try building on mac rather than brewing

Author: mikedh

build_dependencies/install_macos.sh

@@ -1,20 +1,44 @@
-# prevent brew from auto cleanup
-export HOMEBREW_NO_INSTALL_CLEANUP=1
-
-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 ..
+# exit immediately on any failed step
+set -xe
+
+mkdir -p deps
+cd deps
+
+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 v1.9.8 https://github.com/OctoMap/octomap.git
+
+rm -rf fcl
+git clone --depth 1 --branch v0.7.0 https://github.com/ambi-robotics/fcl.git
+
+# Install eigen
+cmake -B build -S eigen-3.3.9
+cmake --install build
+
+# Build and install libccd
+cd libccd
+cmake . -D ENABLE_DOUBLE_PRECISION=ON
+make -j4
+make install
+cd ..
+
+# Build and install octomap
+cd octomap
+cmake . -D CMAKE_BUILD_TYPE=Release -D BUILD_OCTOVIS_SUBPROJECT=OFF -D BUILD_DYNAMICETD3D_SUBPROJECT=OFF
+make -j4
+make install
+cd ..
+
+# Build and install fcl
+cd fcl
+cmake .
+make -j4
+make install
+cd ..
+
+cd ..