	uses: actions/cache@v3
	with:
	path: ~/opensim_dependencies_install
	# Every time a cache is created, it's stored with this key.
	# In subsequent runs, if the key matches the key of an existing cache,
	# then the cache is used. We chose for this key to depend on the
	# operating system and a hash of the hashes of all files in the
	# dependencies directory (non-recursive).
	# https://help.github.com/en/actions/automating-your-workflow-with-github-actions/caching-dependencies-to-speed-up-workflows#matching-a-cache-key
	key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }}

	- name: Build dependencies
	if: steps.cache-dependencies.outputs.cache-hit != 'true'
	run: \|
	echo $env:GITHUB_WORKSPACE\\build_deps
	mkdir $env:GITHUB_WORKSPACE\\build_deps
	chdir $env:GITHUB_WORKSPACE\\build_deps
	# /W0 disables warnings.
	# https://msdn.microsoft.com/en-us/library/19z1t1wy.aspx
	# TODO: CMake provides /W3, which overrides our /W0
	cmake -E env CXXFLAGS="/W0" cmake $env:GITHUB_WORKSPACE/dependencies -LAH -G"Visual Studio 16 2019" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install -DSUPERBUILD_ezc3d=ON -DOPENSIM_WITH_TROPTER=ON -DOPENSIM_WITH_CASADI=ON
	cmake --build . --config Release -- /maxcpucount:4

	- name: Configure opensim-core
	id: configure
	run: \|
	mkdir $env:GITHUB_WORKSPACE\\build
	chdir $env:GITHUB_WORKSPACE\\build
	# TODO: Can remove /WX when we use that in CMakeLists.txt.
	# Set the CXXFLAGS environment variable to turn warnings into errors.
	# Skip timing test section included by default.
	cmake -E env CXXFLAGS="/WX -DSKIP_TIMING" cmake $env:GITHUB_WORKSPACE -LAH -G"Visual Studio 16 2019" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim-core-install -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DOPENSIM_C3D_PARSER=ezc3d -DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on -DOPENSIM_WITH_TROPTER=on -DPython3_ROOT_DIR=C:\hostedtoolcache\windows\Python\3.10.11\x64
	$env:match = cmake -L . \| Select-String -Pattern OPENSIM_QUALIFIED_VERSION
	$version = $env:match.split('=')[1]
	echo $version
	echo "VERSION=$version" >> $GITHUB_ENV
	echo "version=$version" >> $env:GITHUB_OUTPUT

	- name: Build opensim-core
	# Install now to avoid building bindings twice (issue when using Visual Studio 2019).
	run: \|
	chdir $env:GITHUB_WORKSPACE\\build
	cmake --build . --config Release --target doxygen -- /maxcpucount:4
	cmake --build . --config Release --target install -- /maxcpucount:4

	- name: Test opensim-core
	run: \|
	chdir $env:GITHUB_WORKSPACE\\build
	ctest --parallel 4 --output-on-failure --build-config Release

	- name: Install opensim-core
	# TODO: This is where we wish to do the installing, but it's done above for now.
	run: \|
	chdir $env:GITHUB_WORKSPACE\\build
	chdir $env:GITHUB_WORKSPACE
	Copy-Item -Path "~/opensim-core-install" -Destination "opensim-core-${{ steps.configure.outputs.version }}" -Recurse
	7z a "opensim-core-${{ steps.configure.outputs.version }}.zip" "opensim-core-${{ steps.configure.outputs.version }}"

	- name: Test Python bindings
	run: \|
	echo "PYTHONPATH= $env:USERPROFILE/opensim-core-install/bin">> $GITHUB_ENV
	# Move to the installed location of the python package.
	cd ~/opensim-core-install/sdk/python
	# Run python tests.
	python -m unittest discover --start-directory opensim/tests --verbose

	- name: Upload opensim-core
	uses: actions/upload-artifact@v4
	with:
	name: opensim-core-${{ steps.configure.outputs.version }}-win-2019
	path: opensim-core-${{ steps.configure.outputs.version }}.zip

	# TODO: Must be relative to the workspace?
	# - name: Upload opensim-moco dependencies
	# uses: actions/upload-artifact@v1.0.0
	# with:
	# name: opensim-core-dependencies
	# path: opensim_dependencies_install.zip

	# - name: Create release
	# id: create-release
	# uses: actions/create-release@v1.0.0
	# env:
	# GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
	# with:
	# tag_name: ${{ github.ref }}
	# release_name: OpenSim Core ${{ github.ref }}
	# draft: true
	# prerelease: false

	# - name: Zip opensim-core
	# run: \|
	# 7z a opensim-core-$VERSION.zip opensim-core-${VERSION}

	# - name: Upload release asset
	# id: upload-release-asset
	# uses: actions/upload-release-asset@v1.0.1
	# env:
	# GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
	# with:
	# upload_url: ${{ steps.create-release.outputs.upload_url }}
	# asset_path: ./opensim-core-${{ github.ref }}.zip
	# asset_name: opensim-core-${{ github.ref }}.zip
	# asset_content_type: application/zip

	windows2022_target:
	name: Windows2022 [target]

	if: ${{ contains(github.event.pull_request.title, '[perf-win]') \|\| contains(github.event.pull_request.body, '[perf-win]') }}

	runs-on: windows-2022

	steps:
	- uses: actions/checkout@v3
	with:
	ref: ${{ github.event.pull_request.base.ref }}

	- name: Install Doxygen
	# choco install doxygen.portable # <-- too unreliable.
	run: \|
	(New-Object System.Net.WebClient).DownloadFile("https://sourceforge.net/projects/myosin/files/doxygen-1.8.14.windows.x64.bin.zip/download", "doxygen.zip")
	7z x $env:GITHUB_WORKSPACE/doxygen.zip -odoxygen
	echo "$env:GITHUB_WORKSPACE\\doxygen" >> $GITHUB_PATH

	- name: Install Python packages
	uses: actions/setup-python@v4
	with:
	python-version: '3.10'

