upgrade to fcl 0.7.0, octomap 1.9.8 (#51)

.github/workflows/push.yml

@@ -10,7 +10,7 @@ jobs:
     - name: Check out source repository
       uses: actions/checkout@v2
     - name: Set up Python environment
-      uses: actions/setup-python@v2
+      uses: actions/setup-python@v3
       with:
         python-version: 3.9
     - name: flake8
@@ -24,12 +24,13 @@ jobs:
     name: Build wheel on ${{matrix.platform}}
     runs-on: ${{matrix.platform}}
     strategy:
+      fail-fast: false
       matrix:
         platform: [ubuntu-latest, macos-latest, windows-latest]
     steps:
     - uses: actions/checkout@v2
     - name: Build wheels
-      uses: pypa/cibuildwheel@v2.0.0
-    - uses: actions/upload-artifact@v2
+      uses: pypa/cibuildwheel@v2.7.0
+    - uses: actions/upload-artifact@v3
       with:
         path: ./wheelhouse/*.whl

.github/workflows/release.yml

@@ -48,8 +48,8 @@ jobs:
     steps:
     - uses: actions/checkout@v2
     - name: Build wheels
-      uses: pypa/cibuildwheel@v2.0.0
-    - uses: actions/upload-artifact@v2
+      uses: pypa/cibuildwheel@v2.7.0
+    - uses: actions/upload-artifact@v3
       with:
         path: ./wheelhouse/*.whl
     - uses: xresloader/upload-to-github-release@v1
@@ -60,16 +60,17 @@ jobs:
         overwrite: true
         draft: false
         update_latest_release: true
-
+  
   upload_pypi:
-    needs: [build_wheels]
+    if: contains(needs.create_release.outputs.mod_files, 'src/fcl/version.py')
+    needs: [create_release, build_wheels]
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/download-artifact@v2
+      - uses: actions/download-artifact@v3
         with:
           name: artifact
           path: dist
-      - uses: pypa/gh-action-pypi-publish@v1.4.2
+      - uses: pypa/gh-action-pypi-publish@v1.5.0
         with:
           user: __token__
           password: ${{ secrets.PYPI_API_TOKEN }}

README.md

@@ -3,7 +3,7 @@
 
 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 0.6.1.
+Currently, this package is targeted for FCL 0.7.0.
 
 This package supports three types of proximity queries for pairs of geometric models:
 * __Collision Detection__: Detecting whether two models overlap (and optionally where).

build_dependencies/Dockerfile

@@ -1,10 +1,6 @@
 # NOTE: this docker file is only for local testing of the build
-# it should be copied or symlinked up one directory as docker
-# can't go into parent directories
 # example of testing a build locally:
-
-# ln -sf requirements/Dockerfile .
-# docker build . -t pythonfcl
+# docker build . -t pythonfcl -f build_dependencies/Dockerfile
 
 FROM quay.io/pypa/manylinux2010_x86_64:latest
 
@@ -24,6 +20,6 @@ RUN pip install numpy cython
 # build the python-fcl module
 COPY . /python_fcl
 RUN pip wheel /python_fcl --no-deps -w wheelhouse/
-RUN pip install /python_fcl --no-index -f  /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
+RUN auditwheel repair wheelhouse/python_fcl-0.7.0-cp39-cp39-linux_x86_64.whl -w /wheelhouse

build_dependencies/install_linux.sh

@@ -1,41 +1,44 @@
+# exit immediately on any failed step
+set -xe
+
 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
+git clone --depth 1 --branch v1.9.8 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
+git clone --depth 1 --branch v0.7.0 https://github.com/ambi-robotics/fcl.git
 
-echo "Install eigen"
+# Install eigen
 cmake -B build -S eigen-3.3.9
 cmake --install build
 
-echo "Build and install libccd"
+# Build and install libccd
 cd libccd
 cmake .
 make -j4
 make install
 cd ..
 
-echo "Build and install octomap"
+# Build and install octomap
 cd octomap 
-cmake .
+cmake . -D CMAKE_BUILD_TYPE=Release -D BUILD_OCTOVIS_SUBPROJECT=OFF -D BUILD_DYNAMICETD3D_SUBPROJECT=OFF
 make -j4
 make install
 cd ..
 
-echo "Build and install fcl"
+# Build and install fcl
 cd fcl
 cmake .
 make -j4
 make install
 cd ..
 
-cd ..
+cd ..

build_dependencies/install_windows.ps1

@@ -1,6 +1,6 @@
 <#
 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.
+but with many modifications in order to use fcl 0.7.0 and install dependencies without admin rights.
 
 This script builds fcl and it's dependencies for python-fcl on Windows.
 
@@ -18,9 +18,9 @@ $base_dir = Get-Location
 mkdir -p deps; Set-Location deps
 
 # Build options
-$generator = "Visual Studio 16 2019"
+$generator = "Visual Studio 17 2022"
 
-# All compiled depencies will be install in following folder
+# All compiled dependencies will be installed in following folder
 $install_dir = "$base_dir\deps\install"
 
 
@@ -61,7 +61,7 @@ Set-Location ..
 # ------------------------------------------------------------------------------
 # Octomap
 Write-Host "Building Octomap"
-git clone --depth 1 --branch v1.8.0 https://github.com/OctoMap/octomap
+git clone --depth 1 --branch v1.9.8 https://github.com/OctoMap/octomap
 Set-Location octomap
 
 cmake -B build `
@@ -80,7 +80,7 @@ Set-Location ..
 # ------------------------------------------------------------------------------
 # FCL
 Write-Host "Building FCL"
-git clone --depth 1 --branch v0.6.1 https://github.com/flexible-collision-library/fcl
+git clone --depth 1 --branch v0.7.0 https://github.com/ambi-robotics/fcl.git
 Set-Location fcl
 
 cmake -B build `

pyproject.toml

@@ -3,7 +3,7 @@ requires = ["setuptools", "wheel", "oldest-supported-numpy", "Cython"]
 build-backend = "setuptools.build_meta"
 
 [tool.cibuildwheel]
-skip = "pp*"
+skip = ["pp*", "*musllinux*"]
 test-requires = "pytest"
 test-command = "pytest {package}/tests"
 
@@ -15,5 +15,5 @@ archs = ["x86_64"]
 before-all = "bash build_dependencies/install_macos.sh"
 
 [tool.cibuildwheel.windows]
-before-all = "powershell build_dependencies\\install_windows_ci.ps1"
+before-all = "powershell build_dependencies\\install_windows.ps1"
 archs = ["AMD64"]

src/fcl/version.py

@@ -1 +1 @@
-__version__ = "0.6.11"
+__version__ = "0.7.0"