[core] Fix memory corruption segfault after adding frame to model. (#269

)

* [misc] Update pre-compiled binaries of dependencies (EigenPy 2.6.0, Hpp-Fcl 1.6.0, Pinocchio 2.5.5).
* [misc] Fix several cmake edge cases.
* [misc] Enable linker optimizations.
* [core] Take advantage of new features and improved Windows 10 support to simply codebase.
* [core] Fix flaky memory corruption segfault when adding frame to model.
* [core] Fix special cmake linkage flags 'optimized'/'debug' not being properly detected for Boost.
* [python/simulator] Fix progress bar glitches if simulate raises an exception during a simulation.

Co-authored-by: Alexis Duburcq <alexis.duburcq@wandercraft.eu>

.github/workflows/linux.yml

@@ -71,7 +71,7 @@ jobs:
         cmake "$RootDir" -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" \
               -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" \
               -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE \
-              -DBoost_USE_STATIC_LIBS=OFF -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
+              -DBoost_USE_STATIC_LIBS=ON -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
               -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON \
               -DCMAKE_CXX_FLAGS="-fPIC" -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
         make install -j2

.github/workflows/manylinux.yml

@@ -64,9 +64,10 @@ jobs:
         cd "$RootDir/build"
         export LD_LIBRARY_PATH="$InstallDir/lib/:/usr/local/lib"
         cmake "$RootDir" -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" \
+              -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON \
               -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" \
               -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE \
-              -DBoost_USE_STATIC_LIBS=OFF -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
+              -DBoost_USE_STATIC_LIBS=ON -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
               -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON \
               -DCMAKE_CXX_FLAGS="-s" -DCMAKE_BUILD_TYPE="$BUILD_TYPE"  # gcc flag '-s' removes all symbol table and relocation information
         make -j2

.github/workflows/ubuntu.yml

@@ -43,6 +43,12 @@ jobs:
         echo "RootDir=${GITHUB_WORKSPACE}" >> $GITHUB_ENV
         echo "InstallDir=${GITHUB_WORKSPACE}/install" >> $GITHUB_ENV
 
+        if [ $(gcc -dumpversion) -ge 9 ]; then
+          echo "ENABLE_LTO=1" >> $GITHUB_ENV
+        else
+          echo "ENABLE_LTO=0" >> $GITHUB_ENV
+        fi
+
         echo "/home/runner/.local/bin" >> $GITHUB_PATH
     - name: Installing requirements
       run: |
@@ -64,6 +70,7 @@ jobs:
         cd "$RootDir/build"
 
         cmake "$RootDir" -DCMAKE_INSTALL_PREFIX="$InstallDir" \
+              -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=${ENABLE_LTO} \
               -DBoost_NO_SYSTEM_PATHS=OFF -DPYTHON_EXECUTABLE="${PYTHON_EXECUTABLE}" \
               -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON \
               -DCMAKE_BUILD_TYPE="${BUILD_TYPE}"

.github/workflows/win.yml

@@ -67,9 +67,10 @@ jobs:
         cmake "$RootDir" -G "Visual Studio 16 2019" -T "v142" -DCMAKE_GENERATOR_PLATFORM=x64 `
               -DCMAKE_MSVC_RUNTIME_LIBRARY="MultiThreaded$<$<CONFIG:Debug>:Debug>DLL" `
               -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_PREFIX_PATH="$InstallDir" `
+              -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON `
               -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" `
               -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE `
-              -DBoost_USE_STATIC_LIBS=OFF -DPYTHON_REQUIRED_VERSION="${{ matrix.python-version }}" `
+              -DBoost_USE_STATIC_LIBS=ON -DPYTHON_REQUIRED_VERSION="${{ matrix.python-version }}" `
               -DBUILD_TESTING=ON -DBUILD_EXAMPLES=ON -DBUILD_PYTHON_INTERFACE=ON `
               -DCMAKE_CXX_FLAGS="/EHsc /bigobj /Zc:__cplusplus -D_USE_MATH_DEFINES -DBOOST_ALL_NO_LIB -DBOOST_LIB_DIAGNOSTIC -DEIGENPY_STATIC -DURDFDOM_STATIC -DHPP_FCL_STATIC -DPINOCCHIO_STATIC"
         cmake --build . --config "${Env:BUILD_TYPE}" --parallel 2

