fix memory leak when rl::sg::ode::Shape is destroyed (#92) #87
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| name: CI | |
| on: | |
| push: | |
| branches: | |
| - master | |
| pull_request: | |
| branches: | |
| - master | |
| workflow_dispatch: | |
| jobs: | |
| build-macos: | |
| name: Build | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: | |
| - macos-14 | |
| env: | |
| CCACHE_COMPRESS: true | |
| CCACHE_MAXSIZE: 500M | |
| CMAKE_C_COMPILER_LAUNCHER: ccache | |
| CMAKE_CXX_COMPILER_LAUNCHER: ccache | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| - name: Set up tap | |
| run: brew tap roboticslibrary/rl | |
| - name: Update index | |
| run: brew update | |
| - name: Install dependencies | |
| run: > | |
| brew install | |
| boost | |
| bullet | |
| ccache | |
| cmake | |
| coin3d | |
| eigen | |
| fcl | |
| ninja | |
| nlopt | |
| ode | |
| pqp | |
| solid | |
| - name: Update environment variables | |
| run: | | |
| echo "CCACHE_BASEDIR=${{ runner.workspace }}" >> $GITHUB_ENV | |
| echo "CCACHE_DIR=${{ runner.workspace }}/.ccache" >> $GITHUB_ENV | |
| - name: Cache compiler | |
| uses: actions/cache@v4 | |
| with: | |
| path: ${{ runner.workspace }}/.ccache | |
| key: ${{ matrix.os }}-ccache-${{ github.sha }} | |
| restore-keys: ${{ matrix.os }}-ccache- | |
| - name: Configure CMake | |
| run: cmake -GNinja -DCMAKE_BUILD_TYPE=Release -S"${{ github.workspace }}" -B"${{ runner.workspace }}/rl-build" | |
| - name: Build | |
| working-directory: ${{ runner.workspace }}/rl-build | |
| run: cmake --build . | |
| - name: Test | |
| working-directory: ${{ runner.workspace }}/rl-build | |
| run: ctest --output-on-failure | |
| - name: Create archive | |
| working-directory: ${{ runner.workspace }}/rl-build | |
| run: cpack -G TXZ | |
| - name: Upload archive | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: ${{ matrix.os }} | |
| path: ${{ runner.workspace }}/rl-build/rl-*.tar.xz | |
| build-msvc: | |
| name: Build | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: | |
| - windows-2019 | |
| - windows-2022 | |
| qt: | |
| - qt5 | |
| - qt6 | |
| include: | |
| - os: windows-2019 | |
| toolset: 14.2 | |
| - os: windows-2022 | |
| toolset: 14.4 | |
| env: | |
| CCACHE_COMPRESS: true | |
| CCACHE_MAXSIZE: 500M | |
| CMAKE_C_COMPILER_LAUNCHER: ccache | |
| CMAKE_CXX_COMPILER_LAUNCHER: ccache | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| - name: Enable Developer Command Prompt | |
| uses: ilammy/msvc-dev-cmd@v1 | |
| - name: Install dependencies | |
| working-directory: ${{ runner.workspace }} | |
| run: | | |
| curl -L https://github.com/roboticslibrary/rl-3rdparty/releases/download/latest/rl-3rdparty-msvc-${{ matrix.toolset }}-x64-${{ matrix.qt }}.7z -o rl-3rdparty.7z | |
| 7z x rl-3rdparty.7z -orl-3rdparty-install | |
| Write-Output "CMAKE_PREFIX_PATH=${{ runner.workspace }}\rl-3rdparty-install" | Out-File -FilePath $Env:GITHUB_ENV -Encoding utf8 -Append | |
| Write-Output "${{ runner.workspace }}\rl-3rdparty-install\bin" | Out-File -FilePath $Env:GITHUB_PATH -Encoding utf8 -Append | |
| - name: Install ccache | |
| working-directory: ${{ runner.workspace }} | |
| run: | | |
| curl -L https://github.com/ccache/ccache/releases/download/v4.10.2/ccache-4.10.2-windows-x86_64.zip -o ccache-4.10.2-windows-x86_64.zip | |
| 7z x ccache-4.10.2-windows-x86_64.zip | |
| Write-Output "${{ runner.workspace }}\ccache-4.10.2-windows-x86_64" | Out-File -FilePath $Env:GITHUB_PATH -Encoding utf8 -Append | |
| - name: Update environment variables | |
| run: | | |
| Write-Output "CCACHE_BASEDIR=${{ runner.workspace }}" | Out-File -FilePath $Env:GITHUB_ENV -Encoding utf8 -Append | |
| Write-Output "CCACHE_DIR=${{ runner.workspace }}\.ccache" | Out-File -FilePath $Env:GITHUB_ENV -Encoding utf8 -Append | |
| - name: Cache compiler | |
| uses: actions/cache@v4 | |
| with: | |
| path: ${{ runner.workspace }}/.ccache | |
| key: ${{ matrix.os }}-msvc-${{ matrix.toolset }}-${{ matrix.qt }}-ccache-${{ github.sha }} | |
| restore-keys: ${{ matrix.os }}-msvc-${{ matrix.toolset }}-${{ matrix.qt }}-ccache- | |
| - name: Configure CMake | |
| run: cmake -GNinja -DCMAKE_BUILD_TYPE=Release -S"${{ github.workspace }}" -B"${{ runner.workspace }}/rl-build" | |
| - name: Build | |
| working-directory: ${{ runner.workspace }}/rl-build | |
| run: cmake --build . | |
| - name: Test | |
| working-directory: ${{ runner.workspace }}/rl-build | |
| run: ctest --output-on-failure | |
