WIP - HPP-FCL 3x

.git-blame-ignore-revs

@@ -1,5 +1,9 @@
 0067c8aa66aac548601e2a3fd029aa264cc59f2a
 76b68f785df31b00e153290b45ec290a9c5f7963
+# ruff --fix . (Guilhem Saurel, 2023-10-25)
+02cef56abfacee590c8444fd379c8837bf007fa1
+# black . (Guilhem Saurel, 2023-10-25)
+febfbcbe9c98cdb4e0c7bbf4554a6925b391834b
 # ruff --fix . (Guilhem Saurel, 2023-10-24)
 58dee5ae90eded5125825a2da0fe76a5031f3334
 # black . (Guilhem Saurel, 2023-10-24)

.github/workflows/conda/environment_macos_linux.yml

@@ -0,0 +1,22 @@
+name: fcl
+channels:
+  - conda-forge
+  - nodefaults
+dependencies:
+  - eigen
+  - octomap
+  - assimp
+  - numpy
+  - boost
+  - eigenpy
+  - python
+  - doxygen
+  - lxml
+  - pylatexenc
+  - qhull
+  - cmake
+  - ccache
+  - cxx-compiler
+  - llvm-openmp
+  - pkg-config
+  - ninja

.github/workflows/conda/conda-env.yml → .github/workflows/conda/environment_windows.yml

@@ -14,3 +14,7 @@ dependencies:
   - lxml
   - pylatexenc
   - qhull
+  - cmake
+  - ccache
+  - pkg-config
+  - ninja

.github/workflows/macos-linux-conda.yml

@@ -4,63 +4,75 @@ on: [push,pull_request]
 
 jobs:
   hpp-fcl-conda:
-    name: CI on ${{ matrix.os }} with Conda
+    name: CI on ${{ matrix.os }} with Conda Python ${{ matrix.python-version }} - ${{ matrix.build_type }} ${{ matrix.cxx_options }}
     runs-on: ${{ matrix.os }}
+    env:
+      CCACHE_BASEDIR: "${GITHUB_WORKSPACE}"
+      CCACHE_DIR: "${GITHUB_WORKSPACE}/.ccache"
+      CCACHE_COMPRESS: true
+      CCACHE_COMPRESSLEVEL: 6
 
     strategy:
       fail-fast: false
       matrix:
         os: ["ubuntu-latest", "macos-latest"]
         python-version: ["3.8", "3.12"]
+        cxx_options: ['', '-mavx2']
+        build_type: [Release, Debug]
+        exclude:
+          - build_type: Debug
+            cxx_options: -mavx2
+            os: macos-latest
+          - build_type: Release
+            cxx_options: -mavx2
+            os: macos-latest
 
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: recursive
 
-    - uses: conda-incubator/setup-miniconda@v2
+    - uses: actions/cache@v3
       with:
-        activate-environment: hpp-fcl
+        path: .ccache
+        key: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.cxx_options }}-${{ matrix.python-version }}-${{ github.sha }}
+        restore-keys: ccache-macos-linux-conda-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.cxx_options }}-${{ matrix.python-version }}-
+
+    - uses: conda-incubator/setup-miniconda@v3
+      with:
+        activate-environment: fcl
         auto-update-conda: true
-        environment-file: .github/workflows/conda/conda-env.yml
+        environment-file: .github/workflows/conda/environment_macos_linux.yml
         python-version: ${{ matrix.python-version }}
-
-    - name: Install compilers on OSX
-      if: contains(matrix.os, 'macos')
-      shell: bash -l {0}
-      run: |
-        conda activate hpp-fcl
-        conda install compilers=1.4.2 -c conda-forge
-
-    - name: Install cmake and update conda
-      shell: bash -l {0}
-      run: |
-        conda activate hpp-fcl
-        conda install cmake -c main
-        conda install llvm-openmp -c conda-forge
+        auto-activate-base: false
 
