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erwincoumans / tiny-differentiable-simulator

Tiny Differentiable Simulator is a header-only C++ and CUDA physics library for reinforcement learning and robotics with zero dependencies.
Apache License 2.0
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Can't seem to compile tds #162

Closed garymcintire closed 3 years ago

garymcintire commented 3 years ago

I've looked at this for a couple days and cannot seem to compile tds. The cmake looks good but it does say pthreads failed. The web seems to indicate this is not fatal. I've attached the results of the make command... sorry, github won't allow me to attach so here it is

[ 0%] Building CXX object rbdl/CMakeFiles/rbdl-static.dir/src/rbdl_version.cc.o [ 0%] Building CXX object rbdl/CMakeFiles/rbdl-static.dir/src/rbdl_mathutils.cc.o [ 1%] Building CXX object rbdl/CMakeFiles/rbdl-static.dir/src/rbdl_utils.cc.o [ 1%] Building CXX object rbdl/CMakeFiles/rbdl-static.dir/src/Constraints.cc.o [ 2%] Building CXX object rbdl/CMakeFiles/rbdl-static.dir/src/Dynamics.cc.o [ 2%] Building CXX object rbdl/CMakeFiles/rbdl-static.dir/src/Logging.cc.o [ 3%] Building CXX object rbdl/CMakeFiles/rbdl-static.dir/src/Joint.cc.o [ 3%] Building CXX object rbdl/CMakeFiles/rbdl-static.dir/src/Model.cc.o [ 3%] Building CXX object rbdl/CMakeFiles/rbdl-static.dir/src/Kinematics.cc.o [ 4%] Linking CXX static library librbdl-static.a [ 4%] Built target rbdl-static [ 5%] Building CXX object dear_imgui/CMakeFiles/dear_imgui.dir/imgui.cpp.o [ 5%] Building CXX object dear_imgui/CMakeFiles/dear_imgui.dir/imgui_demo.cpp.o [ 5%] Building CXX object dear_imgui/CMakeFiles/dear_imgui.dir/imgui_draw.cpp.o [ 6%] Building CXX object dear_imgui/CMakeFiles/dear_imgui.dir/imgui_widgets.cpp.o [ 6%] Building CXX object dear_imgui/CMakeFiles/dear_imgui.dir/imnodes.cpp.o [ 7%] Linking CXX shared library libdear_imgui.so [ 7%] Built target dear_imgui [ 7%] Building CXX object rbdl/CMakeFiles/rbdl-urdfreader.dir/addons/urdfreader/urdfreader.cc.o [ 8%] Building CXX object rbdl/CMakeFiles/rbdl-urdfreader.dir/addons/urdfreader/urdf/urdfdom/urdf_parser/src/check_urdf.cpp.o [ 8%] Building CXX object rbdl/CMakeFiles/rbdl-urdfreader.dir/addons/urdfreader/urdf/urdfdom/urdf_parser/src/pose.cpp.o [ 8%] Building CXX object rbdl/CMakeFiles/rbdl-urdfreader.dir/addons/urdfreader/urdf/urdfdom/urdf_parser/src/model.cpp.o [ 9%] Building CXX object rbdl/CMakeFiles/rbdl-urdfreader.dir/addons/urdfreader/urdf/urdfdom/urdf_parser/src/link.cpp.o [ 9%] Building CXX object rbdl/CMakeFiles/rbdl-urdfreader.dir/addons/urdfreader/urdf/urdfdom/urdf_parser/src/joint.cpp.o [ 10%] Building CXX object rbdl/CMakeFiles/rbdl-urdfreader.dir/addons/urdfreader/tinyxml/tinystr.cpp.o [ 10%] Building CXX object rbdl/CMakeFiles/rbdl-urdfreader.dir/addons/urdfreader/tinyxml/tinyxml.cpp.o [ 10%] Building CXX object rbdl/CMakeFiles/rbdl-urdfreader.dir/addons/urdfreader/tinyxml/tinyxmlerror.cpp.o [ 11%] Building CXX object rbdl/CMakeFiles/rbdl-urdfreader.dir/addons/urdfreader/tinyxml/tinyxmlparser.cpp.o [ 11%] Building CXX object rbdl/CMakeFiles/rbdl-urdfreader.dir/addons/urdfreader/urdf/boost_replacement/printf_console.cpp.o [ 12%] Building CXX object rbdl/CMakeFiles/rbdl-urdfreader.dir/addons/urdfreader/urdf/boost_replacement/string_split.cpp.o [ 12%] Linking CXX static library librbdl-urdfreader.a [ 12%] Built target rbdl-urdfreader [ 