	- name: Install numpy
	#Need numpy to use SWIG numpy typemaps.
	run: python3 -m pip install numpy==1.25

	- name: Install SWIG
	run: \|
	choco install swig --version 4.1.1 --yes --limit-output --allow-downgrade
	swig -swiglib

	- name: Cache dependencies
	id: cache-dependencies
	uses: actions/cache@v3
	with:
	path: ~/opensim_dependencies_install
	# Every time a cache is created, it's stored with this key.
	# In subsequent runs, if the key matches the key of an existing cache,
	# then the cache is used. We chose for this key to depend on the
	# operating system and a hash of the hashes of all files in the
	# dependencies directory (non-recursive).
	# https://help.github.com/en/actions/automating-your-workflow-with-github-actions/caching-dependencies-to-speed-up-workflows#matching-a-cache-key
	key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }}

	- name: Build dependencies
	if: steps.cache-dependencies.outputs.cache-hit != 'true'
	run: \|
	echo $env:GITHUB_WORKSPACE\\build_deps
	mkdir $env:GITHUB_WORKSPACE\\build_deps
	chdir $env:GITHUB_WORKSPACE\\build_deps
	# /W0 disables warnings.
	# https://msdn.microsoft.com/en-us/library/19z1t1wy.aspx
	# TODO: CMake provides /W3, which overrides our /W0
	cmake -E env CXXFLAGS="/W0" cmake $env:GITHUB_WORKSPACE/dependencies -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install -DSUPERBUILD_ezc3d=ON -DOPENSIM_WITH_TROPTER=ON -DOPENSIM_WITH_CASADI=ON
	cmake --build . --config Release -- /maxcpucount:4

	- name: Configure opensim-core
	id: configure
	run: \|
	mkdir $env:GITHUB_WORKSPACE\\build
	chdir $env:GITHUB_WORKSPACE\\build
	# TODO: Can remove /WX when we use that in CMakeLists.txt.
	# Set the CXXFLAGS environment variable to turn warnings into errors.
	# Skip timing test section included by default.
	cmake -E env CXXFLAGS="/WX -DSKIP_TIMING" cmake $env:GITHUB_WORKSPACE -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim-core-install -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DOPENSIM_C3D_PARSER=ezc3d -DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on -DPython3_ROOT_DIR=C:\hostedtoolcache\windows\Python\3.10.11\x64
	$env:match = cmake -L . \| Select-String -Pattern OPENSIM_QUALIFIED_VERSION
	$version = $env:match.split('=')[1]
	echo $version
	echo "VERSION=$version" >> $GITHUB_ENV
	echo "version=$version" >> $env:GITHUB_OUTPUT


	- name: Build opensim-core
	# Install now to avoid building bindings twice (TODO: issue when using Visual Studio 2019, is this an issue too in Visual Studio 2022?).
	run: \|
	chdir $env:GITHUB_WORKSPACE\\build
	cmake --build . --config Release --target doxygen -- /maxcpucount:4
	cmake --build . --config Release --target install -- /maxcpucount:4

	- name: Test opensim-core
	run: \|
	chdir $env:GITHUB_WORKSPACE\\build
	ctest --parallel 4 --output-on-failure --build-config Release -E Java_*

	- name: Install opensim-core
	# TODO: This is where we wish to do the installing, but it's done above for now.
	run: \|
	chdir $env:GITHUB_WORKSPACE\\build
	chdir $env:GITHUB_WORKSPACE
	Copy-Item -Path "~/opensim-core-install" -Destination "opensim-core-${{ github.event.pull_request.base.ref }}" -Recurse
	7z a "opensim-core-${{ github.event.pull_request.base.ref }}.zip" "opensim-core-${{ github.event.pull_request.base.ref }}"

	- name: Test Python bindings
	run: \|
	echo "PYTHONPATH= $env:USERPROFILE/opensim-core-install/bin">> $GITHUB_ENV
	# Move to the installed location of the python package.
	cd ~/opensim-core-install/sdk/python
	# Run python tests.
	python -m unittest discover --start-directory opensim/tests --verbose

	- name: Upload opensim-core
	uses: actions/upload-artifact@v4
	with:
	name: opensim-core-${{ github.event.pull_request.base.ref }}-win
	path: opensim-core-${{ github.event.pull_request.base.ref }}.zip

	windows2022_source:

	runs-on: windows-2022

	name: ${{ (contains(github.event.pull_request.title, '[perf-win]') \|\| contains(github.event.pull_request.body, '[perf-win]')) && 'Windows2022 [source]' \|\| 'Windows2022' }}

	outputs:
	version: ${{ steps.configure.outputs.version }}

	steps:
	- uses: actions/checkout@v3

	- name: Install Doxygen
	# choco install doxygen.portable # <-- too unreliable.
	run: \|
	(New-Object System.Net.WebClient).DownloadFile("https://sourceforge.net/projects/myosin/files/doxygen-1.8.14.windows.x64.bin.zip/download", "doxygen.zip")
	7z x $env:GITHUB_WORKSPACE/doxygen.zip -odoxygen
	echo "$env:GITHUB_WORKSPACE\\doxygen" >> $GITHUB_PATH

	- name: Install Python packages
	uses: actions/setup-python@v4
	with:
	python-version: '3.10'

	- name: Install numpy
	#Need numpy to use SWIG numpy typemaps.
	run: python3 -m pip install numpy==1.25

	- name: Install SWIG
	run: \|
	choco install swig --version 4.1.1 --yes --limit-output --allow-downgrade
	swig -swiglib

	- name: Cache dependencies
	id: cache-dependencies
	uses: actions/cache@v3
	with:
	path: ~/opensim_dependencies_install
	# Every time a cache is created, it's stored with this key.
	# In subsequent runs, if the key matches the key of an existing cache,
	# then the cache is used. We chose for this key to depend on the
	# operating system and a hash of the hashes of all files in the
	# dependencies directory (non-recursive).
	# https://help.github.com/en/actions/automating-your-workflow-with-github-actions/caching-dependencies-to-speed-up-workflows#matching-a-cache-key
	key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }}

