[WIP] Test build nosabi

.github/workflows/build_all_wheels.yml

@@ -14,7 +14,7 @@ jobs:
 
     strategy:
       matrix:
-        python-version: ['3.11', '3.12', '3.13']
+        python-version: ['3.11']
 
     outputs:
       version: ${{ steps.configure.outputs.version }}
@@ -91,7 +91,7 @@ jobs:
     runs-on: macos-15
     strategy:
       matrix:
-        python-version: ['3.11', '3.12', '3.13']
+        python-version: ['3.11']
 
     outputs:
       version: ${{ steps.configure.outputs.version }}
@@ -173,7 +173,7 @@ jobs:
 
     strategy:
       matrix:
-        python: ["cp311", "cp312", "cp313"]
+        python: ["cp311"]
 
     steps:
     - uses: actions/checkout@v4

.github/workflows/continuous_integration.yml

@@ -75,7 +75,7 @@ jobs:
       id: configure
       run: |
         cmake -G "Visual Studio 17 2022" . --preset ci-msvc-windows-release -LAH `
-            -DPython3_ROOT_DIR=$env:pythonLocation
+            -DPython3_ROOT_DIR=$env:pythonLocation -DOPENSIM_USE_PYTHON_SABI=OFF
 
         $env:match = cmake -N -L build/ci-msvc-windows-release | Select-String -Pattern OPENSIM_QUALIFIED_VERSION
         $version = $env:match.split('=')[1]
@@ -100,6 +100,24 @@ jobs:
         Copy-Item -Path "${{ steps.configure.outputs.CMAKE_INSTALL_PREFIX }}" -Destination "opensim-core-${{ steps.configure.outputs.version }}" -Recurse
         7z a "opensim-core-${{ steps.configure.outputs.version }}.zip" "opensim-core-${{ steps.configure.outputs.version }}"
 
+    - name: Build wheel
+      run: |
+        cd ${{ steps.configure.outputs.CMAKE_INSTALL_PREFIX }}/sdk/Python
+        python3 setup.py bdist_wheel
+
+    - name: Capture wheel path
+      id: wheel
+      run: |
+        cd ${{ steps.configure.outputs.CMAKE_INSTALL_PREFIX }}/sdk/Python/dist
+        $wheel = (Get-ChildItem -Filter "opensim*.whl" -File | Select-Object -First 1).Name
+        "path=$wheel" >> $env:GITHUB_OUTPUT
+
+    - name: Upload Windows wheel
+      uses: actions/upload-artifact@v4
+      with:
+        name: ${{ steps.wheel.outputs.path }}
+        path: ${{ steps.configure.outputs.CMAKE_INSTALL_PREFIX }}/sdk/Python/dist/${{ steps.wheel.outputs.path }}
+
     - name: Upload opensim-core
       uses: actions/upload-artifact@v4
       with:
@@ -162,7 +180,7 @@ jobs:
       id: configure
       run: |
         cmake -S $GITHUB_WORKSPACE --preset ci-make-macos-release -LAH \
-            -DSWIG_EXECUTABLE=$HOME/swig/bin/swig
+            -DSWIG_EXECUTABLE=$HOME/swig/bin/swig -DOPENSIM_USE_PYTHON_SABI=OFF
 
         VERSION=`cmake -N -L $GITHUB_WORKSPACE/build/ci-make-macos-release | grep OPENSIM_QUALIFIED_VERSION | cut -d "=" -f2`
         echo "version=$VERSION" >> $GITHUB_OUTPUT
@@ -281,7 +299,7 @@ jobs:
     - name: Configure opensim-core
       id: configure
       run: |
-        cmake -S $GITHUB_WORKSPACE --preset ci-make-linux-release -LAH
+        cmake -S $GITHUB_WORKSPACE --preset ci-make-linux-release -DPython3_ROOT_DIR=/opt/python/cp311-cp311 -DOPENSIM_USE_PYTHON_SABI=OFF -LAH
 
         VERSION=`cmake -N -L $GITHUB_WORKSPACE/build/ci-make-linux-release | grep OPENSIM_QUALIFIED_VERSION | cut -d "=" -f2`
         echo "version=$VERSION" >> $GITHUB_OUTPUT

Bindings/CMakeLists.txt

@@ -1,5 +1,5 @@
 if(BUILD_PYTHON_WRAPPING OR BUILD_JAVA_WRAPPING)
-    find_package(SWIG 4.1.0 REQUIRED)
+    find_package(SWIG 4.4.1 REQUIRED)
 endif()
 
 # Flags are both Python and Java bindings will use.

Bindings/Python/CMakeLists.txt

@@ -16,6 +16,7 @@ endif()
 # We set these COMPILE_OPTIONS in the root CMakeLists.txt.
 set_directory_properties(PROPERTIES COMPILE_OPTIONS "")
 
+set(OPENSIM_PYTHON_LIMITED_API_HEX 0x030A0000)
 