12%] Building CXX object opengl/CMakeFiles/opengl_window.dir/tiny_x11_opengl_window.cpp.o [ 12%] Building CXX object opengl/CMakeFiles/opengl_window.dir/tiny_camera.cpp.o [ 13%] Building CXX object opengl/CMakeFiles/opengl_window.dir/tiny_egl_opengl_window.cpp.o [ 13%] Building CXX object opengl/CMakeFiles/opengl_window.dir/tiny_font_stash.cpp.o [ 14%] Building CXX object opengl/CMakeFiles/opengl_window.dir/tiny_fonts.cpp.o [ 14%] Building CXX object opengl/CMakeFiles/opengl_window.dir/tiny_gl_instancing_renderer.cpp.o [ 15%] Building CXX object opengl/CMakeFiles/opengl_window.dir/tiny_gl_primitive_renderer.cpp.o [ 15%] Building CXX object opengl/CMakeFiles/opengl_window.dir/tiny_gl_render_to_texture.cpp.o [ 15%] Building CXX object opengl/CMakeFiles/opengl_window.dir/tiny_glfw_opengl_window.cpp.o [ 16%] Building CXX object opengl/CMakeFiles/opengl_window.dir/tiny_load_shader.cpp.o [ 16%] Building CXX object opengl/CMakeFiles/opengl_window.dir/tiny_open_sans.cpp.o [ 17%] Building CXX object opengl/CMakeFiles/opengl_window.dir/tiny_opengl3_app.cpp.o [ 17%] Building CXX object opengl/CMakeFiles/opengl_window.dir/tiny_opengl_fontstashcallbacks.cpp.o [ 17%] Building C object opengl/CMakeFiles/opengl_window.dir////third_party/glad/gl.c.o [ 18%] Building C object opengl/CMakeFiles/opengl_window.dir////third_party/glad/glx.c.o [ 18%] Building CXX object opengl/CMakeFiles/opengl_window.dir////third_party/tinyobjloader/tiny_obj_loader.cc.o [ 19%] Building CXX object opengl/CMakeFiles/opengl_window.dir/utils/tiny_clock.cpp.o [ 19%] Building CXX object opengl/CMakeFiles/opengl_window.dir/utils/tiny_chrome_trace_util.cpp.o /home/gary/tds/src/visualizer/opengl/utils/tiny_chrome_trace_util.cpp: In member function ‘void TinyTimings::flush()’: /home/gary/tds/src/visualizer/opengl/utils/tiny_chrome_trace_util.cpp:106:71: warning: format ‘%lu’ expects argument of type ‘long unsigned int’, but argument 4 has type ‘long long unsigned int’ [-Wformat=] threadId, startTimeDiv1000, startTimeRem1000Str, newname); ^ /home/gary/tds/src/visualizer/opengl/utils/tiny_chrome_trace_util.cpp:110:67: warning: format ‘%lu’ expects argument of type ‘long unsigned int’, but argument 4 has type ‘long long unsigned int’ [-Wformat=] threadId, endTimeDiv1000, endTimeRem1000Str, newname); ^ [ 19%] Building CXX object opengl/CMakeFiles/opengl_window.dir/utils/tiny_logging.cpp.o [ 20%] Building CXX object opengl/CMakeFiles/opengl_window.dir///__/third_party/stb_image/stb_image_write.cpp.o [ 20%] Building CXX object opengl/CMakeFiles/opengl_window.dir////third_party/stb_image/stb_image.cpp.o [ 21%] Linking CXX shared library libopengl_window.so [ 21%] Built target opengl_window [ 22%] Building CXX object rbdl/CMakeFiles/rbdl_gui_example.dir/examples/rbdl_gui_example.cpp.o In file included from /home/gary/tds/third_party/rbdl/../../src/visualizer/opengl/tiny_camera.h:18:0, from /home/gary/tds/third_party/rbdl/../../src/visualizer/opengl/tiny_common_graphics_app_interface.h:18, from /home/gary/tds/third_party/rbdl/../../src/visualizer/opengl/tiny_opengl3_app.h:18, from /home/gary/tds/third_party/rbdl/examples/rbdl_gui_example.cpp:14: /home/gary/tds/third_party/rbdl/../../src/math/tiny/tiny_float_utils.h:20:0: warning: "_USE_MATH_DEFINES" redefined

define _USE_MATH_DEFINES 1

^ /home/gary/tds/third_party/rbdl/examples/rbdl_gui_example.cpp:11:0: note: this is the location of the previous definition

