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mikedhmikedh
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Merge pull request #84 from mikedh/master
Wheel Builds For 3.13
2 parents 04312bb + 4f90b42 commit 4078aa1

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‎.github/workflows/push.yml‎

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@@ -15,20 +15,21 @@ jobs:
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python-version: "3.12"
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- name: ruff
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run: |
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pip install ruff
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ruff .
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pip install ruff==0.9.6
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ruff check .
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build_wheels:
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name: Build wheel on ${{matrix.platform}}
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runs-on: ${{matrix.platform}}
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strategy:
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fail-fast: false
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matrix:
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platform: [ubuntu-latest, macos-latest, windows-latest, macos-14]
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platform: [ubuntu-latest, macos-latest, windows-latest, macos-13]
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steps:
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- uses: actions/checkout@v3
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- uses: actions/checkout@v4
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- name: Build wheels
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uses: pypa/cibuildwheel@v2.16.5
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- uses: actions/upload-artifact@v3
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uses: pypa/cibuildwheel@v2.22.0
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- uses: actions/upload-artifact@v4
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with:
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path: ./wheelhouse/*.whl
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name: wheels-${{ matrix.platform }}

‎.github/workflows/release.yml‎

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runs-on: ${{matrix.platform}}
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strategy:
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matrix:
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platform: [ubuntu-latest, macos-latest, windows-latest, macos-14]
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platform: [ubuntu-latest, macos-latest, windows-latest, macos-13]
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steps:
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- uses: actions/checkout@v3
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- uses: actions/checkout@v4
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- name: Build wheels
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uses: pypa/cibuildwheel@v2.16.5
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- uses: actions/upload-artifact@v3
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uses: pypa/cibuildwheel@v2.22.0
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- uses: actions/upload-artifact@v4
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with:
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path: ./wheelhouse/*.whl
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name: wheels-${{ matrix.platform }}
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upload_pypi:
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name: Release To PyPi
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needs: [build_wheels]
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runs-on: ubuntu-latest
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permissions:
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id-token: write
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steps:
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- uses: actions/download-artifact@v3
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with:
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name: artifact
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path: dist
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- uses: pypa/gh-action-pypi-publish@v1.6.4
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with:
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user: __token__
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password: ${{ secrets.PYPI_API_TOKEN }}
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- uses: actions/setup-python@v4
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with:
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python-version: "3.12"
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- uses: actions/download-artifact@v4
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with:
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path: dist
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pattern: wheels-*
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merge-multiple: true
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- uses: pypa/gh-action-pypi-publish@v1.8.10
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create_release:
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name: Create GitHub Release
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runs-on: ubuntu-latest
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needs: [build_wheels]
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steps:
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- name: Checkout code
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uses: actions/checkout@v3
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uses: actions/checkout@v4
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with:
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fetch-depth: 2
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- name: Tag Version
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echo "tag_name=${VER}" >> $GITHUB_OUTPUT
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- uses: actions/download-artifact@v3
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with:
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name: artifact
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path: dist
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pattern: wheels-*
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merge-multiple: true
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- uses: ncipollo/release-action@v1.14.0
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with:
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artifacts: "dist/*"

‎build_dependencies/install_macos.sh‎

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# prevent brew from auto cleanup
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export HOMEBREW_NO_INSTALL_CLEANUP=1
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brew install fcl
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# mkdir -p deps
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# cd deps
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# # Octomap
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# git clone https://github.com/OctoMap/octomap
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# cd octomap
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# git checkout tags/v1.8.0
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# mkdir build
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# cd build
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# cmake ..
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# make
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# sudo make install
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# cd ..
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# cd ..
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# cd ..
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# exit immediately on any failed step
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set -xe
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pip install cmake
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mkdir -p deps
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cd deps
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curl -OL https://gitlab.com/libeigen/eigen/-/archive/3.3.9/eigen-3.3.9.tar.gz
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tar -zxf eigen-3.3.9.tar.gz
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mv eigen-3.3.9 eigen
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rm -rf libccd
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git clone --depth 1 --branch v2.1 https://github.com/danfis/libccd.git
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rm -rf octomap
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git clone --depth 1 --branch v1.9.8 https://github.com/OctoMap/octomap.git
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rm -rf fcl
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git clone --depth 1 --branch v0.7.0 https://github.com/ambi-robotics/fcl.git
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# Install eigen
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cmake -B build -S eigen
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sudo cmake --install build
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# Build and install libccd
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cd libccd
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cmake . -D ENABLE_DOUBLE_PRECISION=ON
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make -j4
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sudo make install
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cd ..
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# Build and install octomap
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cd octomap
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cmake . -D CMAKE_BUILD_TYPE=Release -D BUILD_OCTOVIS_SUBPROJECT=OFF -D BUILD_DYNAMICETD3D_SUBPROJECT=OFF
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make -j4
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sudo make install
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cd ..
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# Build and install fcl
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cd fcl
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cmake .
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make -j4
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sudo make install
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cd ..
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cd ..

‎examples/example.py‎

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import fcl
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import numpy as np
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import fcl
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def print_collision_result(o1_name, o2_name, result):
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print(f"Collision between {o1_name} and {o2_name}:")

‎pyproject.toml‎

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requires = [
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"setuptools",
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"wheel",
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"Cython<3.0",
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"Cython>=3.0",
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"numpy; python_version<'3.12'",
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"numpy>=1.26.0b1; python_version>='3.12'"]
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build-backend = "setuptools.build_meta"
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[project]
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name = "python-fcl"
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description = "Python bindings for the Flexible Collision Library"
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requires-python = ">=3.7"
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requires-python = ">=3.9"
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authors = [
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{name = "Jelle Feringa", email = "jelleferinga@gmail.com"},
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{name = "Matthew Matl", email = "mmatl@eecs.berkeley.edu"},
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[tool.cibuildwheel.macos]
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before-all = "bash build_dependencies/install_macos.sh"
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environment = { CPATH = "$(brew --prefix)/include:$(brew --prefix)/include/eigen3", LD_LIBRARY_PATH = "$(brew --prefix)/lib" }
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repair-wheel-command = "delocate-wheel -w {dest_dir} -v {wheel}"
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[tool.cibuildwheel.windows]
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before-all = "powershell build_dependencies\\install_windows.ps1"
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archs = ["AMD64"]
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‎src/fcl/fcl.pyx‎

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(&dist)[0] = <double?> py_r[1]
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return <bool?> py_r[0]
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cdef inline bool CollisionCallBack(defs.CollisionObjectd*o1, defs.CollisionObjectd*o2, void*cdata):
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cdef inline bool CollisionCallBack(defs.CollisionObjectd*o1, defs.CollisionObjectd*o2, void*cdata) noexcept:
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return (<CollisionFunction> cdata).eval_func(o1, o2)
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cdef inline bool DistanceCallBack(defs.CollisionObjectd*o1, defs.CollisionObjectd*o2, void*cdata, double& dist):
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cdef inline bool DistanceCallBack(defs.CollisionObjectd*o1, defs.CollisionObjectd*o2, void*cdata, double& dist) noexcept:
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return (<DistanceFunction> cdata).eval_func(o1, o2, dist)
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‎tests/test_fcl.py‎

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import unittest
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import fcl
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import numpy as np
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import fcl
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class TestFCL(unittest.TestCase):
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def setUp(self):

‎tests/test_precision.py‎

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import unittest
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import fcl
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import numpy as np
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import fcl
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# These test cases were added because there was a very sneaky crash that would occur
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# in the signed distance functions if all libs were not compiled with double precision

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