Update to fcl 0.6.1 and ci build for linux/win/mac using github actions

[CyrilWaechter]

This pull request kind of combine #21 and #18:

• Update to 0.6.1 with Update to FCL-0.6.1 #21 but fixed to be cross-platform
• Add windows build like Windows Build Script and Associated Documentation Per Platform #18 but:
  • based on fcl 0.6.1
  • same setup.py for all platform
  • add setup.cfg for static metadata and pyproject.toml to fine tune ci options
  • platform specific build script for dependencies
  • using github actions as ci provider to allow build simultaneously on linux/mac/windows.

[mikedh]

This is awesome! I checked with @mmatl a while back and he was cool with me merging one of the PR's updating to the latest version of FCL and the cross-platform stuff is also awesome. This looks like it did the work to combine those PR's and check via multiplatform builds. I'm happy to review/test/merge once builds/tests/conflicts are resolved, unless someone has strong objections.

[mmatl]

Thanks for the big PR! @mikedh @CyrilWaechter just let me know when this is fully ready and I can stage a deploy

[CyrilWaechter]

@mikedh @mmatl I did not expect an answer. Happy to see that the repo is more alive than I thought 😃 .

• I have rebased my branch on top of master to allow cleaner merge
• I have udated readme, setup.cfg, dockerfile and travis (in case you keep travis)
• I have split github actions workflows to upload wheels only on release (There is currently no auto-upload to pypi. A step can be added to perform this).

Let me know if you want me to fix/change something else.

[mmatl]

@CyrilWaechter Looks good to me! I'll go ahead and merge it now.

[mikedh]

It's not dead, it's just resting it's eyes haha. Getting those PR's across the line is a ton of work, thanks for taking it on!

I installed the wheels generated via this PR built for 3.8/manylinux, and with one minor issue my upstream tests worked. I did have to change data I was passing from float32 to float64 to get upstream tests to pass:

Traceback (most recent call last):
  File "/home/mikedh/trimesh/trimesh/collision.py", line 204, in add_object
    t = fcl.Transform(transform[:3, :3], transform[:3, 3])
ValueError: Buffer dtype mismatch, expected 'double' but got 'float'
ValueError: Buffer dtype mismatch, expected 'double' but got 'float'
Exception ignored in: 'fcl.fcl.numpy_to_vec3d'

If fcl.numpy_to_vec32 requires a float64/double, should it always convert in that function via a .astype?

Only other thought is I think we should probably drop Travis completely and just use Github actions.

[mmatl]

@mjd3 Could you merge this PR and do a deploy? I no longer have access rights to this repo, it appears.

[CyrilWaechter]

I installed the wheels generated via this PR built for 3.8/manylinux, and with one minor issue my upstream tests worked. I did have to change data I was passing from float32 to float64 to get upstream tests to pass:

Traceback (most recent call last):
  File "/home/mikedh/trimesh/trimesh/collision.py", line 204, in add_object
    t = fcl.Transform(transform[:3, :3], transform[:3, 3])
ValueError: Buffer dtype mismatch, expected 'double' but got 'float'
ValueError: Buffer dtype mismatch, expected 'double' but got 'float'
Exception ignored in: 'fcl.fcl.numpy_to_vec3d'

If fcl.numpy_to_vec32 requires a float64/double, should it always convert in that function via a .astype?

Sorry. I have no idea. @DmitryNeverov did the core work. I just fixed bvh path and work on the packaging side. On my side I just checked that all test were passing and that I was able to use clash detection tool from BlenderBIM Add-on which currently use python-fcl.

[DmitryNeverov]

@CyrilWaechter
Glad to see this eventually got some traction, thanks for pushing it forward.

I've left suggestions above that should fix

ValueError: Buffer dtype mismatch, expected 'double' but got 'float'

that @mikedh was facing.

[mikedh]

Awesome thanks @DmitryNeverov @Pebaz @CyrilWaechter for the fixes and all the work on the upgrade! I just checked the regenerated wheels and they fixed the only minor issue I was seeing. It looks like I still have merge privileges on this repo and I'm happy to merge this (I think it's ready to go), although I think the CI gnomes won't release to PyPi correctly until we do the following:

• @mmatl could you generate a PyPi repo access token for python-fcl?
• Could someone with admin on this repo (@mjd3?) add that token as PYPI_TOKEN (or something) secret to Github Actions? It looks like I can merge stuff here but not add secrets.
• I'll delete .travis.ci and add the PyPi release step in a followup PR.

That sound OK?

[mmatl]

@mikedh Sorry for the delay! Token has been generated, and @mjd3 will take care of getting it added to the repo's secrets. Feel free to perform the merge and add the github actions PR as soon as you have time.

[mjd3]

@mikedh token is added as PYPI_API_TOKEN to the repo's secrets. Let me know if you need any assistance with the GH Actions PR (although you probably have more experience with that than me)!

[mikedh]

Awesome thanks @mjd3 @mmatl! I'll block off an afternoon and get this released, I'll let you know if I run in to trouble haha.

[szobov]

Hi there,
Thanks a lot for this update,
Any chance it will be released soon?
Cheers