     - name: Build hpp-fcl
-      shell: bash -l {0}
+      shell: bash -el {0}
       run: |
-        conda activate hpp-fcl
         conda list
         echo $CONDA_PREFIX
 
         mkdir build
         cd build
 
-        cmake .. -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=$(which python3) -DGENERATE_PYTHON_STUBS=ON -DHPP_FCL_HAS_QHULL=ON
-        make -j2
-        make build_tests
-        export CTEST_OUTPUT_ON_FAILURE=1
-        make test
-        make install
+        cmake .. \
+          -G "Ninja" \
+          -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
+          -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
+          -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
+          -DCMAKE_CXX_FLAGS=${{ matrix.cxx_options }} \
+          -DPYTHON_EXECUTABLE=$(which python3) \
+          -DGENERATE_PYTHON_STUBS=ON \
+          -DHPP_FCL_HAS_QHULL=ON
+        cmake --build . -j2
+        ctest --output-on-failure
+        cmake --install .
 
     - name: Uninstall hpp-fcl
-      shell: bash -l {0}
+      shell: bash -el {0}
       run: |
         cd build
-        make uninstall
+        cmake --build . --target uninstall
 
   check:
     if: always()

.github/workflows/windows-conda-clang.yml

@@ -4,6 +4,12 @@ on: [push,pull_request]
 jobs:
   build:
     runs-on: ${{ matrix.os }}
+    env:
+      CCACHE_BASEDIR: "${GITHUB_WORKSPACE}"
+      CCACHE_DIR: "${GITHUB_WORKSPACE}/.ccache"
+      CCACHE_COMPRESS: true
+      CCACHE_COMPRESSLEVEL: 6
+
     strategy:
       fail-fast: false
       matrix:
@@ -15,42 +21,40 @@ jobs:
             compiler: clang-cl
 
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: recursive
-    - uses: conda-incubator/setup-miniconda@v2
-      env:
-        ACTIONS_ALLOW_UNSECURE_COMMANDS: 'true'
+
+    - uses: actions/cache@v3
+      with:
+        path: .ccache
+        key: ccache-windows-conda-clang-${{ matrix.os }}-${{ matrix.compiler }}-${{ github.sha }}
+        restore-keys: ccache-windows-conda-clang-${{ matrix.os }}-${{ matrix.compiler }}-
+
+    - uses: conda-incubator/setup-miniconda@v3
       with:
         activate-environment: fcl
-        environment-file: .github/workflows/conda/conda-env.yml
+        auto-update-conda: true
+        environment-file: .github/workflows/conda/environment_windows.yml
         python-version: "3.10"
-    - name: Install cmake and update conda
-      run: |
-        conda install cmake -c main
+        auto-activate-base: false
 
     - name: Build FCL
       shell: cmd /C CALL {0}
-      env:
-        ACTIONS_ALLOW_UNSECURE_COMMANDS: 'true'
       run: |
-        :: unset extra Boost envs
-        set Boost_ROOT=
-        set BOOST_ROOT_1_69_0=
-        set BOOST_ROOT_1_72_0=
-        set PATH=%PATH:C:\hostedtoolcache\windows\Boost\1.72.0;=%
-
         call "%programfiles(x86)%\Microsoft Visual Studio\2019\Enterprise\VC\Auxiliary\Build\vcvarsall.bat" amd64
+        :: Tell Ninja to use clang-cl
+        set CC=clang-cl
+        set CXX=clang-cl
 
         :: Create build
         mkdir build
         pushd build
 
-        :: Configure
-        set PKG_CONFIG_PATH=%CONDA_PREFIX%\Library\share\pkgconfig:%CONDA_PREFIX%\Library\share\pkgconfig
         cmake ^
-          -G "Visual Studio 16 2019" -T "ClangCl" -DCMAKE_GENERATOR_PLATFORM=x64 ^
+          -G "Ninja" ^
           -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library ^
+          -DCMAKE_CXX_COMPILER_LAUNCHER=ccache ^
           -DCMAKE_BUILD_TYPE=Release ^
           -DGENERATE_PYTHON_STUBS=ON ^
           -DPYTHON_SITELIB=%CONDA_PREFIX%\Lib\site-packages ^
@@ -65,7 +69,7 @@ jobs:
         if errorlevel 1 exit 1
 