	- name: Build dependencies
	if: steps.cache-dependencies.outputs.cache-hit != 'true'
	run: \|
	echo $env:GITHUB_WORKSPACE\\build_deps
	mkdir $env:GITHUB_WORKSPACE\\build_deps
	chdir $env:GITHUB_WORKSPACE\\build_deps
	# /W0 disables warnings.
	# https://msdn.microsoft.com/en-us/library/19z1t1wy.aspx
	# TODO: CMake provides /W3, which overrides our /W0
	cmake -E env CXXFLAGS="/W0" cmake $env:GITHUB_WORKSPACE/dependencies -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install -DSUPERBUILD_ezc3d=ON -DOPENSIM_WITH_TROPTER=ON -DOPENSIM_WITH_CASADI=ON
	cmake --build . --config Release -- /maxcpucount:4

	- name: Configure opensim-core
	id: configure
	run: \|
	mkdir $env:GITHUB_WORKSPACE\\build
	chdir $env:GITHUB_WORKSPACE\\build
	# TODO: Can remove /WX when we use that in CMakeLists.txt.
	# Set the CXXFLAGS environment variable to turn warnings into errors.
	# Skip timing test section included by default.
	cmake -E env CXXFLAGS="/WX -DSKIP_TIMING" cmake $env:GITHUB_WORKSPACE -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim-core-install -DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install -DOPENSIM_C3D_PARSER=ezc3d -DOPENSIM_WITH_TROPTER=on -DOPENSIM_WITH_CASADI=on -DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on -DPython3_ROOT_DIR=C:\hostedtoolcache\windows\Python\3.10.11\x64
	$env:match = cmake -L . \| Select-String -Pattern OPENSIM_QUALIFIED_VERSION
	$version = $env:match.split('=')[1]
	echo $version
	echo "VERSION=$version" >> $GITHUB_ENV
	echo "version=$version" >> $env:GITHUB_OUTPUT


	- name: Build opensim-core
	# Install now to avoid building bindings twice (TODO: issue when using Visual Studio 2019, is this an issue too in Visual Studio 2022?).
	run: \|
	chdir $env:GITHUB_WORKSPACE\\build
	cmake --build . --config Release --target doxygen -- /maxcpucount:4
	cmake --build . --config Release --target install -- /maxcpucount:4

	- name: Test opensim-core
	run: \|
	chdir $env:GITHUB_WORKSPACE\\build
	ctest --parallel 4 --output-on-failure --build-config Release -E Java_*

	- name: Install opensim-core
	# TODO: This is where we wish to do the installing, but it's done above for now.
	run: \|
	chdir $env:GITHUB_WORKSPACE\\build
	chdir $env:GITHUB_WORKSPACE
	Copy-Item -Path "~/opensim-core-install" -Destination "opensim-core-${{ steps.configure.outputs.version }}" -Recurse
	7z a "opensim-core-${{ steps.configure.outputs.version }}.zip" "opensim-core-${{ steps.configure.outputs.version }}"

	- name: Test Python bindings
	run: \|
	echo "PYTHONPATH= $env:USERPROFILE/opensim-core-install/bin">> $GITHUB_ENV
	# Move to the installed location of the python package.
	cd ~/opensim-core-install/sdk/python
	# Run python tests.
	python -m unittest discover --start-directory opensim/tests --verbose

	- name: Upload opensim-core
	uses: actions/upload-artifact@v4
	with:
	name: opensim-core-${{ steps.configure.outputs.version }}-win
	path: opensim-core-${{ steps.configure.outputs.version }}.zip

	mac_target:
	name: Mac [target]

	runs-on: macos-12

	if: ${{ contains(github.event.pull_request.title, '[perf-mac]') \|\| contains(github.event.pull_request.body, '[perf-mac]') }}

	steps:
	- uses: actions/checkout@v3
	with:
	ref: ${{ github.event.pull_request.base.ref }}

	- name: Install Python packages
	uses: actions/setup-python@v4
	with:
	python-version: '3.10'

	- name: Install Homebrew packages
	# Save the gfortran version to a file so we can use it in the cache key.
	run: \|
	brew install cmake pkgconfig autoconf libtool automake wget pcre doxygen llvm
	brew reinstall gcc
	pip3 install numpy==1.25
	gfortran -v
	mkdir gfortran_version
	gfortran -v &> gfortran_version/gfortran_version.txt

	- name: Cache SWIG
	id: cache-swig
	uses: actions/cache@v3
	with:
	path: ~/swig
	key: ${{ runner.os }}-swig

	- name: Install SWIG
	# if: steps.cache-swig.outputs.cache-hit != 'true'
	run: \|
	mkdir ~/swig-source && cd ~/swig-source
	wget https://github.com/swig/swig/archive/refs/tags/v4.1.1.tar.gz
	tar xzf v4.1.1.tar.gz && cd swig-4.1.1
	sh autogen.sh && ./configure --prefix=$HOME/swig --disable-ccache
	make && make -j4 install

	- name: Cache dependencies
	id: cache-dependencies
	uses: actions/cache@v3
	with:
	path: ~/opensim_dependencies_install
	# If Homebrew updates the gcc package, then our cache of IPOPT is invalid.
	# Specifically, the pkgcfg_lib_IPOPT_gfortran CMake variable becomes
	# undefined.
	key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/') }}-${{ hashFiles('gfortran_version/') }}

	- name: Build dependencies
	if: steps.cache-dependencies.outputs.cache-hit != 'true'
	run: \|
	mkdir $GITHUB_WORKSPACE/../build_deps
	cd $GITHUB_WORKSPACE/../build_deps
	DEP_CMAKE_ARGS=($GITHUB_WORKSPACE/dependencies -LAH)
	DEP_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install)
	DEP_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release)
	DEP_CMAKE_ARGS+=(-DSUPERBUILD_ezc3d=ON)
	DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_TROPTER=ON)
	DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=ON)
	DEP_CMAKE_ARGS+=(-DOPENSIM_DISABLE_LOG_FILE=ON)
	DEP_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11)
	printf '%s\n' "${DEP_CMAKE_ARGS[@]}"
	cmake "${DEP_CMAKE_ARGS[@]}"
	make --jobs 4

