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

.github/workflows/push.yml

@@ -0,0 +1,18 @@
+name: Build
+
+on: [push, pull_request]
+
+jobs:
+  build_wheels:
+    name: Build wheel on ${{matrix.platform}}
+    runs-on: ${{matrix.platform}}
+    strategy:
+      matrix:
+        platform: [ubuntu-latest, macos-latest, windows-latest]
+    steps:
+    - uses: actions/checkout@v2
+    - name: Build wheels
+      uses: pypa/[email protected]
+    - uses: actions/upload-artifact@v2
+      with:
+        path: ./wheelhouse/*.whl

.github/workflows/release.yml

@@ -0,0 +1,27 @@
+name: Release
+
+on: release
+
+jobs:
+  build_wheels:
+    name: Build wheel on ${{matrix.platform}}
+    runs-on: ${{matrix.platform}}
+    strategy:
+      matrix:
+        platform: [ubuntu-latest, macos-latest, windows-latest]
+    steps:
+    - uses: actions/checkout@v2
+    - name: Build wheels
+      uses: pypa/[email protected]
+    - uses: actions/upload-artifact@v2
+      with:
+        path: ./wheelhouse/*.whl
+    - uses: xresloader/upload-to-github-release@v1
+      env:
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      with:
+        file: ./wheelhouse/*.whl
+        overwrite: true
+        draft: false
+        update_latest_release: true
+        tag_name: v0.6.1

.gitignore

@@ -25,6 +25,7 @@ wheels/
 .installed.cfg
 *.egg
 MANIFEST
+deps/
 
 # PyInstaller
 #  Usually these files are written by a python script from a template
@@ -103,3 +104,6 @@ venv.bak/
 
 # mypy
 .mypy_cache/
+
+# vscode settings
+.vscode/

.travis.yml

@@ -1,11 +1,5 @@
 env:
   global:
-  - CIBW_BEFORE_BUILD="yum install -y gcc && yum install -y glibc.i686 && pip install
-    numpy cython && cd requirements && bash install_cmake.bash && bash clone.bash
-    && bash build.bash"
-  - CIBW_TEST_REQUIRES="nose2"
-  - CIBW_TEST_COMMAND="cd {project}/test && nose2"
-  - CIBW_SKIP="cp33-* cp34-*"
   - TWINE_USERNAME=mmatl
 matrix:
   include:

README.md

@@ -1,11 +1,9 @@
 # python-fcl
 ### Python Interface for the Flexible Collision Library
 
-[![Build Status](https://travis-ci.org/BerkeleyAutomation/python-fcl.svg?branch=master)](https://travis-ci.org/BerkeleyAutomation/python-fcl)
-
 Python-FCL is an (unofficial) Python interface for the [Flexible Collision Library (FCL)](https://github.com/flexible-collision-library/fcl),
 an excellent C++ library for performing proximity and collision queries on pairs of geometric models.
-Currently, this package is targeted for FCL 0.5.0.
+Currently, this package is targeted for FCL 0.6.1.
 
 This package supports three types of proximity queries for pairs of geometric models:
 * __Collision Detection__: Detecting whether two models overlap (and optionally where).

blender_requirements.txt

@@ -0,0 +1,2 @@
+numpy==1.19.5
+Cython

requirements/Dockerfile → build_dependencies/Dockerfile

@@ -6,33 +6,24 @@
 # ln -sf requirements/Dockerfile .
 # docker build . -t pythonfcl
 
-FROM quay.io/pypa/manylinux1_x86_64:latest
-
-
-RUN yum install -y gcc 
-
-# install cmake 2.8.12
-COPY requirements/install_cmake.bash .
-RUN bash install_cmake.bash
-
-# clone FCL and libccd
-# the exact checkouts are in clone.bash
-COPY requirements/clone.bash .
-RUN bash clone.bash
+FROM quay.io/pypa/manylinux2010_x86_64:latest
 