CMakeLists.txt

@@ -2,7 +2,7 @@
 cmake_minimum_required(VERSION 3.10)
 
 # Set the build version
-set(BUILD_VERSION 1.5.0)
+set(BUILD_VERSION 1.5.1)
 
 # Add definition of Jiminy version for C++ headers
 add_definitions("-DJIMINY_VERSION=\"${BUILD_VERSION}\"")
@@ -37,6 +37,7 @@ add_subdirectory(core)
 
 option(BUILD_PYTHON_INTERFACE "Build the Python bindings" ON)
 if(BUILD_PYTHON_INTERFACE)
+    include(${CMAKE_SOURCE_DIR}/build_tools/cmake/setupPython.cmake)
     add_subdirectory(python)
 endif()
 

build_tools/build_install_deps_linux.sh

@@ -9,6 +9,13 @@ if [ -z ${BUILD_TYPE} ]; then
   echo "BUILD_TYPE is unset. Defaulting to 'Release'."
 fi
 
+### Enable LTO if possible
+if [ $(gcc -dumpversion) -ge 9 ]; then
+  ENABLE_LTO=1
+else
+  ENABLE_LTO=0
+fi
+
 ### Get the fullpath of Jiminy project
 ScriptDir="$(cd "$(dirname "$0")" >/dev/null 2>&1 && pwd)"
 RootDir="$(dirname $ScriptDir)"
@@ -54,7 +61,7 @@ if [ ! -d "$RootDir/eigenpy" ]; then
 fi
 cd "$RootDir/eigenpy"
 git reset --hard
-git checkout --force "v2.5.0"
+git checkout --force "v2.6.0"
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --jobs 8
 git apply --reject --whitespace=fix "$RootDir/build_tools/patch_deps_linux/eigenpy.patch"
@@ -108,7 +115,7 @@ if [ ! -d "$RootDir/hpp-fcl" ]; then
 fi
 cd "$RootDir/hpp-fcl"
 git reset --hard
-git checkout --force "v1.5.4"
+git checkout --force "v1.6.0"
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --jobs 8
 git apply --reject --whitespace=fix "$RootDir/build_tools/patch_deps_linux/hppfcl.patch"
@@ -121,7 +128,7 @@ if [ ! -d "$RootDir/pinocchio" ]; then
 fi
 cd "$RootDir/pinocchio"
 git reset --hard
-git checkout --force "v2.5.0"
+git checkout --force "v2.5.5"
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --jobs 8
 git apply --reject --whitespace=fix "$RootDir/build_tools/patch_deps_linux/pinocchio.patch"
@@ -157,12 +164,12 @@ mkdir -p "$RootDir/boost/build"
      --with-stacktrace --with-system --with-filesystem --with-atomic \
      --with-thread --with-serialization --with-test \
      --build-type=minimal architecture=x86 address-model=64 threading=multi \
-     --layout=system link=static runtime-link=static \
+     --layout=system --lto=on link=static runtime-link=static debug-symbols=off \
      toolset=gcc cxxflags="-std=c++14 -fPIC -s" variant="$BuildTypeB2" install -q -d0 -j2
 ./b2 --prefix="$InstallDir" --build-dir="$RootDir/boost/build" \
      --with-python \
      --build-type=minimal architecture=x86 address-model=64 threading=multi \
-     --layout=system link=shared runtime-link=shared \
+     --layout=system --lto=on link=shared runtime-link=shared debug-symbols=off \
      toolset=gcc cxxflags="-std=c++14 -fPIC -s" variant="$BuildTypeB2" install -q -d0 -j2
 