	- name: Configure opensim-core
	id: configure
	run: \|
	mkdir $GITHUB_WORKSPACE/../build
	cd $GITHUB_WORKSPACE/../build
	OSIM_CMAKE_ARGS=($GITHUB_WORKSPACE -LAH)
	OSIM_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/../opensim-core-install)
	OSIM_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release)
	OSIM_CMAKE_ARGS+=(-DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install)
	OSIM_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11)
	OSIM_CMAKE_ARGS+=(-DOPENSIM_C3D_PARSER=ezc3d)
	OSIM_CMAKE_ARGS+=(-DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on)
	OSIM_CMAKE_ARGS+=(-DSWIG_EXECUTABLE=$HOME/swig/bin/swig)
	OSIM_CMAKE_ARGS+=(-DOPENSIM_INSTALL_UNIX_FHS=OFF)
	OSIM_CMAKE_ARGS+=(-DOPENSIM_DOXYGEN_USE_MATHJAX=off)
	# TODO: Update to simbody.github.io/latest
	OSIM_CMAKE_ARGS+=(-DOPENSIM_SIMBODY_DOXYGEN_LOCATION="https://simbody.github.io/simtk.org/api_docs/simbody/latest/")
	OSIM_CMAKE_ARGS+=(-DCMAKE_CXX_FLAGS="-Werror, -Wdeprecated-copy")
	printf '%s\n' "${OSIM_CMAKE_ARGS[@]}"
	cmake "${OSIM_CMAKE_ARGS[@]}"
	VERSION=`cmake -L . \| grep OPENSIM_QUALIFIED_VERSION \| cut -d "=" -f2`
	echo $VERSION
	echo "VERSION=$VERSION" >> $GITHUB_ENV
	echo "version=$VERSION" >> $GITHUB_OUTPUT

	- name: Build opensim-core
	run: \|
	cd $GITHUB_WORKSPACE/../build
	make --jobs 4

	- name: Test opensim-core
	run: \|
	cd $GITHUB_WORKSPACE/../build
	ctest --parallel 4 --output-on-failure

	- name: Install opensim-core
	run: \|
	cd $GITHUB_WORKSPACE/../build
	make doxygen
	make install
	cd $GITHUB_WORKSPACE
	mv $GITHUB_WORKSPACE/../opensim-core-install opensim-core-${{ github.event.pull_request.base.ref }}
	zip --symlinks --recurse-paths --quiet opensim-core-${{ github.event.pull_request.base.ref }}.zip opensim-core-${{ github.event.pull_request.base.ref }}
	mv opensim-core-${{ github.event.pull_request.base.ref }} $GITHUB_WORKSPACE/../opensim-core-install

	- name: Test Python bindings
	run: \|
	cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python
	# Run the python tests, verbosely.
	python3 -m unittest discover --start-directory opensim/tests --verbose

	- name: Upload opensim-core
	uses: actions/upload-artifact@v4
	with:
	# The upload-artifact zipping does not preserve symlinks or executable
	# bits. So we zip ourselves, even though this causes a double-zip.
	name: opensim-core-${{ github.event.pull_request.base.ref }}-mac
	path: opensim-core-${{ github.event.pull_request.base.ref }}.zip

	mac_source:

	runs-on: macos-12

	name: ${{ (contains(github.event.pull_request.title, '[perf-mac]') \|\| contains(github.event.pull_request.body, '[perf-mac]')) && 'Mac [source]' \|\| 'Mac' }}

	outputs:
	version: ${{ steps.configure.outputs.version }}

	steps:
	- uses: actions/checkout@v3

	- name: Install Python packages
	uses: actions/setup-python@v4
	with:
	python-version: '3.10'

	- name: Install Homebrew packages
	# Save the gfortran version to a file so we can use it in the cache key.
	run: \|
	brew install cmake pkgconfig autoconf libtool automake wget pcre doxygen llvm
	brew reinstall gcc
	pip3 install numpy==1.25
	gfortran -v
	mkdir gfortran_version
	gfortran -v &> gfortran_version/gfortran_version.txt

	- name: Cache SWIG
	id: cache-swig
	uses: actions/cache@v3
	with:
	path: ~/swig
	key: ${{ runner.os }}-swig

	- name: Install SWIG
	# if: steps.cache-swig.outputs.cache-hit != 'true'
	run: \|
	mkdir ~/swig-source && cd ~/swig-source
	wget https://github.com/swig/swig/archive/refs/tags/v4.1.1.tar.gz
	tar xzf v4.1.1.tar.gz && cd swig-4.1.1
	sh autogen.sh && ./configure --prefix=$HOME/swig --disable-ccache
	make && make -j4 install

	- name: Cache dependencies
	id: cache-dependencies
	uses: actions/cache@v3
	with:
	path: ~/opensim_dependencies_install
	# If Homebrew updates the gcc package, then our cache of IPOPT is invalid.
	# Specifically, the pkgcfg_lib_IPOPT_gfortran CMake variable becomes
	# undefined.
	key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/') }}-${{ hashFiles('gfortran_version/') }}

	- name: Build dependencies
	if: steps.cache-dependencies.outputs.cache-hit != 'true'
	run: \|
	mkdir $GITHUB_WORKSPACE/../build_deps
	cd $GITHUB_WORKSPACE/../build_deps
	DEP_CMAKE_ARGS=($GITHUB_WORKSPACE/dependencies -LAH)
	DEP_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install)
	DEP_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release)
	DEP_CMAKE_ARGS+=(-DSUPERBUILD_ezc3d=ON)
	DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_TROPTER=ON)
	DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=ON)
	DEP_CMAKE_ARGS+=(-DOPENSIM_DISABLE_LOG_FILE=ON)
	DEP_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11)
	printf '%s\n' "${DEP_CMAKE_ARGS[@]}"
	cmake "${DEP_CMAKE_ARGS[@]}"
	make --jobs 4

