Adapt to jrl-cmakemodules v2 and nix flake + nanobind bindings

.envrc

@@ -0,0 +1,5 @@
+export NIX_CONFIG="allow-import-from-derivation = true"
+
+if command -v nix >/dev/null; then
+  use flake
+fi

.github/workflows/nix.yaml

@@ -0,0 +1,40 @@
+name: Nix CI
+
+on:
+  push:
+    branches:
+      - '**'
+  pull_request:
+    branches:
+      - '**'
+
+jobs:
+  nix-build:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Install Nix
+        uses: cachix/install-nix-action@v27
+
+      - name: Show Nix environment info
+        run: nix --version
+
+      - name: Build with CMake in Nix shell
+        run: |
+          nix develop --command cmake -S . -B build
+          nix develop --command cmake --build build
+
+      - name: Run tests (pytest)
+        run: |
+          nix develop --command pytest binding/nanobind/tests
+
+      # Optionally, run C++ tests if you have them
+      - name: Run C++ tests (ctest)
+        run: |
+          nix develop --command ctest --test-dir build || true
+
+      # Optionally, build documentation
+      - name: Build documentation
+        run: |
+          nix develop --command make -C binding/nanobind/docs html || true

.gitignore

@@ -8,4 +8,8 @@ binding/python/build
 *.swp
 CMakeLists.txt.user*
 *.autosave
-build/
+build
+.cache/
+compile_commands.json
+result
+.direnv/

.gitmodules

@@ -1,3 +1,3 @@
-[submodule "cmake"]
-	path = cmake
-	url = https://github.com/jrl-umi3218/jrl-cmakemodules
+[submodule "cmake-v2"]
+	path = cmake-v2
+	url = https://github.com/ahoarau/jrl-cmakemodules.git

CMakeLists.txt

@@ -2,36 +2,39 @@
 # Copyright 2012-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 #
 
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.22)
+
+find_package(jrl-cmakemodules 0.2.0 CONFIG QUIET)
+
+include(cmake/get-jrl-cmakemodules.cmake)
+
+project(
+  SpaceVecAlg
+  VERSION 1.2.7
+  DESCRIPTION
+    "Implementation of spatial vector algebra with the Eigen3 linear algebra library."
+  HOMEPAGE_URL "https://github.com/jrl-umi3218/SpaceVecAlg"
+  LANGUAGES CXX)
+
+# Configure default binary and install directories, build type, etc.
+jrl_configure_defaults()
 
 set(CMAKE_CXX_STANDARD 17)
 set_property(GLOBAL PROPERTY USE_FOLDERS ON)
 
-set(PROJECT_NAME SpaceVecAlg)
-set(PROJECT_DESCRIPTION
-    "Implementation of spatial vector algebra with the Eigen3 linear algebra library."
-)
-set(PROJECT_URL "https://github.com/jrl-umi3218/SpaceVecAlg")
-set(PROJECT_VERSION 1.2.8)
-set(PROJECT_USE_CMAKE_EXPORT TRUE)
-set(PYTHON_BINDING_USE_PYTEST ON)
-
-include(cmake/base.cmake)
-include(cmake/cython/cython.cmake)
-include(cmake/msvc-specific.cmake)
-
-# Disable -Werror on Unix for now.
-set(CXX_DISABLE_WERROR True)
-project(${PROJECT_NAME} CXX)
-
-option(BENCHMARKS "Generate benchmark." OFF)
-
-find_package(Eigen3 QUIET NO_CMAKE_PACKAGE_REGISTRY)
-if(Eigen3_FOUND)
-  add_project_dependency(Eigen3 REQUIRED NO_CMAKE_PACKAGE_REGISTRY)
-else()
-  add_project_dependency(Eigen3 MODULE REQUIRED)
-endif()
+# -------
+# OPTIONS
+# -------
+jrl_option(BUILD_TESTING "Build testing." ON)
+jrl_option(BENCHMARKS "Generate benchmark." OFF)
+jrl_option(NANOBIND_BINDINGS "Build nanobind Python bindings" ON)
+# Disable old python bindings jrl_option(PYTHON_BINDING "Build cython Python
+# bindings" OFF)
+
+# ------------
+# DEPENDENCIES
+# ------------
+jrl_find_package(Eigen3 REQUIRED)
 
