ci-conda.yml

name: CI - Linux/OSX/Windows - Conda

on:
  workflow_dispatch:
  push:
  pull_request:

jobs:
  build-with-conda-and-test:
    name: "[conda:${{ matrix.os }}:py${{ matrix.python_version }}]"
    runs-on: ${{ matrix.os }}
    strategy:
      fail-fast: false
      matrix:
        os: [ubuntu-22.04, macos-13, macos-14, windows-2022]
        python_version: ["3.13"]
        build_type: ["Release"]

    steps:
    - name: Install miniconda [Linux & macOS & Windows]
      uses: conda-incubator/setup-miniconda@v3
      with:
        activate-environment: sofa
        auto-update-conda: true
        miniforge-version: latest
        python-version: ${{ matrix.python_version }}
        channels: conda-forge
        conda-remove-defaults: "true"

    - name: Checkout source code
      uses: actions/checkout@v4

    - name: Install SOFA from nightly packages [Conda]
      shell: bash -l {0}
      run: |
        conda install sofa-devel sofa-python3 sofa-stlib sofa-softrobots -c sofa-framework-nightly

    - name: Install compilation environment [Conda / Linux]
      if: contains(matrix.os, 'ubuntu')
      shell: bash -l {0}
      run: |
        conda install cmake compilers make ninja      
        conda install mesa-libgl-devel-cos7-x86_64

    - name: Install compilation environment [Conda / macOS]
      if: contains(matrix.os, 'macos')
      shell: bash -l {0}
      run: |
        conda install cmake compilers make ninja

    - name: Install compilation environment [Conda / Windows]
      if: contains(matrix.os, 'windows')
      shell: bash -l {0}
      run: |
        conda install cmake vs2022_win-64

    - name: Install dependencies [Conda]
      shell: bash -l {0}
      run: |
        conda install eigen libboost-headers pybind11 cxxopts  

    - name: Print environment [Conda]
      shell: bash -l {0}
      run: |
        conda info
        conda list
        env

    - name: Configure [Conda / Linux & macOS]
      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
      shell: bash -l {0}
      run: |
        mkdir build
        cd build
        cmake .. -GNinja \
         -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} \
         -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
         -DPython_EXECUTABLE:PATH=${CONDA_PREFIX}/bin/python \
         -DSOFTROBOTSINVERSE_BUILD_TESTS:BOOL=ON

    - name: Configure [Conda / Windows]
      if: contains(matrix.os, 'windows')
      shell: bash -l {0}
      run: |
        mkdir build
        cd build
        cmake .. -G"Visual Studio 17 2022" -T "v143"  \
         -DCMAKE_GENERATOR_PLATFORM=x64 \
         -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} \
         -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
         -DPython_EXECUTABLE:PATH=${CONDA_PREFIX}/python.exe \
         -DSOFTROBOTSINVERSE_BUILD_TESTS:BOOL=ON

    - name: Build [Conda]
      shell: bash -l {0}
      run: |
        cd build
        cmake --build . --config ${{ matrix.build_type }} -v -j 2

    - name: Install [Conda]
      shell: bash -l {0}
      run: |
        cd build
        cmake --install . --config ${{ matrix.build_type }}

    - name: Test [Conda]
      shell: bash -l {0}
      run: |
        cd build
        ctest --output-on-failure -C ${{ matrix.build_type }}