	- name: Configure opensim-core
	id: configure
	run: \|
	mkdir $GITHUB_WORKSPACE/../build
	cd $GITHUB_WORKSPACE/../build
	OSIM_CMAKE_ARGS=($GITHUB_WORKSPACE -LAH)
	OSIM_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/../opensim-core-install)
	OSIM_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release)
	OSIM_CMAKE_ARGS+=(-DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install)
	OSIM_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11)
	OSIM_CMAKE_ARGS+=(-DOPENSIM_C3D_PARSER=ezc3d)
	OSIM_CMAKE_ARGS+=(-DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on)
	OSIM_CMAKE_ARGS+=(-DSWIG_EXECUTABLE=$HOME/swig/bin/swig)
	OSIM_CMAKE_ARGS+=(-DOPENSIM_INSTALL_UNIX_FHS=OFF)
	OSIM_CMAKE_ARGS+=(-DOPENSIM_DOXYGEN_USE_MATHJAX=off)
	# TODO: Update to simbody.github.io/latest
	OSIM_CMAKE_ARGS+=(-DOPENSIM_SIMBODY_DOXYGEN_LOCATION="https://simbody.github.io/simtk.org/api_docs/simbody/latest/")
	OSIM_CMAKE_ARGS+=(-DCMAKE_CXX_FLAGS="-Werror, -Wdeprecated-copy")
	printf '%s\n' "${OSIM_CMAKE_ARGS[@]}"
	cmake "${OSIM_CMAKE_ARGS[@]}"
	VERSION=`cmake -L . \| grep OPENSIM_QUALIFIED_VERSION \| cut -d "=" -f2`
	echo $VERSION
	echo "VERSION=$VERSION" >> $GITHUB_ENV
	echo "version=$VERSION" >> $GITHUB_OUTPUT

	- name: Build opensim-core
	run: \|
	cd $GITHUB_WORKSPACE/../build
	make --jobs 4

	- name: Test opensim-core
	run: \|
	cd $GITHUB_WORKSPACE/../build
	ctest --parallel 4 --output-on-failure

	- name: Install opensim-core
	run: \|
	cd $GITHUB_WORKSPACE/../build
	make doxygen
	make install
	cd $GITHUB_WORKSPACE
	mv $GITHUB_WORKSPACE/../opensim-core-install opensim-core-${{ steps.configure.outputs.version }}
	zip --symlinks --recurse-paths --quiet opensim-core-${{ steps.configure.outputs.version }}.zip opensim-core-${{ steps.configure.outputs.version }}
	mv opensim-core-${{ steps.configure.outputs.version }} $GITHUB_WORKSPACE/../opensim-core-install

	- name: Test Python bindings
	run: \|
	cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python
	# Run the python tests, verbosely.
	python3 -m unittest discover --start-directory opensim/tests --verbose

	- name: Upload opensim-core
	uses: actions/upload-artifact@v4
	with:
	# The upload-artifact zipping does not preserve symlinks or executable
	# bits. So we zip ourselves, even though this causes a double-zip.
	name: opensim-core-${{ steps.configure.outputs.version }}-mac
	path: opensim-core-${{ steps.configure.outputs.version }}.zip

	performance_analysis_win:
	name: Performance Analysis (Windows)

	env:
	GH_TOKEN: ${{ github.token }}

	needs:
	- windows2022_target
	- windows2022_source

	runs-on: macos-12

	if: ${{ contains(github.event.pull_request.title, '[perf-win]') \|\| contains(github.event.pull_request.body, '[perf-win]') }}

	steps:
	- name: Trigger opensim-perf workflow
	uses: Codex-/return-dispatch@v1.12.0
	id: return_dispatch
	with:
	token: ${{ secrets.PERF_DISPATCH_PAT }}
	repo: opensim-perf
	owner: opensim-org
	ref: main
	workflow: performance_analysis_win.yml
	workflow_inputs: '{"commit_sha": "${{ github.event.pull_request.head.sha }}", "target_artifact_name": "opensim-core-${{ github.event.pull_request.base.ref }}-win", "source_artifact_name": "opensim-core-${{ needs.windows2022_source.outputs.version }}-win", "target_artifact_zip": "opensim-core-${{ github.event.pull_request.base.ref }}.zip", "source_artifact_zip": "opensim-core-${{ needs.windows2022_source.outputs.version }}.zip"}'

	- name: Await opensim-perf workflow
	uses: Codex-/await-remote-run@v1.11.0
	with:
	token: ${{ secrets.PERF_DISPATCH_PAT }}
	repo: opensim-perf
	owner: opensim-org
	run_id: ${{ steps.return_dispatch.outputs.run_id }}
	run_timeout_seconds: 10000

	- name: Download performance analysis results
	id: download-artifact
	uses: dawidd6/action-download-artifact@v3.0.0
	with:
	github_token: ${{ secrets.PERF_DISPATCH_PAT }}
	run_id: ${{ steps.return_dispatch.outputs.run_id }}
	workflow: performance_analysis_win.yml
	name: performance-results
	path: results
	repo: opensim-org/opensim-perf

	- name: Post results to pull request description
	run: \|
	PR_NUMBER=$(jq --raw-output .pull_request.number "$GITHUB_EVENT_PATH")
	EXISTING_COMMENT_CONTENT=$(gh api /repos/opensim-org/opensim-core/pulls/${PR_NUMBER} \| jq -r '.body')
	CUSTOM_HEADER="### Performance analysis"

	REVIEWABLE_TAG="<!-- Reviewable:start -->"
	REVIEWABLE_CONTENT=""
	if [[ $EXISTING_COMMENT_CONTENT == "$REVIEWABLE_TAG" ]]; then
	REVIEWABLE_CONTENT=$(echo "$EXISTING_COMMENT_CONTENT" \| awk "/$REVIEWABLE_TAG/,0")
	fi

	if [[ $EXISTING_COMMENT_CONTENT == "$CUSTOM_HEADER" ]]; then
	CONTENT_TO_REPLACE=$(echo "$EXISTING_COMMENT_CONTENT" \| awk "/$CUSTOM_HEADER/,0")
	else
	CONTENT_TO_REPLACE=${REVIEWABLE_CONTENT}
	fi