         :: Testing
-        ctest --output-on-failure -C Release -V
+        ctest --output-on-failure -C Release
         if errorlevel 1 exit 1
 
         :: Test Python import

.github/workflows/windows-conda-v142.yml

@@ -4,6 +4,12 @@ on: [push,pull_request]
 jobs:
   build:
     runs-on: ${{ matrix.os }}
+    env:
+      CCACHE_BASEDIR: "${GITHUB_WORKSPACE}"
+      CCACHE_DIR: "${GITHUB_WORKSPACE}/.ccache"
+      CCACHE_COMPRESS: true
+      CCACHE_COMPRESSLEVEL: 6
+
     strategy:
       fail-fast: false
       matrix:
@@ -14,42 +20,38 @@ jobs:
             os: windows-2019
 
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: recursive
-    - uses: conda-incubator/setup-miniconda@v2
-      env:
-        ACTIONS_ALLOW_UNSECURE_COMMANDS: 'true'
+
+    - uses: actions/cache@v3
+      with:
+        path: .ccache
+        key: ccache-windows-conda-vs-${{ matrix.os }}-${{ matrix.compiler }}-${{ github.sha }}
+        restore-keys: ccache-windows-conda-vs-${{ matrix.os }}-${{ matrix.compiler }}-
+
+    - uses: conda-incubator/setup-miniconda@v3
       with:
         activate-environment: fcl
-        environment-file: .github/workflows/conda/conda-env.yml
+        auto-update-conda: true
+        environment-file: .github/workflows/conda/environment_windows.yml
         python-version: "3.10"
-    - name: Install cmake and update conda
-      run: |
-        conda install cmake -c main
+        auto-activate-base: false
 
     - name: Build FCL
       shell: cmd /C CALL {0}
-      env:
-        ACTIONS_ALLOW_UNSECURE_COMMANDS: 'true'
       run: |
-        :: unset extra Boost envs
-        set Boost_ROOT=
-        set BOOST_ROOT_1_69_0=
-        set BOOST_ROOT_1_72_0=
-        set PATH=%PATH:C:\hostedtoolcache\windows\Boost\1.72.0;=%
-
         call "%programfiles(x86)%\Microsoft Visual Studio\2019\Enterprise\VC\Auxiliary\Build\vcvarsall.bat" amd64
 
         :: Create build
         mkdir build
         pushd build
 
         :: Configure
-        set PKG_CONFIG_PATH=%CONDA_PREFIX%\Library\share\pkgconfig:%CONDA_PREFIX%\Library\share\pkgconfig
         cmake ^
-          -G "Visual Studio 16 2019" -T "v142" -DCMAKE_GENERATOR_PLATFORM=x64 ^
+          -G "Ninja" ^
           -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library ^
+          -DCMAKE_CXX_COMPILER_LAUNCHER=ccache ^
           -DCMAKE_BUILD_TYPE=Release ^
           -DGENERATE_PYTHON_STUBS=ON ^
           -DPYTHON_SITELIB=%CONDA_PREFIX%\Lib\site-packages ^
@@ -64,7 +66,7 @@ jobs:
         if errorlevel 1 exit 1
 
         :: Testing
-        ctest --output-on-failure -C Release -V
+        ctest --output-on-failure -C Release
         if errorlevel 1 exit 1
 
         :: Test Python import

.pre-commit-config.yaml

@@ -19,6 +19,6 @@ repos:
   hooks:
   - id: trailing-whitespace
 - repo: https://github.com/psf/black
-  rev: 23.12.1
+  rev: 24.1.1
   hooks:
   - id: black

CHANGELOG.md

@@ -6,13 +6,35 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 ## [Unreleased]
 
