sapien: Add version 3.0.3

.github/workflows/build-sapien.yml

@@ -0,0 +1,242 @@
+# SPDX-FileCopyrightText: 2026 The RISE Project
+# SPDX-License-Identifier: MIT
+#
+# Upstream builds libsapien and the Python bindings as two separate CMake
+# stages (setup.py --sapien-only then --pybind-only per interpreter, scripts/
+# build.sh / build_aarch64.sh) rather than via cibuildwheel; this workflow
+# follows the same shape, driving the manylinux image directly instead of a
+# matrix per interpreter so the expensive C++ world (PhysX, svulkan2 and its
+# FetchContent deps) is only built once. PhysX has no riscv64 precompiled
+# archive, so it's built from source from sapien-sim/PhysX (the exact fork
+# SAPIEN pins, not raw NVIDIA-Omniverse/PhysX) and fed back in via
+# SAPIEN_PHYSX5_DIR. GPU PhysX, CUDA and OpenImageDenoise are all off
+# (SAPIEN_CUDA defaults OFF without a CUDA_PATH).
+name: Build sapien wheels (riscv64)
+
+on:
+  workflow_dispatch:
+    inputs:
+      version:
+        description: 'Version glob to (re)build; empty builds every version of docs/packages/sapien.yaml not released yet'
+        required: false
+        default: ''
+  pull_request:
+    branches: [main]
+    paths:
+      - '.github/workflows/build-sapien.yml'
+      - 'docs/packages/sapien.yaml'
+      - 'patches/sapien/**'
+  push:
+    branches: [main]
+    paths:
+      - '.github/workflows/build-sapien.yml'
+      - 'docs/packages/sapien.yaml'
+      - 'patches/sapien/**'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
+permissions:
+  contents: read
+
+env:
+  MANYLINUX_RISCV64_IMAGE: quay.io/pypa/manylinux_2_39_riscv64
+  PIP_EXTRA_INDEX_URL: https://pypi.riseproject.dev/simple/
+  PHYSX_TAG: 105.1-physx-5.3.1.patch0
+  AUDITWHEEL_FORK_REF: fe61bcdfb78f3955d9a3b6fbb05e3852c32239b0
+
+jobs:
+  setup:
+    uses: $/.github/workflows/_setup.yml
+    with:
+      package: sapien
+      version: ${{ inputs.version }}
+
+  build_wheels:
+    needs: [setup]
+    if: needs.setup.outputs.versions != '[]'
+    name: Build sapien ${{ matrix.version }}-manylinux_riscv64
+    runs-on: ubuntu-24.04-riscv
+    timeout-minutes: 1440
+    strategy:
+      fail-fast: false
+      matrix:
+        version: ${{ fromJSON(needs.setup.outputs.versions) }}
+
+    env:
+      SAPIEN_VERSION: ${{ matrix.version }}
+
+    steps:
+      - name: Checkout haosulab/SAPIEN ${{ env.SAPIEN_VERSION }}
+        uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1  # v7.0.1
+        with:
+          repository: haosulab/SAPIEN
+          ref: ${{ env.SAPIEN_VERSION }}
+          submodules: recursive
+          path: sapien
+          persist-credentials: false
+
+      - name: Checkout sapien-sim/PhysX ${{ env.PHYSX_TAG }}
+        uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1  # v7.0.1
+        with:
+          repository: sapien-sim/PhysX
+          ref: ${{ env.PHYSX_TAG }}
+          path: physx-src
+          persist-credentials: false
+
+      - name: Checkout python-wheels
+        uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1  # v7.0.1
+        with:
+          path: python-wheels
+          persist-credentials: false
+
+      - name: Apply riscv64 patches
+        run: |
+          set -eux
+          PATCH_DIR="$PWD/python-wheels/patches/sapien/${SAPIEN_VERSION}"
+          cd physx-src
+          git apply -v "$PATCH_DIR"/0001-physx-foundation-add-riscv64-to-PX_P64_FAMILY.patch
+          git apply -v "$PATCH_DIR"/0002-physx-serialization-add-riscv64-binary-platform-tag.patch
+          git apply -v "$PATCH_DIR"/0003-physx-cmake-extend-aarch64-warning-relaxation-to-riscv64.patch
+          cd ../sapien
+          git apply -v "$PATCH_DIR"/0004-cmake-skip-cuda-language-on-riscv64.patch
+          git apply -v "$PATCH_DIR"/0005-cmake-physx5-add-riscv64-library-path.patch
+          git apply -v "$PATCH_DIR"/0006-setup.py-plumb-sapien_physx5_dir.patch
+          git apply -v "$PATCH_DIR"/0007-svulkan2-openvr-add-riscv64-branch.patch
+
+      - name: Build PhysX, SAPIEN core and the Python wheels
+        run: |
+          mkdir -p output "$HOME/.cache/sapien-ccache"
+          docker run -i --rm \
+            -v "$PWD/sapien:/sapien" \
+            -v "$PWD/physx-src:/physx-src" \
+            -v "$PWD/output:/output" \
+            -v "$HOME/.cache/sapien-ccache:/ccache" \
+            -e CCACHE_DIR=/ccache \
+            -e PIP_EXTRA_INDEX_URL \
+            -e AUDITWHEEL_FORK_REF \
+            -e CMAKE_BUILD_PARALLEL_LEVEL=4 \
+            "$MANYLINUX_RISCV64_IMAGE" bash -s <<'SAPIEN_BUILD_EOF'
+          #!/usr/bin/env bash
+          set -euxo pipefail
+
+          dnf install -y --setopt=install_weak_deps=False \
+            ninja-build \
+            libXinerama-devel libXrandr-devel libXcursor-devel libXi-devel \
+            wayland-devel libxkbcommon-devel wayland-protocols-devel
