fixes for windows compatibility

haosulab · Nov 4, 2023 · 651a6a4 · 651a6a4
1 parent e4c1bc3
commit 651a6a4
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Showing 9 changed files with 33 additions and 12 deletions.
diff --git a/3rd_party/sapien-vulkan-2 b/3rd_party/sapien-vulkan-2
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,6 +1,11 @@
 cmake_minimum_required(VERSION 3.18 FATAL_ERROR)
 project(sapien LANGUAGES C CXX)
 
+if(MSVC)
+    set(CMAKE_MSVC_RUNTIME_LIBRARY MultiThreaded)
+endif()
+
+
 set(CMAKE_CXX_STANDARD 20)
 
 if(MSVC)
@@ -49,7 +54,10 @@ list(PREPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
 include(physx5)
 include(zlib)
-include(grpc)
+
+# TODO: re-enable render server
+# include(grpc)
+
 include(eigen)
 include(vulkan)
 include(cereal)
@@ -84,7 +92,8 @@ file(GLOB_RECURSE SAPIEN_SRC "src/*.h" "src/*.cpp" "src/*.cc")
 add_library(sapien SHARED ${SAPIEN_SRC})
 
 target_link_libraries(sapien PUBLIC eigen svulkan2 cereal)
-target_link_libraries(sapien PRIVATE physx5 spdlog::spdlog easy_profiler grpc++ ${CMAKE_DL_LIBS} assimp::assimp)
+target_link_libraries(sapien PRIVATE physx5 spdlog::spdlog easy_profiler # grpc++
+    ${CMAKE_DL_LIBS} assimp::assimp)
 
 if (UNIX)
     target_link_libraries(sapien PRIVATE stdc++fs)

diff --git a/cmake/physx5.cmake b/cmake/physx5.cmake
@@ -36,7 +36,7 @@ endif()
 
 if (WIN32)
   target_include_directories(physx5 SYSTEM INTERFACE $<BUILD_INTERFACE:${physx5_SOURCE_DIR}/physx/include>)
-  target_link_directories(physx5 INTERFACE $<BUILD_INTERFACE:${physx5_SOURCE_DIR}/physx/bin/win.x86_64.vc143.md/release>)
+  target_link_directories(physx5 INTERFACE $<BUILD_INTERFACE:${physx5_SOURCE_DIR}/physx/bin/win.x86_64.vc143.mt/release>)
   target_link_libraries(physx5 INTERFACE
     PhysXVehicle2_static_64.lib PhysXExtensions_static_64.lib
     PhysXVehicle_static_64.lib PhysX_static_64.lib PhysXPvdSDK_static_64.lib

diff --git a/include/sapien/component/sapien_renderer/deformable_mesh_component.h b/include/sapien/component/sapien_renderer/deformable_mesh_component.h
@@ -7,7 +7,9 @@
 #include "sapien/serialize.h"
 #include <svulkan2/resource/model.h>
 
+#ifdef SAPIEN_CUDA
 #include <cuda_runtime.h>
+#endif
 
 namespace sapien {
 namespace component {
@@ -49,9 +51,11 @@ class CudaDeformableMeshComponent : public Component {
 
   svulkan2::scene::Object *mObject{};
 
+#ifdef SAPIEN_CUDA
   vk::UniqueSemaphore mSem{};
   cudaExternalSemaphore_t mCudaSem{};
   uint64_t mSemValue{0};
+#endif
 };
 
 } // namespace component

diff --git a/include/sapien/component/system.h b/include/sapien/component/system.h
@@ -1,6 +1,8 @@
 #pragma once
 #include <memory>
 #include <vector>
+#include <string>
+#include <stdexcept>
 
 namespace sapien {
 namespace component {

diff --git a/python/py_package/__init__.pyi b/python/py_package/__init__.pyi
@@ -61,5 +61,5 @@ __all__ = [
 
 def set_log_level(level: str) -> None:
     pass
-__version__ = '3.0.0.dev20231103'
+__version__ = '3.0.0.dev20231104'
 SceneConfig = sapien.pysapien.physx.PhysxSceneConfig
diff --git a/setup.py b/setup.py
@@ -101,8 +101,11 @@ def build_sapien(sapien_source_dir, sapien_build_dir):
     else:
         cmake_args += ["-DSAPIEN_CUDA=OFF"]
 