 #################################### Build and install eigen3 ##########################################
@@ -179,6 +186,7 @@ make install -j2
 mkdir -p "$RootDir/eigenpy/build"
 cd "$RootDir/eigenpy/build"
 cmake "$RootDir/eigenpy" -Wno-dev -DCMAKE_CXX_STANDARD=14 -DCMAKE_INSTALL_PREFIX="$InstallDir" \
+      -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=${ENABLE_LTO} \
       -DCMAKE_PREFIX_PATH="$InstallDir" -DPYTHON_EXECUTABLE="$PYTHON_EXECUTABLE" \
       -DPYTHON_STANDARD_LAYOUT=ON -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE \
       -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" \
@@ -224,6 +232,7 @@ make install -j2
 mkdir -p "$RootDir/assimp/build"
 cd "$RootDir/assimp/build"
 cmake "$RootDir/assimp" -Wno-dev -DCMAKE_CXX_STANDARD=14 -DCMAKE_INSTALL_PREFIX="$InstallDir" \
+      -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=${ENABLE_LTO} \
       -DASSIMP_BUILD_ASSIMP_TOOLS=OFF -DASSIMP_BUILD_ZLIB=ON -DASSIMP_BUILD_TESTS=OFF \
       -DASSIMP_BUILD_SAMPLES=OFF -DBUILD_DOCS=OFF \
       -DBUILD_SHARED_LIBS=OFF -DCMAKE_CXX_FLAGS="-DNDEBUG -O3 -fPIC -s -Wno-strict-overflow -Wno-class-memaccess" -DCMAKE_BUILD_TYPE="$BUILD_TYPE"
@@ -241,6 +250,7 @@ make install -j2
 mkdir -p "$RootDir/hpp-fcl/build"
 cd "$RootDir/hpp-fcl/build"
 cmake "$RootDir/hpp-fcl" -Wno-dev -DCMAKE_CXX_STANDARD=14 -DCMAKE_INSTALL_PREFIX="$InstallDir" \
+      -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=${ENABLE_LTO} \
       -DCMAKE_PREFIX_PATH="$InstallDir" -DQhull_PREFIX="$InstallDir" -DPYTHON_EXECUTABLE="$PYTHON_EXECUTABLE" \
       -DPYTHON_STANDARD_LAYOUT=ON -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE \
       -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" \
@@ -255,6 +265,7 @@ make install -j2
 mkdir -p "$RootDir/pinocchio/build"
 cd "$RootDir/pinocchio/build"
 cmake "$RootDir/pinocchio" -Wno-dev -DCMAKE_CXX_STANDARD=14 -DCMAKE_INSTALL_PREFIX="$InstallDir" \
+      -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=${ENABLE_LTO} \
       -DCMAKE_PREFIX_PATH="$InstallDir" -DPYTHON_EXECUTABLE="$PYTHON_EXECUTABLE" \
       -DPYTHON_STANDARD_LAYOUT=ON -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE \
       -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" \

build_tools/build_install_deps_windows.ps1

@@ -54,7 +54,7 @@ if (-not (Test-Path -PathType Container "$RootDir/eigenpy")) {
 }
 Set-Location -Path "$RootDir/eigenpy"
 git reset --hard
-git checkout --force "v2.5.0"
+git checkout --force "v2.6.0"
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --jobs 8
 dos2unix "$RootDir/build_tools/patch_deps_windows/eigenpy.patch"
@@ -110,7 +110,7 @@ if (-not (Test-Path -PathType Container "$RootDir/hpp-fcl")) {
 }
 Set-Location -Path "$RootDir/hpp-fcl"
 git reset --hard
-git checkout --force "v1.5.4"
+git checkout --force "v1.6.0"
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --jobs 8
 dos2unix "$RootDir/build_tools/patch_deps_windows/hppfcl.patch"
@@ -124,7 +124,7 @@ if (-not (Test-Path -PathType Container "$RootDir/pinocchio")) {
 }
 Set-Location -Path "$RootDir/pinocchio"
 git reset --hard
-git checkout --force "v2.5.0"
+git checkout --force "v2.5.5"
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --jobs 8
 dos2unix "$RootDir/build_tools/patch_deps_windows/pinocchio.patch"
@@ -163,12 +163,12 @@ if (-not (Test-Path -PathType Container "$RootDir/boost/build")) {
          --with-stacktrace --with-system --with-filesystem --with-atomic `
          --with-thread --with-serialization --with-test `
          --build-type=minimal architecture=x86 address-model=64 threading=multi `
-         --layout=system link=static runtime-link=shared `
+         --layout=system --lto=on link=static runtime-link=shared debug-symbols=off `
          toolset=msvc-14.2 variant="$BuildTypeB2" install -q -d0 -j2
 ./b2.exe --prefix="$InstallDir" --build-dir="$RootDir/boost/build" `
          --with-python `
          --build-type=minimal architecture=x86 address-model=64 threading=multi `
-         --layout=system link=shared runtime-link=shared `
+         --layout=system --lto=on link=shared runtime-link=shared debug-symbols=off `
          toolset=msvc-14.2 cxxflags="/permissive-" variant="$BuildTypeB2" install -q -d0 -j2
 