+
+          PYBIN0=/opt/python/cp312-cp312/bin
+          export PATH="$PYBIN0:$PATH"
+          "$PYBIN0/pip" install -U "git+https://github.com/fbxiang/auditwheel.git@${AUDITWHEEL_FORK_REF}"
+          cat > /usr/local/bin/auditwheel <<AW_EOF
+          #!${PYBIN0}/python
+          import re, sys
+          from auditwheel.main import main
+          if __name__ == "__main__":
+              sys.argv[0] = re.sub(r"(-script\.pyw|\.exe)?\$", "", sys.argv[0])
+              sys.exit(main())
+          AW_EOF
+          chmod +x /usr/local/bin/auditwheel
+
+          # No riscv64 PhysX precompiled archive exists (sapien-sim/physx-precompiled
+          # ships macOS/linux-aarch64/linux-x86_64/windows only), so build it from
+          # source. TARGET_BUILD_PLATFORM=linux is PhysX's generic Linux build used
+          # for x86_64 and aarch64 alike (the real per-arch logic lives in
+          # source/compiler/cmake/linux/CMakeLists.txt, keyed off
+          # CMAKE_SYSTEM_PROCESSOR) -- there is no separate riscv64 preset to add.
+          PHYSX_INSTALL=/tmp/physx_install
+          mkdir -p "$PHYSX_INSTALL/bin/linux.riscv64/release"
+          command -v ccache >/dev/null 2>&1 && \
+            PHYSX_CCACHE_ARGS="-DCMAKE_C_COMPILER_LAUNCHER=ccache -DCMAKE_CXX_COMPILER_LAUNCHER=ccache" || \
+            PHYSX_CCACHE_ARGS=""
+          cmake -S /physx-src/physx/compiler/public -B /tmp/physx_build -G Ninja \
+            -DTARGET_BUILD_PLATFORM=linux \
+            -DPHYSX_ROOT_DIR=/physx-src/physx \
+            -DPX_OUTPUT_LIB_DIR=/physx-src/physx \
+            -DPX_OUTPUT_BIN_DIR=/physx-src/physx \
+            -DPX_GENERATE_STATIC_LIBRARIES=1 \
+            -DPX_BUILDSNIPPETS=0 \
+            -DPX_BUILDPVDRUNTIME=0 \
+            -DCMAKE_BUILD_TYPE=release \
+            ${PHYSX_CCACHE_ARGS}
+          cmake --build /tmp/physx_build
+          find /physx-src/physx/bin -name 'libPhysX*_static_64.a' \
+            -exec cp {} "$PHYSX_INSTALL/bin/linux.riscv64/release/" \;
+          ls "$PHYSX_INSTALL/bin/linux.riscv64/release"
+          cp -r /physx-src/physx/include "$PHYSX_INSTALL/include"
+
+          cd /sapien
+          "$PYBIN0/python3" -m pip install -U setuptools wheel
+          command -v ccache >/dev/null 2>&1 && \
+            export CMAKE_C_COMPILER_LAUNCHER=ccache CMAKE_CXX_COMPILER_LAUNCHER=ccache
+          "$PYBIN0/python3" setup.py bdist_wheel --sapien-only \
+            --build-dir=sapien_build --physx5-dir="$PHYSX_INSTALL"
+
+          for PYTAG in cp312-cp312 cp313-cp313 cp314-cp314 cp314-cp314t; do
+            PYBIN=/opt/python/${PYTAG}/bin
+            "$PYBIN/python3" -m pip install -U setuptools wheel
+            "$PYBIN/python3" setup.py bdist_wheel --pybind-only \
+              --build-dir=sapien_build --physx5-dir="$PHYSX_INSTALL"
+          done
+
+          PACKAGE_VERSION=$("$PYBIN0/python3" setup.py --get-version)
+          mkdir -p /output
+          for whl in dist/sapien-"${PACKAGE_VERSION}"-*.whl; do
+            /usr/local/bin/auditwheel repair "$whl" \
+              --exclude 'libvulkan*' --exclude 'libOpenImageDenoise*' \
+              --exclude 'libm.so*' --exclude 'libc.so*' --exclude 'libdl.so*' --exclude 'libpthread.so*' \
+              --internal libsapien --internal libsvulkan2 \
+              -w /output
+          done
+          ls -la /output
+          SAPIEN_BUILD_EOF
+
+      - name: Test sapien wheel (physics only, no GPU/Vulkan on this runner)
+        run: |
+          docker run -i --rm \
+            -v "$PWD/output:/output" \
+            -e PIP_EXTRA_INDEX_URL \
+            "$MANYLINUX_RISCV64_IMAGE" bash -s <<'SAPIEN_TEST_EOF'
+          #!/usr/bin/env bash
+          set -euxo pipefail
+
+          for PYTAG in cp312-cp312 cp313-cp313 cp314-cp314 cp314-cp314t; do
+            PYBIN=/opt/python/${PYTAG}/bin
+            WHEEL=$(ls /output/sapien-*-"${PYTAG}"-manylinux_*riscv64.whl)
+            "$PYBIN/pip" install "$WHEEL"
+            "$PYBIN/python3" -c "
+          import sapien
+
+          scene = sapien.Scene()
+          scene.physx_system.timestep = 1 / 100
+          scene.create_actor_builder().add_box_collision(half_size=[1, 1, 1]).build_static()
+          for _ in range(10):
+              scene.step()
+          print('sapien physx smoke test OK:', sapien.__version__)
+          "
+          done
+          SAPIEN_TEST_EOF
+
+      - uses: actions/upload-artifact@043fb46d1a93c77aae656e7c1c64a875d1fc6a0a  # v7.0.1
+        with:
+          name: sapien-${{ env.SAPIEN_VERSION }}-manylinux_riscv64
+          path: output/*.whl
+          if-no-files-found: error
+
+  publish:
+    name: Publish sapien ${{ 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: ${{ secrets.RISEPROJECT_APP_PRIVATE_KEY }}
+    with:
+      artifact-pattern: sapien-${{ matrix.version }}-manylinux_riscv64