	NEW_CONTENT="${CUSTOM_HEADER}

	Platform: Windows, self-hosted runner

	$(cat results/performance_results.md)

	${REVIEWABLE_CONTENT}
	"
	NEW_COMMENT_BODY="${EXISTING_COMMENT_CONTENT/"${CONTENT_TO_REPLACE}"/${NEW_CONTENT}}"

	# Update the existing description
	gh api \
	--method PATCH \
	-H "Content-Type: application/json" \
	-H "Accept: application/vnd.github.v3+json" \
	-H "Authorization: Bearer ${{ secrets.GITHUB_TOKEN }}" \
	repos/opensim-org/opensim-core/pulls/${PR_NUMBER} \
	-f "body=${NEW_COMMENT_BODY}"

	performance_analysis_mac:

	name: Performance Analysis (Mac)

	env:
	GH_TOKEN: ${{ github.token }}

	needs:
	- mac_target
	- mac_source

	runs-on: macos-12

	if: ${{ contains(github.event.pull_request.title, '[perf-mac]') \|\| contains(github.event.pull_request.body, '[perf-mac]') }}

	steps:
	- name: Trigger opensim-perf workflow
	uses: Codex-/return-dispatch@v1.12.0
	id: return_dispatch
	with:
	token: ${{ secrets.PERF_DISPATCH_PAT }}
	repo: opensim-perf
	owner: opensim-org
	ref: main
	workflow: performance_analysis_mac.yml
	workflow_inputs: '{"commit_sha": "${{ github.event.pull_request.head.sha }}", "target_artifact_name": "opensim-core-${{ github.event.pull_request.base.ref }}-mac", "source_artifact_name": "opensim-core-${{ needs.mac_source.outputs.version }}-mac", "target_artifact_zip": "opensim-core-${{ github.event.pull_request.base.ref }}.zip", "source_artifact_zip": "opensim-core-${{ needs.mac_source.outputs.version }}.zip"}'

	- name: Await opensim-perf workflow
	uses: Codex-/await-remote-run@v1.11.0
	with:
	token: ${{ secrets.PERF_DISPATCH_PAT }}
	repo: opensim-perf
	owner: opensim-org
	run_id: ${{ steps.return_dispatch.outputs.run_id }}
	run_timeout_seconds: 10000

	- name: Download performance analysis results
	id: download-artifact
	uses: dawidd6/action-download-artifact@v3.0.0
	with:
	github_token: ${{ secrets.PERF_DISPATCH_PAT }}
	run_id: ${{ steps.return_dispatch.outputs.run_id }}
	workflow: performance_analysis_mac.yml
	name: performance-results
	path: results
	repo: opensim-org/opensim-perf

	- name: Post results to pull request description
	run: \|
	PR_NUMBER=$(jq --raw-output .pull_request.number "$GITHUB_EVENT_PATH")
	EXISTING_COMMENT_CONTENT=$(gh api /repos/opensim-org/opensim-core/pulls/${PR_NUMBER} \| jq -r '.body')
	CUSTOM_HEADER="### Performance analysis"

	REVIEWABLE_TAG="<!-- Reviewable:start -->"
	REVIEWABLE_CONTENT=""
	if [[ $EXISTING_COMMENT_CONTENT == "$REVIEWABLE_TAG" ]]; then
	REVIEWABLE_CONTENT=$(echo "$EXISTING_COMMENT_CONTENT" \| awk "/$REVIEWABLE_TAG/,0")
	fi

	if [[ $EXISTING_COMMENT_CONTENT == "$CUSTOM_HEADER" ]]; then
	CONTENT_TO_REPLACE=$(echo "$EXISTING_COMMENT_CONTENT" \| awk "/$CUSTOM_HEADER/,0")
	else
	CONTENT_TO_REPLACE=${REVIEWABLE_CONTENT}
	fi

	NEW_CONTENT="${CUSTOM_HEADER}

	Platform: Mac, GitHub Actions runner

	$(cat results/performance_results.md)

	${REVIEWABLE_CONTENT}
	"
	NEW_COMMENT_BODY="${EXISTING_COMMENT_CONTENT/"${CONTENT_TO_REPLACE}"/${NEW_CONTENT}}"

	# Update the existing description
	gh api \
	--method PATCH \
	-H "Content-Type: application/json" \
	-H "Accept: application/vnd.github.v3+json" \
	-H "Authorization: Bearer ${{ secrets.GITHUB_TOKEN }}" \
	repos/opensim-org/opensim-core/pulls/${PR_NUMBER} \
	-f "body=${NEW_COMMENT_BODY}"

	ubuntu20:
	name: Ubuntu2004

	runs-on: ubuntu-20.04

	steps:
	- uses: actions/checkout@v3

	- name: Install Python packages
	uses: actions/setup-python@v4
	with:
	python-version: '3.10'

	- name: Install Numpy
	run: \|
	pip install pip --upgrade
	pip install numpy==1.25

	- name: Install packages
	run: sudo apt-get update && sudo apt-get install --yes build-essential libtool autoconf pkg-config gfortran libopenblas-dev liblapack-dev freeglut3-dev libxi-dev libxmu-dev doxygen patchelf

	- name: Install SWIG
	# if: steps.cache-swig.outputs.cache-hit != 'true'
	run: \|
	mkdir ~/swig-source && cd ~/swig-source
	wget https://github.com/swig/swig/archive/refs/tags/v4.1.1.tar.gz
	tar xzf v4.1.1.tar.gz && cd swig-4.1.1
	sh autogen.sh && ./configure --prefix=$HOME/swig --disable-ccache
	make && make -j4 install