 # For MSVC, set local environment variable to enable finding the built dll of
 # the main library when launching ctest with RUN_TESTS
@@ -41,10 +44,25 @@ endif(MSVC)
 
 add_subdirectory(src)
 
-if(${BUILD_TESTING} OR ${BENCHMARKS})
+if(BUILD_TESTING OR BENCHMARKS)
+  enable_testing()
   add_subdirectory(tests)
 endif()
 
-if(${PYTHON_BINDING})
-  add_subdirectory(binding/python)
+if(NANOBIND_BINDINGS)
+  message(STATUS "[${PROJECT_NAME}] Building Python bindings")
+  jrl_find_python(3.8 REQUIRED COMPONENTS Interpreter Development.Module)
+  jrl_find_nanobind(2.4.0 CONFIG REQUIRED)
+  jrl_find_package(nanoeigenpy CONFIG REQUIRED)
+  add_subdirectory(binding/nanobind)
 endif()
+
+# Disable cython bindings if(PYTHON_BINDING) add_subdirectory(binding/python)
+# endif()
+
+# Export the package files (headers, targets, config files, etc.)
+jrl_export_package()
+
+# Print summaries
+jrl_print_dependencies_summary()
+jrl_print_options_summary()

binding/nanobind/.gitignore

@@ -0,0 +1,2 @@
+CMakeCache.txt
+CMakeFiles/

binding/nanobind/CMakeLists.txt

@@ -0,0 +1,76 @@
+# We are now ready to compile the actual extension module
+nanobind_add_module(
+  # Name of the extension
+  sva_pywrap
+  # Target the stable ABI for Python 3.12+, which reduces the number of binary
+  # wheels that must be built. This does nothing on older Python versions
+  STABLE_ABI
+  # Build libnanobind statically and merge it into the extension (which itself
+  # remains a shared library)
+  #
+  # If your project builds multiple extensions, you can replace this flag by
+  # NB_SHARED to conserve space by reusing a shared libnanobind across libraries
+  NB_STATIC
+  LTO
+  NB_SUPPRESS_WARNINGS
+  # Source code goes here
+  src/sva/sva_module.cpp
+  src/sva/bind_PTransformd.cpp
+  src/sva/bind_ForceVecd.cpp
+  src/sva/bind_MotionVecd.cpp
+  src/sva/bind_ABInertiad.cpp
+  src/sva/bind_RBInertiad.cpp
+  src/sva/bind_Operators.cpp
+  src/sva/bind_AdmittanceVecd.cpp
+  src/sva/bind_ImpedanceVecd.cpp
+  src/sva/bind_EigenUtility.cpp)
+jrl_check_python_module_name(sva_pywrap)
+target_link_libraries(sva_pywrap PRIVATE SpaceVecAlg)
+target_link_libraries(sva_pywrap PRIVATE nanoeigenpy::nanoeigenpy_headers)
+jrl_target_set_default_compile_options(sva_pywrap PRIVATE)
+jrl_target_set_output_directory(sva_pywrap OUTPUT_DIRECTORY
+                                ${CMAKE_BINARY_DIR}/lib/site-packages/sva)
+
+# XXX: as-is the default generated __init__.py includes the package as
+# sva.sva_pywrap.<classname>. I prefer all symbols to be in the public namespace
+# sva.<classname> thus we install our own jrl_python_generate_init_py(
+# sva_pywrap OUTPUT_PATH ${CMAKE_BINARY_DIR}/lib/site-packages/sva/__init__.py)
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/__init__.conf.py
+               ${CMAKE_BINARY_DIR}/lib/site-packages/sva/__init__.py COPYONLY)
+
+# This is needed for LSP to recognise sva.<symbol> instead of
+# sva.sva_pywrap.<symbol>
+file(WRITE ${CMAKE_BINARY_DIR}/lib/site-packages/sva/__init__.pyi
+     "from .sva_pywrap import *\n")
+
+# Display output of stub generation
+set(CMAKE_EXECUTE_PROCESS_COMMAND_ECHO STDOUT)
+
+nanobind_add_stub(
+  sva_pywrap_stub
+  MODULE
+  sva.sva_pywrap
+  OUTPUT
+  ${CMAKE_BINARY_DIR}/lib/site-packages/sva/sva_pywrap.pyi
+  PYTHON_PATH
+  ${CMAKE_BINARY_DIR}/lib/site-packages
+  MARKER_FILE
+  ${CMAKE_BINARY_DIR}/lib/site-packages/sva/py.typed
+  DEPENDS
+  sva_pywrap
+  VERBOSE)
+
+jrl_python_compile_all(DIRECTORY ${CMAKE_BINARY_DIR}/lib/site-packages/sva
+                       VERBOSE)
+
+jrl_python_compute_install_dir(python_install_dir)
+install(
+  DIRECTORY ${CMAKE_BINARY_DIR}/lib/site-packages/sva
+  DESTINATION ${python_install_dir}
+  FILES_MATCHING
+  PATTERN "*.py"
+  PATTERN "*.pyc"
+  PATTERN "*.pyi"
+  PATTERN "*.typed"
+  PATTERN "*.so"
+  PATTERN "*.pyd")