 # Helper macros.
 # ==============
@@ -69,7 +70,11 @@ macro(OpenSimAddPythonModule)
     set(_output_header_file "${_output_file_prefix}.h")
     set(_interface_file
         "${CMAKE_CURRENT_SOURCE_DIR}/swig/python_${OSIMSWIGPY_MODULE}.i")
-
+    if (OPENSIM_USE_PYTHON_SABI)
+        set_property(SOURCE ${_output_cxx_file} PROPERTY 
+            COMPILE_DEFINITIONS "Py_LIMITED_API=${OPENSIM_PYTHON_LIMITED_API_HEX}"
+        )
+    endif()
     # We run swig once to get dependencies and then again to actually generate
     # the wrappers. This variable holds the parts of the swig command that
     # are shared between both invocations.
@@ -132,12 +137,14 @@ macro(OpenSimAddPythonModule)
             /wd4996  # Disable warning 4996: deprecated functions.
             /wd4114  # Disable warning 4114: "const const T"
         >
-    )
+     )
     target_compile_definitions(${_libname} PRIVATE
         # SWIG_PYTHON was added to account for generated cxx files
         # failing to compile due to operators defined in simbody (removed
         # by this symbol) -Ayman 3/25
         SWIG_PYTHON
+        # Pass Limited_API version to the compiler if needed
+        $<$<BOOL:${OPENSIM_USE_PYTHON_SABI}>:-DPy_LIMITED_API=${OPENSIM_PYTHON_LIMITED_API_HEX}>
     )
 
     target_include_directories(${_libname} PRIVATE
@@ -161,11 +168,15 @@ macro(OpenSimAddPythonModule)
     if("${PYTHON_LDSHARED}" MATCHES "dynamic_lookup")
         set_target_properties(${_libname} PROPERTIES LINK_FLAGS
             "-undefined dynamic_lookup")
-    else()
-        target_link_libraries(${_libname} ${Python3_LIBRARIES})
+    elseif(WIN32)
+        if (OPENSIM_USE_PYTHON_SABI)
+           target_link_libraries(${_libname} PRIVATE Python3::SABIModule)
+        else()
+            target_link_libraries(${_libname} PRIVATE Python3::Module)
+        endif()
     endif()
 
-    target_link_libraries(${_libname} osimTools osimExampleComponents osimMoco)
+    target_link_libraries(${_libname} PUBLIC osimTools osimExampleComponents osimMoco)
 
     # Set target properties for various platforms.
     # --------------------------------------------
@@ -177,9 +188,13 @@ macro(OpenSimAddPythonModule)
     )
     if(WIN32)
         set_target_properties(${_libname} PROPERTIES SUFFIX ".pyd")
-    elseif(APPLE)
-        # Defaults to .dylib; change to .so.
-        set_target_properties(${_libname} PROPERTIES SUFFIX ".so")
+    else()
+        # Defaults to .dylib; change to .so on MacOS, also on both mac, linux add abi3 for SABI
+        if (OPENSIM_USE_PYTHON_SABI)
+            set_target_properties(${_libname} PROPERTIES SUFFIX ".abi3.so")
+        else()
+            set_target_properties(${_libname} PROPERTIES SUFFIX ".so")
+        endif()
     endif()
 
     # RPATH: We always set a relative RPATH but only use an absolute RPATH if

Bindings/Python/setup.py

@@ -36,6 +36,9 @@ def has_ext_modules(foo):
 
 setup(name='opensim',
       version=__version__,
+      # The build number is used to differentiate between different builds of the same 
+      # version. Typically on testpypi. py_limited_api is used to specify the Python version 
+      # compatibility for the wheel. If upgrading the Python 3.11, change this to cp311 for example.
       options={"bdist_wheel": {"build_number": "1"}},
       description='OpenSim Simulation Framework',
       long_description=long_description,

CMakeLists.txt

@@ -433,12 +433,24 @@ if(${BUILD_JAVA_WRAPPING})
 endif()
 
 if(${BUILD_PYTHON_WRAPPING})
-    set(required_python_version 3)
-    set(Python3_ROOT_DIR ""  CACHE PATH "Top level directory containing Python3. For conda environments, this can also be set to the top level directory for a specific environment.")
-    find_package(Python3 3.6 REQUIRED COMPONENTS Interpreter Development.Module NumPy)
+    # Default OPENSIM_USE_PYTHON_SABI is on and version 3.10 If you want to use the stable ABI, 
+    # you must use Python 3.8 or higher. If actual ABI version needs to be changed then
+    # modify the value of the Py_LIMITED_API definition in this file. If building wheels,
+    # you must modify the value of py_limited_api in setup.py as well.
+    option(OPENSIM_USE_PYTHON_SABI 
+        "Use the stable ABI for Python bindings" ON)
+
+    set(Python3_ROOT_DIR ""  CACHE PATH 
+        "Top level directory containing Python3. For conda environments, this can also be set to the top level directory for a specific environment.")
+    if(${OPENSIM_USE_PYTHON_SABI})
+        find_package(Python3 3.10 REQUIRED COMPONENTS Interpreter Development.SABIModule NumPy)
+    else()
+        find_package(Python3 3.10 REQUIRED COMPONENTS Interpreter Development.Module NumPy)
+    endif()
     message("Python3_FOUND:${Python3_FOUND}")
     message("Python3_VERSION:${Python3_VERSION}")
     message("Python3_Development_FOUND:${Python3_Development_FOUND}")
+    message("Python_Development.SABIModule_FOUND:${Python3_Development_SABIModule_FOUND}")
     message("Python3_LIBRARIES:${Python3_LIBRARIES}")
     message("Python3_Numpy_Include:${Python3_NumPy_INCLUDE_DIRS}")
     message("Python3_Numpy_VERSION:${Python3_NumPy_VERSION}")