define _USE_MATH_DEFINES

^ In file included from /home/gary/tds/third_party/rbdl/examples/rbdl_gui_example.cpp:22:0: /home/gary/tds/third_party/rbdl/../../src/utils/file_utils.hpp:40:36: error: ‘root’ declared as an ‘inline’ field static inline std::string root{""}; ^ /home/gary/tds/third_party/rbdl/../../src/utils/file_utils.hpp:40:36: error: in-class initialization of static data member ‘std::cxx11::string tds::FileUtils::root’ of non-literal type /home/gary/tds/third_party/rbdl/../../src/utils/file_utils.hpp:40:36: error: non-constant in-class initialization invalid for static member ‘tds::FileUtils::root’ /home/gary/tds/third_party/rbdl/../../src/utils/file_utils.hpp:40:36: note: (an out of class initialization is required) /home/gary/tds/third_party/rbdl/../../src/utils/file_utils.hpp:45:26: error: ‘prefixes’ declared as an ‘inline’ field "../../tds/data/"}}; ^ /home/gary/tds/third_party/rbdl/../../src/utils/file_utils.hpp:45:26: error: in-class initialization of static data member ‘std::vector<std::cxx11::basic_string > tds::FileUtils::prefixes’ of non-literal type /home/gary/tds/third_party/rbdl/../../src/utils/file_utils.hpp:45:26: error: non-constant in-class initialization invalid for static member ‘tds::FileUtils::prefixes’ In file included from /home/gary/tds/third_party/rbdl/../../src/math/pose.hpp:19:0, from /home/gary/tds/third_party/rbdl/../../src/geometry.hpp:23, from /home/gary/tds/third_party/rbdl/../../src/contact_point.hpp:3, from /home/gary/tds/third_party/rbdl/examples/rbdl_gui_example.cpp:23: /home/gary/tds/third_party/rbdl/../../src/utils/conversion.hpp: In static member function ‘static tds::Conversion<AlgebraFrom, AlgebraTo>::QuaternionTo tds::Conversion<AlgebraFrom, AlgebraTo>::convert(const QuaternionFrom&)’: /home/gary/tds/third_party/rbdl/../../src/utils/conversion.hpp:36:8: error: expected ‘(’ before ‘constexpr’ if constexpr (std::is_same_v<AlgebraFrom, AlgebraTo>) { ^ /home/gary/tds/third_party/rbdl/../../src/utils/conversion.hpp:38:7: error: ‘else’ without a previous ‘if’ } else { ^ /home/gary/tds/third_party/rbdl/../../src/utils/conversion.hpp: In static member function ‘static tds::Conversion<AlgebraFrom, AlgebraTo>::Vector3To tds::Conversion<AlgebraFrom, AlgebraTo>::convert(const Vector3From&)’: /home/gary/tds/third_party/rbdl/../../src/utils/conversion.hpp:50:8: error: expected ‘(’ before ‘constexpr’ if constexpr (std::is_same_v<AlgebraFrom, AlgebraTo>) { ^ /home/gary/tds/third_party/rbdl/../../src/utils/conversion.hpp:52:7: error: ‘else’ without a previous ‘if’ } else { ^ /home/gary/tds/third_party/rbdl/../../src/utils/conversion.hpp: In static member function ‘static tds::Conversion<AlgebraFrom, AlgebraTo>::VectorXTo tds::Conversion<AlgebraFrom, AlgebraTo>::convert(const VectorXFrom&)’: /home/gary/tds/third_party/rbdl/../../src/utils/conversion.hpp:62:8: error: expected ‘(’ before ‘constexpr’ if constexpr (std::is_same_v<AlgebraFrom, AlgebraTo>) { ^ /home/gary/tds/third_party/rbdl/../../src/utils/conversion.hpp:64:7: error: ‘else’ without a previous ‘if’ } else { ^ /home/gary/tds/third_party/rbdl/../../src/utils/conversion.hpp: In static member function ‘static tds::Conversion<AlgebraFrom, AlgebraTo>::Matrix3To tds::Conversion<AlgebraFrom, AlgebraTo>::convert(const Matrix3From&)’: /home/gary/tds/third_party/rbdl/../../src/utils/conversion.hpp:74:8: error: expected ‘(’ before ‘constexpr’ if constexpr (std::is_same_v<AlgebraFrom, AlgebraTo>) { ^ /home/gary/tds/third_party/rbdl/../../src/utils/conversion.hpp:76:7: error: ‘else’ without a previous ‘if’ } else { ^ /home/gary/tds/third_party/rbdl/../../src/utils/conversion.hpp: In