 #################################### Build and install eigen3 ##########################################
@@ -192,7 +192,7 @@ if (-not (Test-Path -PathType Container "$RootDir/eigenpy/build")) {
 Set-Location -Path "$RootDir/eigenpy/build"
 cmake "$RootDir/eigenpy" -Wno-dev -G "Visual Studio 16 2019" -T "v142" -DCMAKE_GENERATOR_PLATFORM=x64 `
       -DCMAKE_POLICY_DEFAULT_CMP0091=NEW -DCMAKE_MSVC_RUNTIME_LIBRARY="MultiThreaded$<$<CONFIG:Debug>:Debug>DLL" `
-      -DCMAKE_CXX_STANDARD=14 -DCMAKE_INSTALL_PREFIX="$InstallDir" `
+      -DCMAKE_CXX_STANDARD=14 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON `
       -DCMAKE_PREFIX_PATH="$InstallDir" -DPYTHON_EXECUTABLE="$PYTHON_EXECUTABLE" `
       -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" `
       -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE `
@@ -289,7 +289,7 @@ if (-not (Test-Path -PathType Container "$RootDir/hpp-fcl/build")) {
 Set-Location -Path "$RootDir/hpp-fcl/build"
 cmake "$RootDir/hpp-fcl" -Wno-dev -G "Visual Studio 16 2019" -T "v142" -DCMAKE_GENERATOR_PLATFORM=x64 `
       -DCMAKE_POLICY_DEFAULT_CMP0091=NEW -DCMAKE_MSVC_RUNTIME_LIBRARY="MultiThreaded$<$<CONFIG:Debug>:Debug>DLL" `
-      -DCMAKE_CXX_STANDARD=14 -DCMAKE_INSTALL_PREFIX="$InstallDir" `
+      -DCMAKE_CXX_STANDARD=14 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON `
       -DCMAKE_PREFIX_PATH="$InstallDir" -DPYTHON_EXECUTABLE="$PYTHON_EXECUTABLE" `
       -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" `
       -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE `
@@ -308,7 +308,7 @@ if (-not (Test-Path -PathType Container "$RootDir/pinocchio/build")) {
 Set-Location -Path "$RootDir/pinocchio/build"
 cmake "$RootDir/pinocchio" -Wno-dev -G "Visual Studio 16 2019" -T "v142" -DCMAKE_GENERATOR_PLATFORM=x64 `
       -DCMAKE_POLICY_DEFAULT_CMP0091=NEW -DCMAKE_MSVC_RUNTIME_LIBRARY="MultiThreaded$<$<CONFIG:Debug>:Debug>DLL" `
-      -DCMAKE_CXX_STANDARD=14 -DCMAKE_INSTALL_PREFIX="$InstallDir" `
+      -DCMAKE_CXX_STANDARD=14 -DCMAKE_INSTALL_PREFIX="$InstallDir" -DCMAKE_INTERPROCEDURAL_OPTIMIZATION=ON `
       -DCMAKE_PREFIX_PATH="$InstallDir" -DPYTHON_EXECUTABLE="$PYTHON_EXECUTABLE" `
       -DBOOST_ROOT="$InstallDir" -DBoost_INCLUDE_DIR="$InstallDir/include" `
       -DBoost_NO_SYSTEM_PATHS=TRUE -DBoost_NO_BOOST_CMAKE=TRUE `

build_tools/cmake/base.cmake

@@ -82,147 +82,6 @@ if(LEGACY_MODE)
 endif()
 list(APPEND CMAKE_PREFIX_PATH "/opt/openrobots/")
 