+### Fixed
+
+- CMake: fix assimp finder
+
 ## [2.4.1] - 2024-01-23
 
 ### Fixed
 - CachedMeshLoader checks file last modification time.
 - Fix call to clear methods for {Collision,Distance}Data inside init function ([#509](https://github.com/humanoid-path-planner/hpp-fcl/pull/509))
 - CMake: fix submodule use in bindings in ([#512](https://github.com/humanoid-path-planner/hpp-fcl/pull/512))
 - Fix bug in DynamicAABBTreeCollisionManager (see [#514](https://github.com/humanoid-path-planner/hpp-fcl/issues/514)) in ([#515](https://github.com/humanoid-path-planner/hpp-fcl/pull/515))
+### Added
+- In struct Contact
+  - Documentation of the members,
+  - initialization of normal, closest points and contact point in constructors
+  - method getDistanceToCollision
+- New variant of GJK (PolyakAcceleration).
+- Specialization of distance computation between
+  - Sphere and Capsule,
+  - Ellipsoid and Halfspace,
+  - Ellipsoid and Plane.
+- Collision computation between Octree and HeightField.
+
+### Changed
+- Matrixx3f and Matrixx3i become row major.
+- Use shared pointers to vectors instead of arrays for vertices and triangles in class BVHModelBase.
+
+### Removed
+- members related epa in class QueryRequest
 
 ## [2.4.0] - 2023-11-27
 

CMakeLists.txt

@@ -77,7 +77,7 @@ include("${JRL_CMAKE_MODULES}/ide.cmake")
 include(CMakeDependentOption)
 
 SET(CMAKE_MODULE_PATH
-  ${CMAKE_SOURCE_DIR}/cmake-modules/
+  ${JRL_CMAKE_MODULES}/find-external/assimp/
   ${CMAKE_MODULE_PATH})
 
 set_default_cmake_build_type("RelWithDebInfo")
@@ -107,7 +107,7 @@ CMAKE_DEPENDENT_OPTION(GENERATE_PYTHON_STUBS "Generate the Python stubs associat
 ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED PKG_CONFIG_REQUIRES "eigen3 >= 3.0.0")
 
 if(BUILD_PYTHON_INTERFACE)
-  FIND_PACKAGE(eigenpy 2.7.10 REQUIRED)
+  FIND_PACKAGE(eigenpy 2.9.2 REQUIRED)
 endif()
 
 # Required dependencies
@@ -243,7 +243,6 @@ SET(${PROJECT_NAME}_HEADERS
   include/hpp/fcl/BVH/BVH_utility.h
   include/hpp/fcl/collision_object.h
   include/hpp/fcl/collision_utility.h
-  include/hpp/fcl/octree.h
   include/hpp/fcl/hfield.h
   include/hpp/fcl/fwd.hh
   include/hpp/fcl/mesh_loader/assimp.h
@@ -257,7 +256,6 @@ SET(${PROJECT_NAME}_HEADERS
   include/hpp/fcl/internal/traversal_node_bvh_shape.h
   include/hpp/fcl/internal/traversal_node_bvhs.h
   include/hpp/fcl/internal/traversal_node_hfield_shape.h
-  include/hpp/fcl/internal/traversal_node_octree.h
   include/hpp/fcl/internal/traversal_node_setup.h
   include/hpp/fcl/internal/traversal_node_shapes.h
   include/hpp/fcl/internal/traversal_recurse.h
@@ -282,6 +280,14 @@ SET(${PROJECT_NAME}_HEADERS
   include/hpp/fcl/timings.h
   )
 
+IF(HPP_FCL_HAS_OCTOMAP)
+  LIST(APPEND ${PROJECT_NAME}_HEADERS
+    include/hpp/fcl/octree.h
+    include/hpp/fcl/serialization/octree.h
+    include/hpp/fcl/internal/traversal_node_octree.h
+  )
+ENDIF(HPP_FCL_HAS_OCTOMAP)
+
 add_subdirectory(doc)
 add_subdirectory(src)
 if (BUILD_PYTHON_INTERFACE)