static member function ‘static tds::Conversion<AlgebraFrom, AlgebraTo>::Matrix3XTo tds::Conversion<AlgebraFrom, AlgebraTo>::convert(const Matrix3XFrom&)’: /home/gary/tds/third_party/rbdl/../../src/utils/conversion.hpp:88:8: error: expected ‘(’ before ‘constexpr’ if constexpr (std::is_same_v<AlgebraFrom, AlgebraTo>) { ^ /home/gary/tds/third_party/rbdl/../../src/utils/conversion.hpp:90:7: error: ‘else’ without a previous ‘if’ } else { ^ /home/gary/tds/third_party/rbdl/../../src/utils/conversion.hpp: In static member function ‘static tds::Conversion<AlgebraFrom, AlgebraTo>::Matrix6To tds::Conversion<AlgebraFrom, AlgebraTo>::convert(const Matrix6From&)’: /home/gary/tds/third_party/rbdl/../../src/utils/conversion.hpp:103:8: error: expected ‘(’ before ‘constexpr’ if constexpr (std::is_same_v<AlgebraFrom, AlgebraTo>) { ^ /home/gary/tds/third_party/rbdl/../../src/utils/conversion.hpp:105:7: error: ‘else’ without a previous ‘if’ } else { ^ /home/gary/tds/third_party/rbdl/../../src/utils/conversion.hpp: In static member function ‘static tds::Conversion<AlgebraFrom, AlgebraTo>::MatrixXTo tds::Conversion<AlgebraFrom, AlgebraTo>::convert(const MatrixXFrom&)’: /home/gary/tds/third_party/rbdl/../../src/utils/conversion.hpp:117:8: error: expected ‘(’ before ‘constexpr’ if constexpr (std::is_same_v<AlgebraFrom, AlgebraTo>) { ^ /home/gary/tds/third_party/rbdl/../../src/utils/conversion.hpp:119:7: error: ‘else’ without a previous ‘if’ } else { ^ In file included from /home/gary/tds/third_party/rbdl/../../src/contact_point.hpp:3:0, from /home/gary/tds/third_party/rbdl/examples/rbdl_gui_example.cpp:23: /home/gary/tds/third_party/rbdl/../../src/geometry.hpp: In member function ‘tds::Capsule::Scalar tds::Capsule::distance(const Vector3&) const’: /home/gary/tds/third_party/rbdl/../../src/geometry.hpp:140:24: error: ‘clamp’ is not a member of ‘std’ p.z() - std::clamp(p.z(), -this->length / Scalar(2), ^ In file included from /home/gary/tds/third_party/rbdl/examples/rbdl_gui_example.cpp:23:0: /home/gary/tds/third_party/rbdl/../../src/contact_point.hpp: In function ‘int tds::contact_sphere_sphere(const tds::Geometry, const tds::Pose&, const tds::Geometry, const tds::Pose&, std::vector<tds::ContactPoint >&)’: /home/gary/tds/third_party/rbdl/../../src/contact_point.hpp:62:6: error: expected ‘(’ before ‘constexpr’ if constexpr (is_cppad_scalar::value) { ^ /home/gary/tds/third_party/rbdl/../../src/contact_point.hpp:75:5: error: ‘else’ without a previous ‘if’ } else { ^ rbdl/CMakeFiles/rbdl_gui_example.dir/build.make:75: recipe for target 'rbdl/CMakeFiles/rbdl_gui_example.dir/examples/rbdl_gui_example.cpp.o' failed make[2]: [rbdl/CMakeFiles/rbdl_gui_example.dir/examples/rbdl_gui_example.cpp.o] Error 1 CMakeFiles/Makefile2:397: recipe for target 'rbdl/CMakeFiles/rbdl_gui_example.dir/all' failed make[1]: [rbdl/CMakeFiles/rbdl_gui_example.dir/all] Error 2 Makefile:145: recipe for target 'all' failed make: *** [all] Error 2

erwincoumans commented 3 years ago

Thanks for the report. Which compiler (and version etc) are you using? It compiles on Windows 10 using Visual Studio 2019 fine here (just git clone and running the build_libs_windows.bat script.

erwincoumans commented 3 years ago

Please try again after updating to latest. If you still have errors, re-open and report your compiler version and operating system etc.

garymcintire commented 3 years ago

Erwin,

Thanks for responding. I'm on ubuntu 16.04. Thinking that was the problem, I clean installed 20.04. I'm getting to about 90% now but can't seem to understand the error. I'll run it again and get the error(s) for you. Again, thanks for your help.