	- name: Cache dependencies
	id: cache-dependencies
	uses: actions/cache@v3
	with:
	path: ~/opensim_dependencies_install
	key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }}

	- name: Build dependencies
	# if: steps.cache-dependencies.outputs.cache-hit != 'true'
	run: \|
	mkdir $GITHUB_WORKSPACE/../build_deps
	cd $GITHUB_WORKSPACE/../build_deps
	DEP_CMAKE_ARGS=($GITHUB_WORKSPACE/dependencies -LAH)
	DEP_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install)
	DEP_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release)
	DEP_CMAKE_ARGS+=(-DSUPERBUILD_ezc3d=ON)
	DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_TROPTER=ON)
	DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=ON)
	printf '%s\n' "${DEP_CMAKE_ARGS[@]}"
	cmake "${DEP_CMAKE_ARGS[@]}"
	make --jobs 4

	- name: Configure opensim-core
	id: configure
	run: \|
	mkdir $GITHUB_WORKSPACE/../build
	cd $GITHUB_WORKSPACE/../build
	OSIM_CMAKE_ARGS=($GITHUB_WORKSPACE -LAH)
	OSIM_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/../opensim-core-install)
	OSIM_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release)
	OSIM_CMAKE_ARGS+=(-DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install)
	OSIM_CMAKE_ARGS+=(-DOPENSIM_C3D_PARSER=ezc3d)
	OSIM_CMAKE_ARGS+=(-DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on)
	OSIM_CMAKE_ARGS+=(-DSWIG_DIR=~/swig/share/swig)
	OSIM_CMAKE_ARGS+=(-DSWIG_EXECUTABLE=~/swig/bin/swig)
	OSIM_CMAKE_ARGS+=(-DOPENSIM_INSTALL_UNIX_FHS=OFF)
	OSIM_CMAKE_ARGS+=(-DOPENSIM_DOXYGEN_USE_MATHJAX=off)
	# TODO: Update to simbody.github.io/latest
	OSIM_CMAKE_ARGS+=(-DOPENSIM_SIMBODY_DOXYGEN_LOCATION="https://simbody.github.io/simtk.org/api_docs/simbody/latest/")
	OSIM_CMAKE_ARGS+=(-DCMAKE_CXX_FLAGS="-Werror")
	printf '%s\n' "${OSIM_CMAKE_ARGS[@]}"
	cmake "${OSIM_CMAKE_ARGS[@]}"
	VERSION=`cmake -L . \| grep OPENSIM_QUALIFIED_VERSION \| cut -d "=" -f2`
	echo $VERSION
	echo "VERSION=$VERSION" >> $GITHUB_ENV
	echo "version=$VERSION" >> $GITHUB_OUTPUT

	- name: Build opensim-core
	run: \|
	cd $GITHUB_WORKSPACE/../build
	make --jobs 4

	- name: Test opensim-core
	run: \|
	cd $GITHUB_WORKSPACE/../build
	# TODO: Temporary for python to find Simbody libraries.
	export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$HOME/opensim_dependencies_install/simbody/lib
	ctest --parallel 4 --output-on-failure

	- name: Install opensim-core
	run: \|
	cd $GITHUB_WORKSPACE/../build
	make doxygen
	make --jobs 4 install
	cd $GITHUB_WORKSPACE
	mv $GITHUB_WORKSPACE/../opensim-core-install opensim-core-${{ steps.configure.outputs.version }}
	zip --symlinks --recurse-paths --quiet opensim-core-${{ steps.configure.outputs.version }}-ub20.zip opensim-core-${{ steps.configure.outputs.version }}
	mv opensim-core-${{ steps.configure.outputs.version }} $GITHUB_WORKSPACE/../opensim-core-install

	# - name: Test Python bindings
	# run: \|
	# echo "TODO: Skipping Python tests."
	# # cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python
	# # Run the python tests, verbosely.
	# # python3 -m unittest discover --start-directory opensim/tests --verbose

	- name: Upload opensim-core
	uses: actions/upload-artifact@v4
	with:
	# The upload-artifact zipping does not preserve symlinks or executable
	# bits. So we zip ourselves, even though this causes a double-zip.
	name: opensim-core-${{ steps.configure.outputs.version }}-ub20-linux
	path: opensim-core-${{ steps.configure.outputs.version }}-ub20.zip

	ubuntu20-nomoco:
	name: Ubuntu2004-nomoco

	runs-on: ubuntu-20.04

	steps:
	- uses: actions/checkout@v3

	- name: Install Python packages
	uses: actions/setup-python@v4
	with:
	python-version: '3.10'

	- name: Install Numpy
	run: \|
	pip install pip --upgrade
	pip install numpy==1.25

	- name: Install packages
	run: sudo apt-get update && sudo apt-get install --yes build-essential libtool autoconf pkg-config gfortran libopenblas-dev liblapack-dev freeglut3-dev libxi-dev libxmu-dev doxygen patchelf

	- name: Install SWIG
	# if: steps.cache-swig.outputs.cache-hit != 'true'
	run: \|
	mkdir ~/swig-source && cd ~/swig-source
	wget https://github.com/swig/swig/archive/refs/tags/v4.1.1.tar.gz
	tar xzf v4.1.1.tar.gz && cd swig-4.1.1
	sh autogen.sh && ./configure --prefix=$HOME/swig --disable-ccache
	make && make -j4 install
	- name: Cache dependencies
	id: cache-dependencies
	uses: actions/cache@v3
	with:
	path: ~/opensim_dependencies_install
	key: ${{ runner.os }}-dependencies-${{ hashFiles('dependencies/*') }}

	- name: Build dependencies
	if: steps.cache-dependencies.outputs.cache-hit != 'true'
	run: \|
	mkdir $GITHUB_WORKSPACE/../build_deps
	cd $GITHUB_WORKSPACE/../build_deps
	DEP_CMAKE_ARGS=($GITHUB_WORKSPACE/dependencies -LAH)
	DEP_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install)
	DEP_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release)
	DEP_CMAKE_ARGS+=(-DSUPERBUILD_ezc3d=ON)
	DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_TROPTER=OFF)
	DEP_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=OFF)
	printf '%s\n' "${DEP_CMAKE_ARGS[@]}"
	cmake "${DEP_CMAKE_ARGS[@]}"
	make --jobs 4

