Enable Windows build of habitat-sim

setup.py

@@ -136,7 +136,7 @@ def is_pip():
 class CMakeExtension(Extension):
     def __init__(self, name, sourcedir=""):
         Extension.__init__(self, name, sources=[])
-        self.sourcedir = os.path.abspath(sourcedir)
+        self.sourcedir = os.path.abspath(sourcedir).replace("\\", "/")
 
 
 # populated in CMakeBuild.build_extension()
@@ -207,8 +207,8 @@ def build_extension(self, ext):
 
         cmake_args = [
             "-DBUILD_PYTHON_BINDINGS=ON",
-            "-DCMAKE_LIBRARY_OUTPUT_DIRECTORY=" + extdir,
-            "-DPYTHON_EXECUTABLE=" + sys.executable,
+            "-DCMAKE_LIBRARY_OUTPUT_DIRECTORY=" + extdir.replace("\\", "/"),
+            "-DPYTHON_EXECUTABLE=" + sys.executable.replace("\\", "/"),
             "-DCMAKE_EXPORT_COMPILE_COMMANDS={}".format("OFF" if is_pip() else "ON"),
         ]
         cmake_args += shlex.split(args.cmake_args)
@@ -226,8 +226,9 @@ def build_extension(self, ext):
         # doesn't require a number (but builds sequentially by default), so we
         # add the argument only when it's not ninja or the number of jobs is
         # specified.
-        if not has_ninja() or self.parallel:
-            build_args += ["-j{}".format(self.parallel) if self.parallel else "-j"]
+        if sys.platform != "win32":
+            if not has_ninja() or self.parallel:
+                build_args += ["-j{}".format(self.parallel) if self.parallel else "-j"]
 
         cmake_args += [
             "-DBUILD_GUI_VIEWERS={}".format("ON" if not args.headless else "OFF")
@@ -247,13 +248,18 @@ def build_extension(self, ext):
 
         if self.run_cmake(cmake_args):
             subprocess.check_call(
-                shlex.split("cmake -H{} -B{}".format(ext.sourcedir, self.build_temp))
+                shlex.split(
+                    "cmake -H{} -B{}".format(
+                        ext.sourcedir, self.build_temp.replace("\\", "/")
+                    )
+                )
                 + cmake_args,
                 env=env,
             )
 
         subprocess.check_call(
-            shlex.split("cmake --build {}".format(self.build_temp)) + build_args
+            shlex.split("cmake --build {}".format(self.build_temp.replace("\\", "/")))
+            + build_args
         )
         print()  # Add an empty line for cleaner output
 

src/CMakeLists.txt

@@ -7,7 +7,7 @@ cmake_minimum_required(VERSION 3.10)
 project(esp)
 
 if(MSVC)
-  add_definitions(/DNOMINMAX)
+  add_definitions(/DNOMINMAX /DEIGEN_DONT_ALIGN_STATICALLY)
 endif()
 
 find_program(CCACHE_FOUND ccache)

src/esp/assets/CMakeLists.txt

@@ -54,6 +54,11 @@ endif()
 
 add_library(assets STATIC ${assets_SOURCES})
 
+if(MSVC)
+  # Define common math constants if we compile with MSVC.  This is needed because of Sophus.
+  target_compile_definitions(assets PUBLIC _USE_MATH_DEFINES)
+endif (MSVC)
+
 target_link_libraries(assets
   PUBLIC
     core

src/esp/assets/FRLInstanceMeshData.cpp

@@ -15,9 +15,7 @@
 #include <Magnum/Trade/Trade.h>
 
 #include <fcntl.h>
-#include <sys/mman.h>
 #include <tinyply.h>
-#include <unistd.h>
 #include <fstream>
 #include <sophus/so3.hpp>
 #include <sstream>

src/esp/assets/GenericInstanceMeshData.cpp

@@ -16,9 +16,7 @@
 #include <Magnum/Trade/Trade.h>
 
 #include <fcntl.h>
-#include <sys/mman.h>
 #include <tinyply.h>
-#include <unistd.h>
 #include <fstream>
 #include <sophus/so3.hpp>
 #include <sstream>

src/esp/assets/PTexMeshData.cpp

@@ -90,7 +90,7 @@ std::vector<PTexMeshData::MeshData> splitMesh(
 
 // calculate vertex grid position and code
 #pragma omp parallel for
-  for (size_t i = 0; i < mesh.vbo.size(); i++) {
+  for (int32_t i = 0; i < mesh.vbo.size(); i++) {
     const vec3f p = mesh.vbo[i].head<3>();
     vec3f pi = (p - boundingBox.min()) / splitSize;
     verts[i] = EncodeMorton3(pi.cast<int>());
@@ -109,7 +109,7 @@ std::vector<PTexMeshData::MeshData> splitMesh(
   faces.resize(numFaces);
 
 #pragma omp parallel for
-  for (size_t i = 0; i < numFaces; i++) {
+  for (int32_t i = 0; i < numFaces; i++) {
     faces[i].originalFace = i;
     faces[i].code = std::numeric_limits<uint32_t>::max();
     for (int j = 0; j < 4; j++) {
@@ -155,7 +155,7 @@ std::vector<PTexMeshData::MeshData> splitMesh(
   }
 
 #pragma omp parallel for
-  for (size_t i = 0; i < numChunks; i++) {
+  for (int32_t i = 0; i < numChunks; i++) {
     uint32_t chunkSize = chunkStart[i + 1] - chunkStart[i];
 
     std::vector<uint32_t> refdVerts;

src/esp/gfx/CMakeLists.txt

@@ -74,6 +74,11 @@ target_include_directories(gfx
     "${DEPS_DIR}/glad/include"
 )
 
+if(MSVC)
+  # Define common math constants if we compile with MSVC.  This is needed because of Sophus.
+  target_compile_definitions(gfx PUBLIC _USE_MATH_DEFINES)
+endif (MSVC)
+
 target_link_libraries(gfx
   PUBLIC
     assets

src/esp/gfx/PTexMeshShader.cpp

@@ -5,7 +5,6 @@
 #include "PTexMeshShader.h"
 
 #include <fcntl.h>
-#include <sys/mman.h>
 #include <iostream>
 
 #include <Corrade/Containers/Reference.h>

src/esp/nav/CMakeLists.txt

@@ -11,6 +11,11 @@ target_include_directories(nav
     "${DEPS_DIR}/recastnavigation/Recast/Include"
 )
 
+if(MSVC)
+  # Define common math constants if we compile with MSVC.  This is needed because of Sophus.
+  target_compile_definitions(nav PUBLIC _USE_MATH_DEFINES)
+endif (MSVC)
+
 target_link_libraries(nav
   PUBLIC
     core

src/esp/nav/PathFinder.h

@@ -18,7 +18,7 @@ class dtQueryPathState;
 namespace esp {
 // forward declaration
 namespace assets {
-class MeshData;
+struct MeshData;
 }
 namespace nav {