continuous_integration.yml

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:
    runs-on: windows-2025
    name: Windows

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

    steps:
    - uses: actions/checkout@v4

    - name: Install Doxygen
      # choco install doxygen.portable # <-- too unreliable.
      run: |
        (New-Object System.Net.WebClient).DownloadFile("https://github.com/doxygen/doxygen/releases/download/Release_1_12_0/doxygen-1.12.0.windows.x64.bin.zip", "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: '3.11'

    - name: Install numpy
      #Need numpy to use SWIG numpy typemaps.
      run: |
        python3 -m pip install numpy==2.0
        python3 -m pip install wheel
        python3 -m pip install build
        pip install --upgrade pip setuptools wheel
        pip install delvewheel

    - 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 /MD" cmake $env:GITHUB_WORKSPACE/dependencies -LAH -G"Visual Studio 17 2022" -A x64 -DCMAKE_INSTALL_PREFIX=~/opensim_dependencies_install -DSUPERBUILD_ezc3d=ON -DOPENSIM_WITH_CASADI=ON -DOPENSIM_PYTHON_STANDALONE=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 /MD -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_CASADI=on -DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on -DBUILD_PYTHON_WHEELS=on -DPython3_ROOT_DIR=C:\hostedtoolcache\windows\Python\3.11.9\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: still an issue with 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: Build wheel
#      run: |
#        cd ~/opensim-core-install/sdk/python
#        python3 setup.py bdist_wheel
#    - name: Upload windows wheel
#      uses: actions/upload-artifact@v4
#      with:
#        name: opensim-4.5.2-cp311-cp311-win_amd64.whl
#        path: ~/opensim-core-install/sdk/python/dist/opensim-4.5.2-cp311-cp311-win_amd64.whl
#
#    - name: Test Python bindings
#      run: |
#        cd ~/opensim-core-install/sdk/python
#        pip install dist/opensim-4.5.2-cp311-cp311-win_amd64.whl
#        # Run the python tests, verbosely.
#        python3 -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_x86_64:
    runs-on: macos-15-intel
    name: Mac x86_64

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

    steps:
    - uses: actions/checkout@v4

    - name: Install Python packages
      uses: actions/setup-python@v4
      with:
        python-version: '3.11'

    - name: Install Homebrew packages
      # Save the gfortran version to a file so we can use it in the cache key.
      run: |
        brew install pkgconfig autoconf libtool automake wget pcre doxygen llvm
        brew reinstall gcc
        pip3 install numpy==2.0
        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_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-${{ steps.configure.outputs.version }}-mac-x86_64
        path: opensim-core-${{ steps.configure.outputs.version }}.zip

  mac_arm64:
    runs-on: macos-15
    name: Mac Arm64

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

    steps:
    - uses: actions/checkout@v4

    - name: Install Python packages
      uses: actions/setup-python@v4
      with:
        python-version: '3.11'

    - name: Install Homebrew packages
      # Save the gfortran version to a file so we can use it in the cache key.
      run: |
        brew install pkgconfig autoconf libtool automake wget pcre doxygen llvm
        brew reinstall gcc
        pip3 install numpy==2.0
        pip3 install wheel
        pip3 install build
        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_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=$GITHUB_WORKSPACE/../opensim-core-install)
        OSIM_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release)
        OSIM_CMAKE_ARGS+=(-DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install)
        OSIM_CMAKE_ARGS+=(-DCMAKE_OSX_DEPLOYMENT_TARGET=11)
        OSIM_CMAKE_ARGS+=(-DOPENSIM_C3D_PARSER=ezc3d)
        OSIM_CMAKE_ARGS+=(-DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on)
        OSIM_CMAKE_ARGS+=(-DBUILD_PYTHON_WHEELS=on)
        OSIM_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=ON)
        OSIM_CMAKE_ARGS+=(-DSWIG_EXECUTABLE=$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: Build wheel
      run: |
        cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python
        python3 -m build --wheel

    - name: Upload osx wheel
      uses: actions/upload-artifact@v4
      with:
        name: opensim-4.5.2-cp311-cp311-macosx_15_0_universal2.whl
        path: /Users/runner/work/opensim-core/opensim-core-install/sdk/python/dist/opensim-4.5.2-cp311-cp311-macosx_15_0_universal2.whl

