build-pybullet.yml

# 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