Merge remote-tracking branch 'origin/production' into order-independe…

…nt-rendering

.github/workflows/ci.yaml

@@ -0,0 +1,104 @@
+name: CI
+
+on:
+  push:
+
+jobs:
+  build:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        python-version: ['3.9']
+        os: [ubuntu-20.04]
+        architecture: ["x64"]
+
+    steps:
+    - uses: actions/checkout@v3
+    - name: Set up Python ${{ matrix.python-version }}
+      if: ${{ matrix.python-version != 'pyston' }}
+      uses: actions/setup-python@v4
+      with:
+        python-version: ${{ matrix.python-version }}
+        architecture: ${{ matrix.architecture }}
+    - name: Set up APT
+      run: |
+        sudo apt-get update -y
+        sudo apt-get -y install dirmngr gnupg apt-transport-https liblog4cxx-dev libopenscenegraph-dev libcoin-dev libsoqt520-dev
+        sudo apt-get -y install g++ gfortran git pkg-config debhelper gettext zlib1g-dev libminizip-dev libxml2-dev liburiparser-dev libpcre3-dev libgmp-dev libmpfr-dev qtbase5-dev libqt5opengl5-dev libavcodec-dev libavformat-dev libswscale-dev libsimage-dev libode-dev libqhull-dev libann-dev libhdf5-serial-dev liblapack-dev libboost-iostreams-dev libboost-regex-dev libboost-filesystem-dev libboost-system-dev libboost-thread-dev libboost-date-time-dev libboost-test-dev libmpfi-dev ffmpeg libtinyxml-dev libflann-dev sqlite3 libccd-dev libeigen3-dev libgpgme-dev libgpgmepp-dev
+        sudo apt-get update -y
+        sudo apt-get -y install cmake-data cmake cmake-curses-gui ninja-build
+    - name: Set up Python modules
+      run: |
+        python3 -m pip install nose==1.3.7 six==1.16.0
+        python3 -m pip install numpy==1.24.3 IPython==8.14.0
+        python3 -m pip install https://github.com/cielavenir/sympy/releases/download/0.7.1-py3/sympy-0.7.1-py3.tar.gz
+        python3 -m pip install scipy==1.10.1
+    - name: Install RapidJSON
+      run: |
+        set -e
+        git clone https://github.com/Tencent/rapidjson.git && mkdir rapidjson/build
+        cd rapidjson/build
+        # there are no stable version available
+        cmake .. -GNinja -DRAPIDJSON_HAS_STDSTRING=ON -DRAPIDJSON_BUILD_DOC=OFF -DRAPIDJSON_BUILD_EXAMPLES=OFF -DRAPIDJSON_BUILD_TESTS=OFF
+        ninja -j4 && sudo ninja install
+        cd ../..
+    - name: Install ASSIMP
+      run: |
+        set -e
+        git clone https://github.com/assimp/assimp.git && mkdir assimp/build
+        cd assimp/build
+        git checkout v5.2.5
+        cmake .. -GNinja
+        ninja -j4 && sudo ninja install
+        cd ../..
+    - name: Install Fcl
+      run: |
+        set -e
+        git clone https://github.com/rdiankov/fcl.git && mkdir fcl/build
+        cd fcl/build
+        git checkout origin/trimeshContactPoints20200813
+        cmake .. -GNinja -DFCL_BUILD_TESTS=OFF
+        ninja -j4 && sudo ninja install
+        cd ../..
+    - name: Install Pybind11
+      # Need patched version of pybind11:
+      #   File "/usr/local/lib/python3.11/site-packages/openravepy/_openravepy_/__main__.py", line 180, in main
+      #     for type in InterfaceType.values.values():
+      #         ^^^^^^^^^^^^^^^^^^^^
+      # AttributeError: type object 'openravepy._openravepy_.openravepy_int.InterfaceTy' has no attribute 'values'. Did you mean: 'value'?
+      run: |
+        set -e
+        git clone https://github.com/pybind/pybind11.git && mkdir pybind11/build
+        cd pybind11/build
+        # git remote add woody https://github.com/woodychow/pybind11.git
+        # git fetch woody
+        git remote add ciel https://github.com/cielavenir/pybind11.git
+        git fetch ciel
+        git checkout ciel/v2.9_ty
+
+        cmake .. -GNinja -DPYBIND11_TEST=OFF -DPythonLibsNew_FIND_VERSION=3
+        ninja -j4 && sudo ninja install
+        cd ../..
+    - name: Install msgpack-c
+      run: |
+        set -e
+        git clone https://github.com/msgpack/msgpack-c && mkdir msgpack-c/build
+        cd msgpack-c/build
+        git checkout cpp-6.0.0
+
+        cmake .. -GNinja -DMSGPACK_BUILD_EXAMPLES=OFF -DMSGPACK_BUILD_TESTS=OFF
+        ninja -j4 && sudo ninja install
+        cd ../..
+    - name: Install
+      run: |
+        set -e
+        mkdir -p build
+        cd build
+        cmake .. -GNinja -DUSE_PYBIND11_PYTHON_BINDINGS=ON -DOPT_PYTHON=OFF
+        ninja -j4 && sudo ninja install
+        cd ..
+    - name: Basic Test
+      # setup-python does not look at /usr/local/lib
+      # todo: check other tests
+      run: |
+        PYTHONPATH=/usr/local/lib/python3.9/site-packages OPENRAVE_DATA=$PWD/src python3 -m nose test/test_controller.py

CMakeLists.txt

@@ -4,8 +4,8 @@ set( CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS TRUE )
 
 # Define here the needed parameters
 set (OPENRAVE_VERSION_MAJOR 0)
-set (OPENRAVE_VERSION_MINOR 133)
-set (OPENRAVE_VERSION_PATCH 3)
+set (OPENRAVE_VERSION_MINOR 135)
+set (OPENRAVE_VERSION_PATCH 0)
 set (OPENRAVE_VERSION ${OPENRAVE_VERSION_MAJOR}.${OPENRAVE_VERSION_MINOR}.${OPENRAVE_VERSION_PATCH})
 set (OPENRAVE_SOVERSION ${OPENRAVE_VERSION_MAJOR}.${OPENRAVE_VERSION_MINOR})
 message(STATUS "Compiling OpenRAVE Version ${OPENRAVE_VERSION}, soversion=${OPENRAVE_SOVERSION}")
@@ -417,7 +417,7 @@ find_package(LibXml2 REQUIRED)
 
 add_library(openrave_gpgme IMPORTED INTERFACE)
 if (OPT_ENCRYPTION)
-  find_package(Gpgmepp 1.14 REQUIRED)
+  find_package(Gpgmepp 1.13 REQUIRED)
   target_link_libraries(openrave_gpgme INTERFACE Gpgmepp)
   target_compile_definitions(openrave_gpgme INTERFACE "OPENRAVE_ENCRYPTION=1")
 endif()

docs/source/changelog.rst

@@ -6,6 +6,28 @@ ChangeLog
 Unreleased
 ==========
 
+Version 0.135.0
+===============
+
+* Add an OBB intersection check function
+
+Version 0.134.2
+===============
+
+* Fixed ExtractAll not returning removed bodies correctly
+
+Version 0.134.1
+===============
+
+* Fixed QtCoinViewer SetUserText, fixing compilation
+
+Version 0.134.0
+===============
+
+* Add AABBFromOrientedBox
+
+* Add ViewerBase::SetUserText
+
 Version 0.133.3
 ===============