 # build and install libccd and fcl using cmake
-COPY requirements/build.bash .
-RUN bash build.bash
+COPY build_dependencies/install_linux.sh .
+RUN bash install_linux.sh
 
 # manylinux includes a bunch of pythons
 # to test with others change this env variable
 #ENV PATH=/opt/python/cp27-cp27m/bin:$PATH
-ENV PATH=/opt/python/cp36-cp36m/bin:$PATH
+ENV PATH=/opt/python/cp39-cp39/bin:$PATH
 
 # we need numpy to build python-fcl
 # since we set our path we'll be using the right pip
 RUN pip install numpy cython
 
 # build the python-fcl module
 COPY . /python_fcl
-RUN cd /python_fcl && python setup.py build_ext
+RUN pip wheel /python_fcl --no-deps -w wheelhouse/
+RUN pip install /python_fcl --no-index -f  /wheelhouse
+RUN ls /wheelhouse
+RUN auditwheel repair wheelhouse/python_fcl-0.6.1-cp39-cp39-linux_x86_64.whl --plat manylinux2010_x86_64 -w /wheelhouse

build_dependencies/install_linux.sh

@@ -0,0 +1,41 @@
+mkdir -p deps
+cd deps
+get eigen
+curl -OL https://gitlab.com/libeigen/eigen/-/archive/3.3.9/eigen-3.3.9.tar.gz
+tar -zxf eigen-3.3.9.tar.gz
+
+rm -rf libccd
+git clone --depth 1 --branch v2.1 https://github.com/danfis/libccd.git
+
+rm -rf octomap 
+git clone --depth 1 --branch v1.8.0 https://github.com/OctoMap/octomap.git
+
+rm -rf fcl
+git clone --depth 1 --branch v0.6.1 https://github.com/flexible-collision-library/fcl.git
+
+echo "Install eigen"
+cmake -B build -S eigen-3.3.9
+cmake --install build
+
+echo "Build and install libccd"
+cd libccd
+cmake .
+make -j4
+make install
+cd ..
+
+echo "Build and install octomap"
+cd octomap 
+cmake .
+make -j4
+make install
+cd ..
+
+echo "Build and install fcl"
+cd fcl
+cmake .
+make -j4
+make install
+cd ..
+
+cd ..

build_dependencies/install_macos.sh

@@ -0,0 +1,23 @@
+brew update > /dev/null
+
+# brew install git
+# brew install cmake
+# brew install eigen
+# brew install libccd
+brew install fcl
+
+# mkdir -p deps
+# cd deps
+# # Octomap
+# git clone https://github.com/OctoMap/octomap
+# cd octomap
+# git checkout tags/v1.8.0
+# mkdir build
+# cd build
+# cmake ..
+# make
+# sudo make install
+
+# cd ..
+# cd ..
+# cd ..