docs/packages/sapien.yaml

@@ -0,0 +1,5 @@
+package-name: sapien
+source-code: https://github.com/haosulab/SAPIEN
+license: Apache-2.0
+versions:
+- version: 3.0.3

patches/sapien/3.0.3/0001-physx-foundation-add-riscv64-to-PX_P64_FAMILY.patch

@@ -0,0 +1,62 @@
+From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
+From: Ludovic Henry <git@ludovic.dev>
+Date: Thu, 15 Oct 2026 00:00:00 +0000
+Subject: [PATCH] physx/foundation: add riscv64 to PX_P64_FAMILY
+
+Upstream-Status: To upstream [no riscv64 CI to validate against yet]
+
+PxPreprocessor.h's architecture block recognizes x86_64, i386, arm64,
+arm32 and ppc only; any other __riscv/__riscv_xlen==64 target falls
+through to `#error "Unknown architecture"`, which is a real compile
+blocker for riscv64 (not an untested-upstream SIMD path: this file
+never reaches a SIMD choice at all without first defining an arch).
+
+Add PX_RISCV64 as its own define, give it the usual `#ifndef ... 0
+#endif` default like every other arch macro, and fold it into
+PX_P64_FAMILY only (the 64-bit-pointer shortcut used by serialization
+and struct layout code) -- not PX_ARM_FAMILY or PX_INTEL_FAMILY, which
+riscv64 is neither. Downstream, COMPILE_VECTOR_INTRINSICS
+(PxVecMath.h) is gated on PX_INTEL_FAMILY || PX_SWITCH only, so once
+PX_RISCV64 exists, riscv64 automatically lands on PxVecMathAoSScalar.h
+-- the same scalar fallback aarch64's own precompiled Linux build
+already ships in production, not a new/untested code path.
+
+Signed-off-by: Ludovic Henry <git@ludovic.dev>
+---
+ physx/include/foundation/PxPreprocessor.h | 6 +++++-
+ 1 file changed, 5 insertions(+), 1 deletion(-)
+
+diff --git a/physx/include/foundation/PxPreprocessor.h b/physx/include/foundation/PxPreprocessor.h
+index 0000000..0000000 100644
+--- a/physx/include/foundation/PxPreprocessor.h
++++ b/physx/include/foundation/PxPreprocessor.h
+@@ -116,6 +116,8 @@
+ 	#define PX_ARM 1
+ #elif defined(__ppc__) || defined(_M_PPC) || defined(__CELLOS_LV2__)
+ 	#define PX_PPC 1
++#elif defined(__riscv) && (__riscv_xlen == 64)
++	#define PX_RISCV64 1
+ #else
+ 	#error "Unknown architecture"
+ #endif
+@@ -177,6 +179,9 @@
+ #ifndef PX_PPC
+ 	#define PX_PPC 0
+ #endif
++#ifndef PX_RISCV64
++	#define PX_RISCV64 0
++#endif
+ #ifndef PX_SSE2
+ 	#define PX_SSE2 0
+ #endif
+@@ -227,7 +232,7 @@
+ // architecture
+ #define PX_INTEL_FAMILY (PX_X64 || PX_X86)
+ #define PX_ARM_FAMILY (PX_ARM || PX_A64)
+-#define PX_P64_FAMILY (PX_X64 || PX_A64) // shortcut for 64-bit architectures
++#define PX_P64_FAMILY (PX_X64 || PX_A64 || PX_RISCV64) // shortcut for 64-bit architectures
+
+ /**
+ C++ standard library defines
+--
+2.50.1

