update docker file for manylinux build

Author: CyrilWaechter

requirements/Dockerfile

@@ -6,14 +6,7 @@
 # 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
+FROM quay.io/pypa/manylinux_2_24_x86_64:latest
 
 # clone FCL and libccd
 # the exact checkouts are in clone.bash
@@ -27,12 +20,15 @@ RUN bash build.bash
 # 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 manylinux_2_24_x86_64 -w /wheelhouse

requirements/build.bash

@@ -1,15 +1,22 @@
+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

requirements/clone.bash

@@ -1,24 +1,12 @@
 rm -rf libccd
-git clone https://github.com/danfis/libccd.git
-cd libccd
-git pull
-git checkout 64f02f741ac94fccd0fb660a5bffcbe6d01d9939
-cd ..
+git clone --depth 1 --branch v2.1 https://github.com/danfis/libccd.git
 
 rm -rf octomap 
-git clone https://github.com/OctoMap/octomap.git
-cd octomap
-git pull
-git checkout b8c1d62a7a64ce0a5df278503f31d73acafa97e4 
-cd ..
+git clone --depth 1 --branch v1.8.0 https://github.com/OctoMap/octomap.git
 
 rm -rf fcl
-git clone https://github.com/flexible-collision-library/fcl.git
-cd fcl
-git pull
-git checkout 22f375f333beccc10c527974cef96784f0841649
-cd ..
+git clone --depth 1 --branch v0.6.1 https://github.com/flexible-collision-library/fcl.git
 
 # get eigen
-#curl -OL https://github.com/RLovelett/eigen/archive/3.3.4.tar.gz
-#tar -zxvf 3.3.4.tar.gz
+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

requirements/install_cmake.bash

@@ -19,8 +19,9 @@
     if prefix in sys.platform:
         platform_supported = True
         include_dirs = ['/usr/include',
-                        '/usr/include',
-                        '/usr/include/eigen3']
+                        '/usr/local/include',
+                        '/usr/include/eigen3',
+                        '/usr/local/include/eigen3']
         lib_dirs = ['/usr/lib',
                     '/usr/local/lib']