From 7263386dfae14359fa56ff0cd59071d9c6fdb335 Mon Sep 17 00:00:00 2001 From: Ludovic Henry Date: Mon, 21 Sep 2026 12:39:49 +0000 Subject: [PATCH] pybullet: Add version 3.2.7 Build the Bullet Physics Python bindings for riscv64. setup.py compiles the Bullet3 C++ sources directly into the pybullet and eglRenderer extension modules; every SSE and x86 asm path is already gated on __i386__/__x86_64__, so no patch is needed. 3.2.7 was released without a git tag, so the workflow pins the release commit; its tree is byte-identical to the PyPI sdist. pybullet.c hands PyObject* to numpy's PyArrayObject* accessors. GCC 13, which upstream's manylinux2014 image ships, only warns; the GCC 14.3.1 in manylinux_2_39_riscv64 makes -Wincompatible-pointer-types a hard error, so the build passes -Wno-error for it. --- .github/workflows/build-pybullet.yml | 134 +++++++++++++++++++++++++++ docs/packages/pybullet.yaml | 5 + 2 files changed, 139 insertions(+) create mode 100644 .github/workflows/build-pybullet.yml create mode 100644 docs/packages/pybullet.yaml diff --git a/.github/workflows/build-pybullet.yml b/.github/workflows/build-pybullet.yml new file mode 100644 index 00000000000..962368924a7 --- /dev/null +++ b/.github/workflows/build-pybullet.yml @@ -0,0 +1,134 @@ +# SPDX-FileCopyrightText: 2026 The RISE Project +# SPDX-License-Identifier: MIT +--- +# This workflow is based on upstream's own wheel recipe, +# https://github.com/bulletphysics/bullet3/blob/6c888f4abd7b46f572587360cc214985f02e5c6b/wheel.sh +name: Build pybullet wheels (riscv64) + +on: + workflow_dispatch: + inputs: + version: + description: 'Version glob to (re)build; empty builds every version of docs/packages/pybullet.yaml not released yet' + required: false + default: '' + pull_request: + branches: [main] + paths: + - '.github/workflows/build-pybullet.yml' + - 'docs/packages/pybullet.yaml' + push: + branches: [main] + paths: + - '.github/workflows/build-pybullet.yml' + - 'docs/packages/pybullet.yaml' + +concurrency: + group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }} + cancel-in-progress: true + +permissions: + contents: read # to fetch code (actions/checkout) + +env: + MANYLINUX_RISCV64_IMAGE: quay.io/pypa/manylinux_2_39_riscv64 + # 3.2.7 was released to PyPI without a git tag; pin the commit that bumped + # setup.py's version to 3.2.7, byte-identical to the PyPI sdist (gotcha 103). + # Update alongside PYBULLET_VERSION. + PYBULLET_REF: 6c888f4abd7b46f572587360cc214985f02e5c6b + +jobs: + setup: + uses: $/.github/workflows/_setup.yml + with: + package: pybullet + version: ${{ inputs.version }} + + build_wheels: + needs: [setup] + if: needs.setup.outputs.versions != '[]' + name: Build pybullet ${{ matrix.version }} ${{ matrix.python }}-manylinux_riscv64 + runs-on: ubuntu-24.04-riscv + timeout-minutes: 1440 + strategy: + fail-fast: false + matrix: + version: ${{ fromJSON(needs.setup.outputs.versions) }} + python: + - "cp312" + - "cp313" + - "cp314" + - "cp314t" + + env: + PYBULLET_VERSION: ${{ matrix.version }} + + steps: + - name: Checkout bullet3 for pybullet ${{ env.PYBULLET_VERSION }} + uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1 + with: + repository: bulletphysics/bullet3 + ref: ${{ env.PYBULLET_REF }} + persist-credentials: false + + - name: Build wheels + uses: pypa/cibuildwheel@1828c10ab37f080699c7b81cea34097c684a7074 # v4.2.0 + with: + output-dir: wheelhouse/ + only: ${{ matrix.python }}-manylinux_riscv64 + env: + CIBW_MANYLINUX_RISCV64_IMAGE: ${{ env.MANYLINUX_RISCV64_IMAGE }} + # setup.py enables the numpy code paths from a plain `import numpy`, + # which a PEP 517 build-isolation overlay is invisible to, so numpy is + # preinstalled with isolation disabled (upstream's wheel.sh installs + # requirements.txt into the interpreter it then builds with). + # pybullet.c hands PyObject* to numpy's PyArrayObject* accessors, which + # GCC 14 rejects outright where upstream's older image only warned. + CIBW_ENVIRONMENT: >- + PIP_EXTRA_INDEX_URL=https://pypi.riseproject.dev/simple/ + PIP_ONLY_BINARY=numpy + CFLAGS=-Wno-error=incompatible-pointer-types + CIBW_BEFORE_BUILD: pip install setuptools wheel -r {package}/requirements.txt + CIBW_BUILD_FRONTEND: "pip; args: --no-build-isolation" + CIBW_TEST_REQUIRES: numpy + # The unittests resolve `r2d2.urdf` & co through bullet's own relative + # `../../../data/` search path, so `data/` is staged beside them. + CIBW_TEST_SOURCES: data examples/pybullet/unittests + CIBW_TEST_COMMAND: >- + cd examples/pybullet/unittests && + python unittests.py && + python userDataTest.py && + python saveRestoreStateTest.py + + - name: Check wheel contents + run: | + python3 - wheelhouse/*.whl <<'EOF' + import sys, zipfile + names = zipfile.ZipFile(sys.argv[1]).namelist() + exts = {n.split("/")[-1].split(".")[0] for n in names if n.endswith(".so")} + assert exts == {"pybullet", "eglRenderer"}, exts + EOF + + - name: Store wheels + uses: actions/upload-artifact@043fb46d1a93c77aae656e7c1c64a875d1fc6a0a # v7.0.1 + with: + name: pybullet-${{ env.PYBULLET_VERSION }}-${{ matrix.python }}-manylinux_riscv64 + path: ./wheelhouse/*.whl + if-no-files-found: error + + publish: + name: Publish pybullet ${{ matrix.version }} + needs: [setup, build_wheels] + if: needs.setup.outputs.versions != '[]' + strategy: + fail-fast: false + matrix: + version: ${{ fromJSON(needs.setup.outputs.versions) }} + permissions: + contents: write + pull-requests: write + uses: $/.github/workflows/_publish-wheel.yml + secrets: + app-private-key: ${{ secrets.RISEPROJECT_APP_PRIVATE_KEY }} + with: + artifact-pattern: pybullet-${{ matrix.version }}-*-manylinux_riscv64 diff --git a/docs/packages/pybullet.yaml b/docs/packages/pybullet.yaml new file mode 100644 index 00000000000..22023a2d270 --- /dev/null +++ b/docs/packages/pybullet.yaml @@ -0,0 +1,5 @@ +package-name: pybullet +source-code: https://github.com/bulletphysics/bullet3 +license: Zlib +versions: +- version: 3.2.7