-# Get the required information to build Python bindings
-if(BUILD_PYTHON_INTERFACE)
-    # Get Python executable and version
-    if(NOT DEFINED PYTHON_EXECUTABLE)
-        if(${CMAKE_VERSION} VERSION_LESS "3.12.4")
-            if(PYTHON_REQUIRED_VERSION)
-                message(FATAL_ERROR "Impossible to handle PYTHON_REQUIRED_VERSION for cmake older than 3.12.4, Cmake will exit.")
-            endif()
-            find_program(PYTHON_EXECUTABLE python)
-            if(NOT PYTHON_EXECUTABLE)
-                message(FATAL_ERROR "No Python executable found, CMake will exit.")
-            endif()
-        else()
-            if(PYTHON_REQUIRED_VERSION)
-                find_package(Python ${PYTHON_REQUIRED_VERSION} EXACT REQUIRED COMPONENTS Interpreter)
-            else()
-                find_package(Python REQUIRED COMPONENTS Interpreter)
-            endif()
-            set(PYTHON_EXECUTABLE "${Python_EXECUTABLE}")
-        endif()
-    endif()
-
-    execute_process(COMMAND "${PYTHON_EXECUTABLE}" -c
-                            "import sys; sys.stdout.write(';'.join([str(x) for x in sys.version_info[:3]]))"
-                    OUTPUT_STRIP_TRAILING_WHITESPACE
-                    OUTPUT_VARIABLE _VERSION)
-    string(REPLACE ";" "." PYTHON_VERSION_STRING "${_VERSION}")
-    list(GET _VERSION 0 PYTHON_VERSION_MAJOR)
-    list(GET _VERSION 1 PYTHON_VERSION_MINOR)
-    list(GET _VERSION 2 PYTHON_VERSION_PATCH)
-    set(PYTHON_VERSION "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}")
-    if(${PYTHON_VERSION_MAJOR} EQUAL 3)
-        message(STATUS "Found PythonInterp: ${PYTHON_EXECUTABLE} (found version \"${PYTHON_VERSION_STRING}\")")
-    else()
-        message(FATAL_ERROR "Python3 is required if BUILD_PYTHON_INTERFACE=ON.")
-    endif()
-
-    # Get Python system and user site-packages
-    execute_process(COMMAND "${PYTHON_EXECUTABLE}" -c
-                            "import sysconfig; print(sysconfig.get_paths()['purelib'])"
-                    OUTPUT_STRIP_TRAILING_WHITESPACE
-                    OUTPUT_VARIABLE PYTHON_SYS_SITELIB)
-    message(STATUS "Python system site-packages: ${PYTHON_SYS_SITELIB}")
-    execute_process(COMMAND "${PYTHON_EXECUTABLE}" -m site --user-site
-                    OUTPUT_STRIP_TRAILING_WHITESPACE
-                    OUTPUT_VARIABLE PYTHON_USER_SITELIB)
-    message(STATUS "Python user site-package: ${PYTHON_USER_SITELIB}")
-
-    # Check write permissions on Python system site-package to
-    # determine whether to use user site as fallback.
-    # It also sets the installation flags
-    if(NOT WIN32)
-        execute_process(COMMAND bash -c
-                                "if test -w ${PYTHON_SYS_SITELIB} ; then echo 0; else echo 1; fi"
-                        OUTPUT_STRIP_TRAILING_WHITESPACE
-                        OUTPUT_VARIABLE HAS_NO_WRITE_PERMISSION_ON_PYTHON_SYS_SITELIB)
-    else()
-        set(HAS_NO_WRITE_PERMISSION_ON_PYTHON_SYS_SITELIB FALSE)
-    endif()
-
-    set(PYTHON_INSTALL_FLAGS "--use-feature=2020-resolver ")
-    if(${HAS_NO_WRITE_PERMISSION_ON_PYTHON_SYS_SITELIB})
-        set(PYTHON_INSTALL_FLAGS "${PYTHON_INSTALL_FLAGS} --user ")
-        set(PYTHON_SITELIB "${PYTHON_USER_SITELIB}")
-        message(STATUS "No right on Python system site-packages: ${PYTHON_SYS_SITELIB}. Installing on user site as fallback.")
-    else()
-        set(PYTHON_SITELIB "${PYTHON_SYS_SITELIB}")