	- name: Configure opensim-core
	id: configure
	run: \|
	mkdir $GITHUB_WORKSPACE/../build
	cd $GITHUB_WORKSPACE/../build
	OSIM_CMAKE_ARGS=($GITHUB_WORKSPACE -LAH)
	OSIM_CMAKE_ARGS+=(-DCMAKE_INSTALL_PREFIX=$GITHUB_WORKSPACE/../opensim-core-install)
	OSIM_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release)
	OSIM_CMAKE_ARGS+=(-DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install)
	OSIM_CMAKE_ARGS+=(-DOPENSIM_C3D_PARSER=ezc3d)
	OSIM_CMAKE_ARGS+=(-DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on)
	OSIM_CMAKE_ARGS+=(-DSWIG_DIR=~/swig/share/swig)
	OSIM_CMAKE_ARGS+=(-DSWIG_EXECUTABLE=~/swig/bin/swig)
	OSIM_CMAKE_ARGS+=(-DOPENSIM_INSTALL_UNIX_FHS=OFF)
	OSIM_CMAKE_ARGS+=(-DOPENSIM_DOXYGEN_USE_MATHJAX=off)
	OSIM_CMAKE_ARGS+=(-DOPENSIM_WITH_TROPTER=off)
	OSIM_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=off)
	# TODO: Update to simbody.github.io/latest
	OSIM_CMAKE_ARGS+=(-DOPENSIM_SIMBODY_DOXYGEN_LOCATION="https://simbody.github.io/simtk.org/api_docs/simbody/latest/")
	OSIM_CMAKE_ARGS+=(-DCMAKE_CXX_FLAGS="-Werror")
	printf '%s\n' "${OSIM_CMAKE_ARGS[@]}"
	cmake "${OSIM_CMAKE_ARGS[@]}"
	VERSION=`cmake -L . \| grep OPENSIM_QUALIFIED_VERSION \| cut -d "=" -f2`
	echo $VERSION
	echo "VERSION=$VERSION" >> $GITHUB_ENV
	echo "version=$VERSION" >> $GITHUB_OUTPUT

	- name: Build opensim-core
	run: \|
	cd $GITHUB_WORKSPACE/../build
	make --jobs 4

	- name: Test opensim-core
	run: \|
	cd $GITHUB_WORKSPACE/../build
	# TODO: Temporary for python to find Simbody libraries.
	export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$HOME/opensim_dependencies_install/simbody/lib
	# ctest --parallel 4 --output-on-failure

	- name: Install opensim-core
	run: \|
	cd $GITHUB_WORKSPACE/../build
	make doxygen
	make --jobs 4 install
	cd $GITHUB_WORKSPACE
	mv $GITHUB_WORKSPACE/../opensim-core-install opensim-core-${{ steps.configure.outputs.version }}
	zip --symlinks --recurse-paths --quiet opensim-core-${{ steps.configure.outputs.version }}-ub20.zip opensim-core-${{ steps.configure.outputs.version }}
	mv opensim-core-${{ steps.configure.outputs.version }} $GITHUB_WORKSPACE/../opensim-core-install

	# - name: Test Python bindings
	# run: \|
	# echo "TODO: Skipping Python tests."
	# # cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python
	# # Run the python tests, verbosely.
	# # python3 -m unittest discover --start-directory opensim/tests --verbose

	- name: Upload opensim-core
	uses: actions/upload-artifact@v4
	with:
	# The upload-artifact zipping does not preserve symlinks or executable
	# bits. So we zip ourselves, even though this causes a double-zip.
	name: opensim-core-${{ steps.configure.outputs.version }}-ub20-nomoco-linux
	path: opensim-core-${{ steps.configure.outputs.version }}-ub20.zip

	windows2022-gui:
	name: Windows2022-gui

	runs-on: windows-2022

	env:
	GH_TOKEN: ${{ github.token }}

	if: ${{ contains(github.event.pull_request.title, '[build-gui]') \|\| contains(github.event.pull_request.body, '[build-gui]') }}

	steps:
	- name: Dispatch opensim-gui workflow and get the run ID
	uses: codex-/return-dispatch@v1
	id: return_dispatch
	with:
	token: ${{ secrets.ACTION_SECRET }}
	ref: refs/heads/main
	repo: opensim-gui
	owner: opensim-org
	workflow: build-on-core-pr.yml

	- name: Use the output run ID
	run: echo ${{steps.return_dispatch.outputs.run_id}}

	- name: Await opensim-gui workflow
	uses: Codex-/await-remote-run@v1.11.0
	with:
	token: ${{ secrets.ACTION_SECRET }}
	repo: opensim-gui
	owner: opensim-org
	run_id: ${{ steps.return_dispatch.outputs.run_id }}
	run_timeout_seconds: 10000

	style:
	name: Style

	runs-on: ubuntu-20.04

	steps:
	- uses: actions/checkout@v3

	- name: Check for tabs
	# Ensure that there are no tabs in source code.
	# GREP returns 0 (true) if there are any matches, and
	# we don't want any matches. If there are matches,
	# print a helpful message, and make the test fail by using "false".
	# The GREP command here checks for any tab characters in the the files
	# that match the specified pattern. GREP does not pick up explicit tabs
	# (e.g., literally a \t in a source file).
	run: if grep --line-num --recursive --exclude-dir="dependencies" --exclude-dir="snopt" --include={CMakeLists.txt,.cpp,.c,*.h} -P "\t" . ; then echo "Tabs found in the lines shown above. See CONTRIBUTING.md about tabs."; false; fi

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[Moco] Add support for the Bordalba et al. (2023) projection method for kinematic constraints #4534

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[Moco] Add support for the Bordalba et al. (2023) projection method for kinematic constraints #4534

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