Wheel Builds For 3.13

.github/workflows/push.yml

@@ -15,20 +15,21 @@ jobs:
  python-version: "3.12"
  - name: ruff
  run: |
- pip install ruff
- ruff .
+ pip install ruff==0.9.6
+ ruff check .
 
  build_wheels:
  name: Build wheel on ${{matrix.platform}}
  runs-on: ${{matrix.platform}}
  strategy:
  fail-fast: false
  matrix:
- platform: [ubuntu-latest, macos-latest, windows-latest, macos-14]
+ platform: [ubuntu-latest, macos-latest, windows-latest, macos-13]
  steps:
- - uses: actions/checkout@v3
+ - uses: actions/checkout@v4
  - name: Build wheels
- uses: pypa/cibuildwheel@v2.16.5
- - uses: actions/upload-artifact@v3
+ uses: pypa/cibuildwheel@v2.22.0
+ - uses: actions/upload-artifact@v4
  with:
  path: ./wheelhouse/*.whl
+ name: wheels-${{ matrix.platform }}

.github/workflows/release.yml

@@ -11,36 +11,41 @@ jobs:
  runs-on: ${{matrix.platform}}
  strategy:
  matrix:
- platform: [ubuntu-latest, macos-latest, windows-latest, macos-14]
+ platform: [ubuntu-latest, macos-latest, windows-latest, macos-13]
  steps:
- - uses: actions/checkout@v3
+ - uses: actions/checkout@v4
  - name: Build wheels
- uses: pypa/cibuildwheel@v2.16.5
- - uses: actions/upload-artifact@v3
+ uses: pypa/cibuildwheel@v2.22.0
+ - uses: actions/upload-artifact@v4
  with:
  path: ./wheelhouse/*.whl
+ name: wheels-${{ matrix.platform }}
 
  upload_pypi:
  name: Release To PyPi
  needs: [build_wheels]
  runs-on: ubuntu-latest
+ permissions:
+ id-token: write
  steps:
- - uses: actions/download-artifact@v3
- with:
- name: artifact
- path: dist
- - uses: pypa/gh-action-pypi-publish@v1.6.4
- with:
- user: __token__
- password: ${{ secrets.PYPI_API_TOKEN }}
+ - uses: actions/setup-python@v4
+ with:
+ python-version: "3.12"
+
+ - uses: actions/download-artifact@v4
+ with:
+ path: dist
+ pattern: wheels-*
+ merge-multiple: true
+ - uses: pypa/gh-action-pypi-publish@v1.8.10
 
  create_release:
  name: Create GitHub Release
  runs-on: ubuntu-latest
  needs: [build_wheels]
  steps:
  - name: Checkout code
- uses: actions/checkout@v3
+ uses: actions/checkout@v4
  with:
  fetch-depth: 2
  - name: Tag Version
@@ -50,8 +55,9 @@ jobs:
  echo "tag_name=${VER}" >> $GITHUB_OUTPUT
  - uses: actions/download-artifact@v3
  with:
- name: artifact
  path: dist
+ pattern: wheels-*
+ merge-multiple: true
  - uses: ncipollo/release-action@v1.14.0
  with:
  artifacts: "dist/*"