-    endif()
-
-    # Get PYTHON_EXT_SUFFIX
-    set(PYTHON_EXT_SUFFIX "")
-    execute_process(COMMAND "${PYTHON_EXECUTABLE}" -c
-                            "from distutils.sysconfig import get_config_var; print(get_config_var('EXT_SUFFIX'))"
-                    OUTPUT_STRIP_TRAILING_WHITESPACE
-                    OUTPUT_VARIABLE PYTHON_EXT_SUFFIX)
-    if("${PYTHON_EXT_SUFFIX}" STREQUAL "")
-        if(NOT WIN32)
-            set(PYTHON_EXT_SUFFIX ".so")
-        else()
-            set(PYTHON_EXT_SUFFIX ".pyd")
-        endif()
-    ENDIF()
-
-    # Include Python headers
-    execute_process(COMMAND "${PYTHON_EXECUTABLE}" -c
-                            "import distutils.sysconfig as sysconfig; print(sysconfig.get_python_inc())"
-                    OUTPUT_STRIP_TRAILING_WHITESPACE
-                    OUTPUT_VARIABLE PYTHON_INCLUDE_DIRS)
-
-    # Add Python library directory to search path on Windows
-    if(WIN32)
-        get_filename_component(PYTHON_ROOT ${PYTHON_SYS_SITELIB} DIRECTORY)
-        get_filename_component(PYTHON_ROOT ${PYTHON_ROOT} DIRECTORY)
-        link_directories("${PYTHON_ROOT}/libs/")
-        message(STATUS "Found PythonLibraryDirs: ${PYTHON_ROOT}/libs/")
-    endif()
-
-    # Define NUMPY_INCLUDE_DIRS
-    find_package(NumPy REQUIRED)
-
-    # Define BOOST_PYTHON_LIB
-    find_package(Boost QUIET REQUIRED)
-    if(${Boost_MINOR_VERSION} GREATER_EQUAL 67)
-        # Make sure the shared library is found rather than the static one
-        set(Boost_USE_STATIC_LIBS OFF)
-        set(Boost_LIB_PREFIX "")
-        unset(Boost_LIBRARIES)
-        find_package(Boost REQUIRED COMPONENTS
-                    "python${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR}"
-                    "numpy${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR}")
-        set(BOOST_PYTHON_LIB "${Boost_LIBRARIES}")
-        unset(Boost_LIBRARIES)
-        if(WIN32)
-            set(Boost_LIB_PREFIX "lib")
-        endif()
-        set(Boost_USE_STATIC_LIBS ON)
-    else()
-        set(BOOST_PYTHON_LIB "boost_numpy3;boost_python3")
-    endif()
-    message(STATUS "Boost Python Libs: ${BOOST_PYTHON_LIB}")
-
-    # Define Python install helpers
-    function(deployPythonPackage)
-        # The input arguments are [TARGET_NAME...]
-        foreach(TARGET_NAME IN LISTS ARGN)
-            install(CODE "execute_process(COMMAND ${PYTHON_EXECUTABLE} -m pip install ${PYTHON_INSTALL_FLAGS} .
-                                          WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/pypi/${TARGET_NAME})
-                          execute_process(COMMAND ${PYTHON_EXECUTABLE} -m pip install ${PYTHON_INSTALL_FLAGS} --upgrade --no-deps --force-reinstall .
-                                          WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/pypi/${TARGET_NAME})")
-        endforeach()
-    endfunction()
-
-    function(deployPythonPackageDevelop)
-        # The input arguments are [TARGET_NAME...]
-        foreach(TARGET_NAME IN LISTS ARGN)
-            install(CODE "execute_process(COMMAND ${PYTHON_EXECUTABLE} -m pip install ${PYTHON_INSTALL_FLAGS} -e .
-                                          WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}/${TARGET_NAME})")
-        endforeach()
-    endfunction()
-endif()
-
 # Due to license considerations, we will only use the MPL2 parts of Eigen.
 set(EIGEN_MPL2_ONLY 1)