    - name: Test Python bindings
      run: |
        cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python
        pip3 install /Users/runner/work/opensim-core/opensim-core-install/sdk/python/dist/opensim-4.5.2-cp311-cp311-macosx_15_0_universal2.whl
        # 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-${{ steps.configure.outputs.version }}-mac-arm64
        path: opensim-core-${{ steps.configure.outputs.version }}.zip

  ubuntu22:
    name: Ubuntu 22.04
    runs-on: ubuntu-22.04

    steps:
    - uses: actions/checkout@v4

    - name: Install Python packages
      uses: actions/setup-python@v4
      with:
        python-version: '3.11'

    - name: Install Numpy
      run: |
        pip install pip --upgrade
        pip install numpy==2.0

    - 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: 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
        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_CASADI=ON)
        DEP_CMAKE_ARGS+=(-DOPENSIM_DISABLE_LOG_FILE=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-${{ steps.configure.outputs.version }}-ubuntu22.zip opensim-core-${{ steps.configure.outputs.version }}
        mv opensim-core-${{ steps.configure.outputs.version }} $GITHUB_WORKSPACE/../opensim-core-install

    - name: Test Python bindings
      run: |
        export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$HOME/opensim_dependencies_install/simbody/lib
        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-${{ steps.configure.outputs.version }}-ubuntu22-linux
        path: opensim-core-${{ steps.configure.outputs.version }}-ubuntu22.zip

  ubuntu24:
    name: Ubuntu 24.04
    runs-on: ubuntu-24.04

    steps:
    - uses: actions/checkout@v4

    - name: Install Python packages
      uses: actions/setup-python@v4
      with:
        python-version: '3.11'

    - name: Install Numpy
      run: |
        pip install pip --upgrade
        pip install numpy==2.0
        pip install build
        pip install wheel

    - 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: 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
        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_CASADI=ON)
        DEP_CMAKE_ARGS+=(-DOPENSIM_DISABLE_LOG_FILE=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=$GITHUB_WORKSPACE/../opensim-core-install)
        OSIM_CMAKE_ARGS+=(-DCMAKE_BUILD_TYPE=Release)
        OSIM_CMAKE_ARGS+=(-DOPENSIM_DEPENDENCIES_DIR=~/opensim_dependencies_install)
        OSIM_CMAKE_ARGS+=(-DOPENSIM_C3D_PARSER=ezc3d)
        OSIM_CMAKE_ARGS+=(-DBUILD_PYTHON_WRAPPING=on -DBUILD_JAVA_WRAPPING=on)
        OSIM_CMAKE_ARGS+=(-DBUILD_PYTHON_WHEELS=on)
        OSIM_CMAKE_ARGS+=(-DOPENSIM_WITH_CASADI=ON)
        OSIM_CMAKE_ARGS+=(-DSWIG_DIR=~/swig/share/swig)
        OSIM_CMAKE_ARGS+=(-DSWIG_EXECUTABLE=~/swig/bin/swig)
        OSIM_CMAKE_ARGS+=(-DOPENSIM_INSTALL_UNIX_FHS=OFF)
        OSIM_CMAKE_ARGS+=(-DOPENSIM_DOXYGEN_USE_MATHJAX=off)
        # TODO: Update to simbody.github.io/latest
        OSIM_CMAKE_ARGS+=(-DOPENSIM_SIMBODY_DOXYGEN_LOCATION="https://simbody.github.io/simtk.org/api_docs/simbody/latest/")
        OSIM_CMAKE_ARGS+=(-DCMAKE_CXX_FLAGS="-Werror")
        printf '%s\n' "${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-${{ steps.configure.outputs.version }}-ubuntu22.zip opensim-core-${{ steps.configure.outputs.version }}
        mv opensim-core-${{ steps.configure.outputs.version }} $GITHUB_WORKSPACE/../opensim-core-install

    - name: Build wheel
      run: |
        cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python
        python3 -m build --wheel

    - name: Upload linux wheel
      uses: actions/upload-artifact@v4
      with:
        name: opensim-4.5.2-cp311-cp311-linux_x86_64.whl
        path: /home/runner/work/opensim-core/opensim-core-install/sdk/Python/dist/opensim-4.5.2-cp311-cp311-linux_x86_64.whl

    - name: Test Python bindings
      run: |
        export LD_LIBRARY_PATH=""
        cd $GITHUB_WORKSPACE/../opensim-core-install/sdk/Python
        pip install /home/runner/work/opensim-core/opensim-core-install/sdk/Python/dist/opensim-4.5.2-cp311-cp311-linux_x86_64.whl
        # 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-${{ steps.configure.outputs.version }}-ubuntu24-linux
        path: opensim-core-${{ steps.configure.outputs.version }}-ubuntu24.zip

  build_gui:
    name: Build GUI
    runs-on: ubuntu-latest

    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-latest

    steps:
    - uses: actions/checkout@v4

    - 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