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mikedhmikedh
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Merge pull request #29 from CyrilWaechter/master
Update to fcl 0.6.1 and ci build for linux/win/mac using github actions
2 parents 779798d + 9c19f8a commit ffea96f

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‎.github/workflows/push.yml‎

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name: Build
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on: [push, pull_request]
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jobs:
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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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matrix:
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platform: [ubuntu-latest, macos-latest, windows-latest]
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steps:
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- uses: actions/checkout@v2
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- name: Build wheels
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uses: pypa/cibuildwheel@v2.0.0
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- uses: actions/upload-artifact@v2
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with:
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path: ./wheelhouse/*.whl

‎.github/workflows/release.yml‎

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name: Release
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on: release
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jobs:
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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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matrix:
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platform: [ubuntu-latest, macos-latest, windows-latest]
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steps:
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- uses: actions/checkout@v2
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- name: Build wheels
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uses: pypa/cibuildwheel@v2.0.0
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- uses: actions/upload-artifact@v2
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with:
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path: ./wheelhouse/*.whl
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- uses: xresloader/upload-to-github-release@v1
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env:
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GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
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with:
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file: ./wheelhouse/*.whl
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overwrite: true
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draft: false
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update_latest_release: true
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tag_name: v0.6.1

‎.gitignore‎

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.installed.cfg
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*.egg
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MANIFEST
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deps/
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# PyInstaller
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# Usually these files are written by a python script from a template
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# mypy
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.mypy_cache/
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# vscode settings
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.vscode/

‎.travis.yml‎

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

‎MANIFEST.in‎

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‎README.md‎

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

requirements/Dockerfile renamed to build_dependencies/Dockerfile

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

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mkdir -p deps
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cd deps
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get eigen
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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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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 v1.8.0 https://github.com/OctoMap/octomap.git
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rm -rf fcl
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git clone --depth 1 --branch v0.6.1 https://github.com/flexible-collision-library/fcl.git
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echo "Install eigen"
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cmake -B build -S eigen-3.3.9
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cmake --install build
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echo "Build and install libccd"
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cd libccd
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cmake .
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make -j4
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make install
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cd ..
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echo "Build and install octomap"
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cd octomap
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cmake .
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make -j4
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make install
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cd ..
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echo "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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make install
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cd ..
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cd ..

‎build_dependencies/install_macos.sh‎

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brew update > /dev/null
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# brew install git
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# brew install cmake
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# brew install eigen
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# brew install libccd
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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 ..

‎build_dependencies/install_windows.ps1‎

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

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