-    cmake_args += ["-DCMAKE_BUILD_TYPE=" + cfg]
-    cmake_args += ["-DCMAKE_INSTALL_PREFIX=" + install_dir]
+    cmake_args += [
+        f"-DCMAKE_BUILD_TYPE={cfg}",
+        f"-DCMAKE_INSTALL_PREFIX={install_dir}",
+        "-DCMAKE_MSVC_RUNTIME_LIBRARY=MultiThreaded",
+    ]
 
     env = os.environ.copy()
     subprocess.check_call(
@@ -162,6 +165,7 @@ def build_pinocchio(self, ext):
         cmake_args = [
             f"-DCMAKE_LIBRARY_OUTPUT_DIRECTORY=$<1:{extdir}>",
             f"-DPYTHON_EXECUTABLE={sys.executable}",
+            f"-DCMAKE_MSVC_RUNTIME_LIBRARY=MultiThreaded",
         ]
         if args.debug:
             cfg = "Debug"
@@ -193,6 +197,7 @@ def build_pybind(self, ext):
         cmake_args = [
             f"-DCMAKE_LIBRARY_OUTPUT_DIRECTORY=$<1:{extdir}>",
             f"-DPYTHON_EXECUTABLE={sys.executable}",
+            f"-DCMAKE_MSVC_RUNTIME_LIBRARY=MultiThreaded",
         ]
         if args.debug:
             cfg = "Debug"

diff --git a/src/component/sapien_renderer/deformable_mesh_component.cpp b/src/component/sapien_renderer/deformable_mesh_component.cpp
@@ -4,8 +4,6 @@
 #include "sapien/entity.h"
 #include "sapien/scene.h"
 
-#include <cuda_runtime.h>
-
 namespace sapien {
 namespace component {
 
@@ -14,6 +12,7 @@ CudaDeformableMeshComponent::CudaDeformableMeshComponent(uint32_t maxVertexCount
   mEngine = SapienRenderEngine::Get();
   mMesh = std::make_shared<svulkan2::resource::SVMeshDeformable>(maxVertexCount, maxTriangleCount);
 
+#ifdef SAPIEN_CUDA
   vk::SemaphoreTypeCreateInfo timelineCreateInfo(vk::SemaphoreType::eTimeline, 0);
   vk::SemaphoreCreateInfo createInfo{};
   vk::ExportSemaphoreCreateInfo exportCreateInfo(
@@ -34,8 +33,8 @@ CudaDeformableMeshComponent::CudaDeformableMeshComponent(uint32_t maxVertexCount
     throw std::runtime_error("Failed to export semaphore to CUDA: " +
                              std::string(cudaGetErrorName(err)));
   }
+#endif
 
-  // TODO: set material
   mMaterial = std::make_shared<SapienRenderMaterial>();
 }
 

diff --git a/src/component/sapien_renderer/sapien_renderer_default.cpp b/src/component/sapien_renderer/sapien_renderer_default.cpp
@@ -79,11 +79,13 @@ void SapienRendererDefault::internalSetShaderSearchPath(std::string const &dir)
 }
 
 void SapienRendererDefault::setImguiIniFilename(std::string const &filename) {
-  svulkan2::renderer::GuiWindow::gImguiIniFileLocation = filename;
+  svulkan2::renderer::GuiWindow::setImguiIniFileLocation(filename);
+  // svulkan2::renderer::GuiWindow::gImguiIniFileLocation = filename;
 }
 
 std::string SapienRendererDefault::getImguiIniFilename() {
-  return svulkan2::renderer::GuiWindow::gImguiIniFileLocation;
+  return svulkan2::renderer::GuiWindow::getImguiIniFileLocation();
+  // return svulkan2::renderer::GuiWindow::gImguiIniFileLocation;
 }
 
 } // namespace component
+2 −1		include/svulkan2/renderer/gui.h
+4 −2		src/renderer/gui.cpp