| - name: Create archive | |
| working-directory: ${{ runner.workspace }}/rl-build | |
| run: cpack -G 7Z | |
| - name: Upload archive | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: ${{ matrix.os }}-msvc-${{ matrix.toolset }}-${{ matrix.qt }} | |
| path: ${{ runner.workspace }}/rl-build/rl-*.7z | |
| build-msys2: | |
| name: Build | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: | |
| - windows-2022 | |
| sys: | |
| - ucrt64 | |
| env: | |
| CCACHE_COMPRESS: true | |
| CCACHE_MAXSIZE: 500M | |
| CMAKE_C_COMPILER_LAUNCHER: ccache | |
| CMAKE_CXX_COMPILER_LAUNCHER: ccache | |
| defaults: | |
| run: | |
| shell: msys2 {0} | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| - name: Set up MSYS2 | |
| uses: msys2/setup-msys2@v2 | |
| with: | |
| msystem: ${{matrix.sys}} | |
| pacboy: >- | |
| boost:p | |
| bullet:p | |
| ccache:p | |
| cmake:p | |
| coin:p | |
| eigen3:p | |
| libxml2:p | |
| libxslt:p | |
| ninja:p | |
| nlopt:p | |
| ode:p | |
| pqp:p | |
| solid3:p | |
| soqt:p | |
| toolchain:p | |
| update: true | |
| - name: Update environment variables | |
| run: | | |
| echo "CCACHE_BASEDIR=${{ runner.workspace }}" >> $GITHUB_ENV | |
| echo "CCACHE_DIR=${{ runner.workspace }}/.ccache" >> $GITHUB_ENV | |
| - name: Cache compiler | |
| uses: actions/cache@v4 | |
| with: | |
| path: ${{ runner.workspace }}/.ccache | |
| key: ${{ matrix.os }}-msys2-${{ matrix.sys }}-ccache-${{ github.sha }} | |
| restore-keys: ${{ matrix.os }}-msys2-${{ matrix.sys }}-ccache- | |
| - name: Configure CMake | |
| run: cmake -GNinja -DCMAKE_BUILD_TYPE=Release -S"${{ github.workspace }}" -B"${{ runner.workspace }}/rl-build" | |
| - name: Build | |
| working-directory: ${{ runner.workspace }}/rl-build | |
| run: cmake --build . | |
| - name: Test | |
| working-directory: ${{ runner.workspace }}/rl-build | |
| run: ctest --output-on-failure | |
| - name: Create archive | |
| working-directory: ${{ runner.workspace }}/rl-build | |
| run: cpack -G TXZ | |
| - name: Upload archive | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: ${{ matrix.os }}-msys2-${{ matrix.sys }} | |
| path: ${{ runner.workspace }}/rl-build/rl-*.tar.xz | |
| build-ubuntu: | |
| name: Build | |
| runs-on: ${{ matrix.os }} | |
| strategy: | |
| fail-fast: false | |
| matrix: | |
| os: | |
| - ubuntu-22.04 | |
| compiler: | |
| - cc: clang | |
| cxx: clang++ | |
| - cc: gcc | |
| cxx: g++ | |
| env: | |
| CC: ${{ matrix.compiler.cc }} | |
| CCACHE_COMPRESS: true | |
| CCACHE_MAXSIZE: 500M | |
| CMAKE_C_COMPILER_LAUNCHER: ccache | |
| CMAKE_CXX_COMPILER_LAUNCHER: ccache | |
| CXX: ${{ matrix.compiler.cxx }} | |
| steps: | |
| - name: Checkout repository | |
| uses: actions/checkout@v4 | |
| - name: Set up PPA | |
| run: | | |
| sudo apt-get install -y software-properties-common | |
| sudo apt-add-repository -y -u ppa:roblib/ppa | |
| - name: Update index | |
| run: sudo apt-get update | |
| - name: Install dependencies | |
| run: > | |
| sudo apt-get install -y | |
| build-essential | |
| ccache | |
| clang | |
| cmake | |
| libboost-dev | |
| libbullet-dev | |
| libcomedi-dev | |
| libdc1394-dev | |
| libeigen3-dev | |
| libfcl-dev | |
| libnlopt-dev | |
| libode-dev | |
| libpqp-dev | |
| libsimage-dev | |
| libsolid3d-dev | |
| libsoqt-dev | |
| libxml2-dev | |
| libxslt1-dev | |
| ninja-build | |
| - name: Update environment variables | |
| run: | | |
| echo "CCACHE_BASEDIR=${{ runner.workspace }}" >> $GITHUB_ENV | |
| echo "CCACHE_DIR=${{ runner.workspace }}/.ccache" >> $GITHUB_ENV | |
| - name: Cache compiler | |
| uses: actions/cache@v4 | |
| with: | |
| path: ${{ runner.workspace }}/.ccache | |
| key: ${{ matrix.os }}-${{ matrix.compiler.cc }}-ccache-${{ github.sha }} | |
| restore-keys: ${{ matrix.os }}-${{ matrix.compiler.cc }}-ccache- | |
| - name: Configure CMake | |
| run: cmake -GNinja -DCMAKE_BUILD_TYPE=Release -S"${{ github.workspace }}" -B"${{ runner.workspace }}/rl-build" | |
| - name: Build | |
| working-directory: ${{ runner.workspace }}/rl-build | |
| run: cmake --build . | |
| - name: Test | |
| working-directory: ${{ runner.workspace }}/rl-build | |
| run: ctest --output-on-failure | |
| - name: Create archive | |
| working-directory: ${{ runner.workspace }}/rl-build | |
| run: cpack -G TXZ | |
| - name: Upload archive | |
| uses: actions/upload-artifact@v4 | |
| with: | |
| name: ${{ matrix.os }}-${{ matrix.compiler.cc }} | |
| path: ${{ runner.workspace }}/rl-build/rl-*.tar.xz |