build_dependencies/install_macos.sh

@@ -1,20 +1,46 @@
-# prevent brew from auto cleanup
-export HOMEBREW_NO_INSTALL_CLEANUP=1
-
-brew install fcl
-
-# mkdir -p deps
-# cd deps
-# # Octomap
-# git clone https://github.com/OctoMap/octomap
-# cd octomap
-# git checkout tags/v1.8.0
-# mkdir build
-# cd build
-# cmake ..
-# make
-# sudo make install
-
-# cd ..
-# cd ..
-# cd ..
+# exit immediately on any failed step
+set -xe
+pip install cmake
+
+mkdir -p deps
+cd deps
+
+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
+mv eigen-3.3.9 eigen
+
+rm -rf libccd
+git clone --depth 1 --branch v2.1 https://github.com/danfis/libccd.git
+
+rm -rf octomap
+git clone --depth 1 --branch v1.9.8 https://github.com/OctoMap/octomap.git
+
+rm -rf fcl
+git clone --depth 1 --branch v0.7.0 https://github.com/ambi-robotics/fcl.git
+
+# Install eigen
+cmake -B build -S eigen
+sudo cmake --install build
+
+# Build and install libccd
+cd libccd
+cmake . -D ENABLE_DOUBLE_PRECISION=ON
+make -j4
+sudo make install
+cd ..
+
+# Build and install octomap
+cd octomap
+cmake . -D CMAKE_BUILD_TYPE=Release -D BUILD_OCTOVIS_SUBPROJECT=OFF -D BUILD_DYNAMICETD3D_SUBPROJECT=OFF
+make -j4
+sudo make install
+cd ..
+
+# Build and install fcl
+cd fcl
+cmake .
+make -j4
+sudo make install
+cd ..
+
+cd ..

examples/example.py

@@ -1,6 +1,7 @@
-import fcl
 import numpy as np
 
+import fcl
+
 
 def print_collision_result(o1_name, o2_name, result):
  print(f"Collision between {o1_name} and {o2_name}:")

pyproject.toml

@@ -2,15 +2,15 @@
 requires = [
 	"setuptools",
 	"wheel",
-	"Cython<3.0",
+	"Cython>=3.0",
 	"numpy; python_version<'3.12'",
 	"numpy>=1.26.0b1; python_version>='3.12'"]
 build-backend = "setuptools.build_meta"
 
 [project]
 name = "python-fcl"
 description = "Python bindings for the Flexible Collision Library"
-requires-python = ">=3.7"
+requires-python = ">=3.9"
 authors = [
  {name = "Jelle Feringa", email = "jelleferinga@gmail.com"},
  {name = "Matthew Matl", email = "mmatl@eecs.berkeley.edu"},
@@ -107,9 +107,8 @@ archs = ["x86_64"]
 
 [tool.cibuildwheel.macos]
 before-all = "bash build_dependencies/install_macos.sh"
-environment = { CPATH = "$(brew --prefix)/include:$(brew --prefix)/include/eigen3", LD_LIBRARY_PATH = "$(brew --prefix)/lib" }
+repair-wheel-command = "delocate-wheel -w {dest_dir} -v {wheel}"
 
 [tool.cibuildwheel.windows]
 before-all = "powershell build_dependencies\\install_windows.ps1"
 archs = ["AMD64"]
-

src/fcl/fcl.pyx

@@ -761,10 +761,10 @@ cdef class DistanceFunction:
  (&dist)[0] = <double?> py_r[1]
  return <bool?> py_r[0]
 
-cdef inline bool CollisionCallBack(defs.CollisionObjectd*o1, defs.CollisionObjectd*o2, void*cdata):
+cdef inline bool CollisionCallBack(defs.CollisionObjectd*o1, defs.CollisionObjectd*o2, void*cdata) noexcept:
  return (<CollisionFunction> cdata).eval_func(o1, o2)
 
-cdef inline bool DistanceCallBack(defs.CollisionObjectd*o1, defs.CollisionObjectd*o2, void*cdata, double& dist):
+cdef inline bool DistanceCallBack(defs.CollisionObjectd*o1, defs.CollisionObjectd*o2, void*cdata, double& dist) noexcept:
  return (<DistanceFunction> cdata).eval_func(o1, o2, dist)
 
 

tests/test_fcl.py

@@ -1,8 +1,9 @@
 import unittest
 
-import fcl
 import numpy as np
 
+import fcl
+
 
 class TestFCL(unittest.TestCase):
  def setUp(self):

tests/test_precision.py

@@ -1,8 +1,9 @@
 import unittest
 
-import fcl
 import numpy as np
 
+import fcl
+
 
 # These test cases were added because there was a very sneaky crash that would occur
 # in the signed distance functions if all libs were not compiled with double precision