build_dependencies/install_windows.ps1

@@ -0,0 +1,104 @@
+<#
+Originally based on script written by Pebaz (https://github.com/Pebaz/python-fcl/blob/master/requirements/build_win32.ps1)
+but with many modification in order to use fcl 0.6.1 and install dependencies without admin rights.
+
+This script builds fcl and it's dependencies for python-fcl on Windows.
+
+It downloads, builds, installs:
+ * fcl
+ * libccd
+ * eigen
+ * octomap
+#>
+
+# Remember starting location for future usage
+$base_dir = Get-Location
+
+# Create a directory that encapsulates all dependencies
+mkdir -p deps; Set-Location deps
+
+# Build options
+$generator = "Visual Studio 16 2019"
+
+# All compiled depencies will be install in following folder
+$install_dir = "$base_dir\deps\install"
+
+
+#------------------------------------------------------------------------------
+# Eigen
+Write-Host "Building Eigen"
+$eigen_ver = "3.3.9"
+Invoke-WebRequest -Uri https://gitlab.com/libeigen/eigen/-/archive/$eigen_ver/eigen-$eigen_ver.tar.gz -Outfile eigen-$eigen_ver.tar.gz
+tar -zxf "eigen-$eigen_ver.tar.gz"
+Set-Location "eigen-$eigen_ver"
+
+cmake -B build `
+    -D CMAKE_BUILD_TYPE=Release `
+    -G $generator `
+    -D BUILD_SHARED_LIBS=ON `
+    -D CMAKE_INSTALL_PREFIX=$install_dir
+cmake --install build
+
+Set-Location ..
+
+
+# ------------------------------------------------------------------------------
+# LibCCD
+Write-Host "Building LibCCD"
+git clone --depth 1 --branch v2.1 https://github.com/danfis/libccd
+Set-Location libccd
+
+cmake -B build `
+    -D CMAKE_BUILD_TYPE=Release `
+    -G $generator `
+    -D BUILD_SHARED_LIBS=ON `
+    -D CMAKE_INSTALL_PREFIX=$install_dir
+cmake --build build --config Release --target install
+
+Set-Location ..
+
+
+# ------------------------------------------------------------------------------
+# Octomap
+Write-Host "Building Octomap"
+git clone --depth 1 --branch v1.8.0 https://github.com/OctoMap/octomap
+Set-Location octomap
+
+cmake -B build `
+    -D CMAKE_PREFIX_PATH=$install_dir `
+    -D CMAKE_BUILD_TYPE=Release `
+    -G $generator `
+    -D BUILD_SHARED_LIBS=ON `
+    -D CMAKE_INSTALL_PREFIX=$install_dir `
+    -D BUILD_OCTOVIS_SUBPROJECT=OFF `
+    -D BUILD_DYNAMICETD3D_SUBPROJECT=OFF
+cmake --build build --config Release
+cmake --build build --config Release --target install
+
+Set-Location ..
+
+# ------------------------------------------------------------------------------
+# FCL
+Write-Host "Building FCL"
+git clone --depth 1 --branch v0.6.1 https://github.com/flexible-collision-library/fcl
+Set-Location fcl
+
+cmake -B build `
+    -D CMAKE_PREFIX_PATH=$install_dir `
+    -D CMAKE_BUILD_TYPE=Release `
+    -G $generator `
+    -D CMAKE_INSTALL_PREFIX=$install_dir
+
+cmake --build build --config Release --target install
+Set-Location ..
+
+# ------------------------------------------------------------------------------
+# Python-FCL
+
+Write-Host "Copying dependent DLLs"
+Copy-Item $install_dir\bin\octomap.dll $base_dir\src\fcl
+Copy-Item $install_dir\bin\octomath.dll $base_dir\src\fcl
+Copy-Item $install_dir\bin\ccd.dll $base_dir\src\fcl
+
+Set-Location $base_dir
+Write-Host "All done!"

build_dependencies/install_windows_ci.ps1

@@ -0,0 +1,29 @@
+<#
+This script install precompiled dependencies to build python-fcl on Windows:
+ * fcl
+ * libccd
+ * eigen
+ * octomap
+#>
+
+# Remember starting location for future usage
+$base_dir = Get-Location
+# Binaries folder
+$install_dir = "$base_dir\deps\install"
+
+
+$file_name = "PrecompiledDependenciesWindows.zip"
+Invoke-WebRequest -Uri "https://github.com/CyrilWaechter/python-fcl/releases/download/v0.6.1/$file_name" -Outfile $file_name
+Expand-Archive $file_name -DestinationPath deps
+
+
+# ------------------------------------------------------------------------------
+# Python-FCL
+
+Write-Host "Copying dependent DLLs"
+Copy-Item $install_dir\bin\octomap.dll $base_dir\src\fcl
+Copy-Item $install_dir\bin\octomath.dll $base_dir\src\fcl
+Copy-Item $install_dir\bin\ccd.dll $base_dir\src\fcl
+
+Set-Location $base_dir
+Write-Host "All done!"