patches/sapien/3.0.3/0002-physx-serialization-add-riscv64-binary-platform-tag.patch

@@ -0,0 +1,65 @@
+From 0000000000000000000000000000000000000000 Mon Sep 17 00:00:00 2001
+From: Ludovic Henry <git@ludovic.dev>
+Date: Thu, 15 Oct 2026 00:00:00 +0000
+Subject: [PATCH] physx/serialization: add riscv64 binary platform tag
+
+Upstream-Status: To upstream [no riscv64 CI to validate against yet]
+
+getBinaryPlatformTag() in SnSerialUtils.cpp is a real compile blocker
+on riscv64 independent of the PxPreprocessor.h arch define: with
+PX_RISCV64 now defined (previous patch), none of the existing
+PX_WINDOWS/PX_LINUX/PX_OSX/PX_SWITCH x PX_X86/PX_X64/PX_A64 branches
+match it, so it falls straight through to `#error Unknown binary
+platform`. Add a tenth table entry (FOURCC 'L','R','6','4', name
+"linuxriscv64") and the matching `#elif PX_LINUX && PX_RISCV64` branch,
+bumping SN_NUM_BINARY_PLATFORMS from 9 to 10 to match.
+
+Signed-off-by: Ludovic Henry <git@ludovic.dev>
+---
+ .../src/serialization/SnSerialUtils.cpp      | 10 ++++++++--
+ 1 file changed, 8 insertions(+), 2 deletions(-)
+
+diff --git a/physx/source/physxextensions/src/serialization/SnSerialUtils.cpp b/physx/source/physxextensions/src/serialization/SnSerialUtils.cpp
+index 0000000..0000000 100644
+--- a/physx/source/physxextensions/src/serialization/SnSerialUtils.cpp
++++ b/physx/source/physxextensions/src/serialization/SnSerialUtils.cpp
+@@ -39,6 +39,6 @@
+ {
+
+-#define SN_NUM_BINARY_PLATFORMS 9
++#define SN_NUM_BINARY_PLATFORMS 10
+ const PxU32 sBinaryPlatformTags[SN_NUM_BINARY_PLATFORMS] =
+ {
+ 	PX_MAKE_FOURCC('W','_','3','2'),
+@@ -49,7 +49,8 @@
+ 	PX_MAKE_FOURCC('M','_','6','4'),
+ 	PX_MAKE_FOURCC('N','X','3','2'),
+ 	PX_MAKE_FOURCC('N','X','6','4'),
+-	PX_MAKE_FOURCC('L','A','6','4')
++	PX_MAKE_FOURCC('L','A','6','4'),
++	PX_MAKE_FOURCC('L','R','6','4')
+ };
+
+ const char* sBinaryPlatformNames[SN_NUM_BINARY_PLATFORMS] =
+@@ -62,7 +63,8 @@
+ 	"mac64",
+ 	"switch32",
+ 	"switch64",
+-	"linuxaarch64"
++	"linuxaarch64",
++	"linuxriscv64"
+ };
+
+ }
+@@ -88,7 +90,9 @@
+ #elif PX_SWITCH && PX_A64
+ 	return sBinaryPlatformTags[7];
+ #elif PX_LINUX && PX_A64
+ 	return sBinaryPlatformTags[8];
++#elif PX_LINUX && PX_RISCV64
++	return sBinaryPlatformTags[9];
+ #else
+ 	#error Unknown binary platform
+ #endif
+--
+2.50.1