how to compile python-fcl wheel from source?

[jacky-ch93]

@mikedh
Hi, I want to compile python-fcl on windows, but failed. I do not know how to compile this wheel successfully? Thanks!
and It also failed by using the dockerfile or compiling on linux
step as blew：

1. powershell .\build_dependencies\install_windows.ps1
2. cd python-fcl
3. pip wheel ./ --no-deps -w wheelhouse/

get the errro

Processing d:\works\basic_lib\python-fcl
 Installing build dependencies ... done
 Getting requirements to build wheel ... error
 error: subprocess-exited-with-error

 × Getting requirements to build wheel did not run successfully.
 │ exit code: 1
 ╰─> [105 lines of output]

 Error compiling Cython file:
 ------------------------------------------------------------
 ...
 return list(self.objs)

 def collide(self, *args):
 if len(args) == 2 and inspect.isroutine(args[1]):
 fn = CollisionFunction(args[1], args[0])
 self.thisptr.collide(<void*> fn, CollisionCallBack)
 ^
 ------------------------------------------------------------

 src\fcl\fcl.pyx:529:45: Cannot assign type 'bool (CollisionObjectd *, CollisionObjectd *, void *) except? -1' to 'CollisionCallBack'

 Error compiling Cython file:
 ------------------------------------------------------------
 ...
 if len(args) == 2 and inspect.isroutine(args[1]):
 fn = CollisionFunction(args[1], args[0])
 self.thisptr.collide(<void*> fn, CollisionCallBack)
 elif len(args) == 3 and isinstance(args[0], DynamicAABBTreeCollisionManager):
 fn = CollisionFunction(args[2], args[1])
 self.thisptr.collide((<DynamicAABBTreeCollisionManager?> args[0]).thisptr, <void*> fn, CollisionCallBack)
 ^
 ------------------------------------------------------------

 src\fcl\fcl.pyx:532:32: no suitable method found

 Error compiling Cython file:
 ------------------------------------------------------------
 ...
 elif len(args) == 3 and isinstance(args[0], DynamicAABBTreeCollisionManager):
 fn = CollisionFunction(args[2], args[1])
 self.thisptr.collide((<DynamicAABBTreeCollisionManager?> args[0]).thisptr, <void*> fn, CollisionCallBack)
 elif len(args) == 3 and inspect.isroutine(args[2]):
 fn = CollisionFunction(args[2], args[1])
 self.thisptr.collide((<CollisionObject?> args[0]).thisptr, <void*> fn, CollisionCallBack)
 ^
 ------------------------------------------------------------

 src\fcl\fcl.pyx:535:32: no suitable method found

 Error compiling Cython file:
 ------------------------------------------------------------
 ...
 raise ValueError

 def distance(self, *args):
 if len(args) == 2 and inspect.isroutine(args[1]):
 fn = DistanceFunction(args[1], args[0])
 self.thisptr.distance(<void*> fn, DistanceCallBack)
 ^
 ------------------------------------------------------------

 src\fcl\fcl.pyx:542:46: Cannot assign type 'bool (CollisionObjectd *, CollisionObjectd *, void *, double &) except? -1' to 'DistanceCallBack'

 Error compiling Cython file:
 ------------------------------------------------------------
 ...
 if len(args) == 2 and inspect.isroutine(args[1]):
 fn = DistanceFunction(args[1], args[0])
 self.thisptr.distance(<void*> fn, DistanceCallBack)
 elif len(args) == 3 and isinstance(args[0], DynamicAABBTreeCollisionManager):
 fn = DistanceFunction(args[2], args[1])
 self.thisptr.distance((<DynamicAABBTreeCollisionManager?> args[0]).thisptr, <void*> fn, DistanceCallBack)
 ^
 ------------------------------------------------------------

 src\fcl\fcl.pyx:545:33: no suitable method found

 Error compiling Cython file:
 ------------------------------------------------------------
 ...
 elif len(args) == 3 and isinstance(args[0], DynamicAABBTreeCollisionManager):
 fn = DistanceFunction(args[2], args[1])
 self.thisptr.distance((<DynamicAABBTreeCollisionManager?> args[0]).thisptr, <void*> fn, DistanceCallBack)
 elif len(args) == 3 and inspect.isroutine(args[2]):
 fn = DistanceFunction(args[2], args[1])
 self.thisptr.distance((<CollisionObject?> args[0]).thisptr, <void*> fn, DistanceCallBack)
 ^
 ------------------------------------------------------------

 src\fcl\fcl.pyx:548:33: no suitable method found

[HiroIshida]

I'm not 100% sure, but recent relase of cython version 3 seem to be the cause.
Try pip3 install "cython<3.0" and compile again.
At lease in my environment (aarch64, ubuntu20.04), the compilation fail with cython>=3.0 but successes with cython<3.0