binding/nanobind/README.md

@@ -0,0 +1,5 @@
+# nanobind python bindings for mc_rtc
+
+## Build
+
+See https://nanobind.readthedocs.io/en/latest/packaging.html for details

binding/nanobind/__init__.conf.py

@@ -0,0 +1,53 @@
+# Copyright 2025-2026 Inria
+
+import os
+import platform
+import contextlib
+
+class DllDirectoryManager(contextlib.AbstractContextManager):
+    """Context manager for managing DLL directories on Windows.
+    On Windows with Python 3.8+, Python doesn't search DLL in PATH anymore
+    We must specify DLL search path manually with `os.add_dll_directory`
+    On Linux and MacOS, we can use DYLD_LIBRARY_PATH and LD_LIBRARY_PATH
+    environment variables, or simply the rpath search for shared libraries.
+    ref: https://github.com/python/cpython/issues/87339#issuecomment-1093902060
+         https://docs.python.org/3/library/os.html#os.add_dll_directory
+    """
+
+    def safe_add_dll_directory(self, dll_dir: str):
+        """Add a DLL directory to the search path, if path exists."""
+        if os.path.isdir(dll_dir):
+            self.dll_dirs.append(os.add_dll_directory(dll_dir))
+
+    def __enter__(self):
+        self.dll_dirs = []
+        return self
+
+    def __exit__(self, *exc_details):
+        for d in self.dll_dirs:
+            d.close()
+
+if platform.system() == 'Windows':
+    with DllDirectoryManager() as mgr:
+        module_path = os.path.dirname(__file__)
+        mgr.safe_add_dll_directory(os.path.join(module_path, '..', '..', '..', 'bin'))
+        dll_dirs = []
+        for dll_dir in dll_dirs:
+            mgr.safe_add_dll_directory(os.path.join(module_path, dll_dir))
+
+# from .sva_pywrap import *  # noqa
+# if hasattr(sva_pywrap, "__version__"):
+#     __version__ = sva_pywrap.__version__ # noqa
+
+# Re-export all public names from sva_pywrap
+# This is done to get a flat package structure where types appear as
+# sva.<classname> instead of sva.sva_pywrap.<symbol>
+#
+# Consider symbols prefixed with an underscore _<symbol> as private.
+# They remain accessible as sva.sva_pywrap._<symbol>
+from . import sva_pywrap
+for name in dir(sva_pywrap):
+    if not name.startswith("_"):
+        globals()[name] = getattr(sva_pywrap, name)
+
+__all__ = [name for name in dir(sva_pywrap) if not name.startswith("_")]

binding/nanobind/docs/Makefile

@@ -0,0 +1,20 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+SOURCEDIR     = source
+BUILDDIR      = build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

binding/nanobind/docs/make.bat

@@ -0,0 +1,35 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+	set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=source
+set BUILDDIR=build
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+	echo.
+	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+	echo.installed, then set the SPHINXBUILD environment variable to point
+	echo.to the full path of the 'sphinx-build' executable. Alternatively you
+	echo.may add the Sphinx directory to PATH.
+	echo.
+	echo.If you don't have Sphinx installed, grab it from
+	echo.https://www.sphinx-doc.org/
+	exit /b 1
+)
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+
+:end
+popd

binding/nanobind/docs/source/api.rst

@@ -0,0 +1,12 @@
+API Reference
+=============
+
+.. automodule:: sva
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
+.. automodule:: sva.sva_pywrap
+   :members:
+   :undoc-members:
+   :show-inheritance: