add BUILD_ONLY_PYTHON_INTERFACE option

.github/workflows/ros_ci.yml

@@ -34,10 +34,9 @@ jobs:
     strategy:
       matrix:
         env:
-          - {ROS_DISTRO: noetic}
-          - {ROS_DISTRO: iron}
+          - {ROS_DISTRO: jazzy}
           - {ROS_DISTRO: humble}
-          #- {ROS_DISTRO: rolling}
+          - {ROS_DISTRO: rolling}
     env:
       #CCACHE_DIR: /github/home/.ccache # Enable ccache
       BUILDER: colcon

CMakeLists.txt

@@ -42,7 +42,6 @@ set(
   "Coal, The Collision Detection Library. Previously known as HPP-FCL, fork of FCL -- The Flexible Collision Library"
 )
 set(PROJECT_URL "https://github.com/coal-library/coal")
-set(PROJECT_USE_CMAKE_EXPORT TRUE)
 set(PROJECT_COMPATIBILITY_VERSION AnyNewerVersion)
 # To enable jrl-cmakemodules compatibility with workspace we must define the two
 # following lines
@@ -149,7 +148,6 @@ SET_DEFAULT_CMAKE_BUILD_TYPE("RelWithDebInfo")
 # If needed, fix CMake policy for APPLE systems
 APPLY_DEFAULT_APPLE_CONFIGURATION()
 
-option(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)
 cmake_dependent_option(
   GENERATE_PYTHON_STUBS
   "Generate the Python stubs associated to the Python library"
@@ -161,6 +159,9 @@ cmake_dependent_option(
 ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED PKG_CONFIG_REQUIRES "eigen3 >= 3.0.0")
 
 if(BUILD_PYTHON_INTERFACE)
+  if(BUILD_ONLY_PYTHON_INTERFACE)
+    ADD_PROJECT_DEPENDENCY(${PROJECT_NAME} REQUIRED CONFIG)
+  endif()
   set(PYTHON_COMPONENTS Interpreter Development NumPy)
   FINDPYTHON(REQUIRED)
   ADD_PROJECT_PRIVATE_DEPENDENCY(eigenpy 2.9.2 REQUIRED)
@@ -194,7 +195,7 @@ else()
 endif()
 
 # Optional dependencies
-ADD_PROJECT_DEPENDENCY(octomap PKG_CONFIG_REQUIRES "octomap >= 1.6")
+ADD_PROJECT_DEPENDENCY(octomap 1.8.0 PKG_CONFIG_REQUIRES "octomap >= 1.8")
 if(octomap_FOUND)
   set(COAL_HAS_OCTOMAP TRUE)
   string(REPLACE "." ";" VERSION_LIST ${octomap_VERSION})
@@ -495,10 +496,12 @@ if(COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL)
     include/hpp/fcl/warning.hh
   )
   list(APPEND ${PROJECT_NAME}_HEADERS ${HPP_FCL_BACKWARD_COMPATIBILITY_HEADERS})
-  HEADER_INSTALL(
-    COMPONENT hpp-fcl-compatibility
-    ${HPP_FCL_BACKWARD_COMPATIBILITY_HEADERS}
-  )
+  if(NOT BUILD_ONLY_PYTHON_INTERFACE)
+    HEADER_INSTALL(
+      COMPONENT hpp-fcl-compatibility
+      ${HPP_FCL_BACKWARD_COMPATIBILITY_HEADERS}
+    )
+  endif()
 endif()
 
 if(COAL_HAS_OCTOMAP)
@@ -512,7 +515,9 @@ if(COAL_HAS_OCTOMAP)
 endif(COAL_HAS_OCTOMAP)
 
 add_subdirectory(doc)
-add_subdirectory(src)
+if(NOT BUILD_ONLY_PYTHON_INTERFACE)
+  add_subdirectory(src)
+endif()
 if(BUILD_PYTHON_INTERFACE)
   add_subdirectory(python)
 endif()
@@ -529,9 +534,11 @@ if(COAL_HAS_OCTOMAP)
 endif(COAL_HAS_OCTOMAP)
 
 # Install catkin package.xml
-install(FILES package.xml DESTINATION share/${PROJECT_NAME})
+if(NOT BUILD_ONLY_PYTHON_INTERFACE)
+  install(FILES package.xml DESTINATION share/${PROJECT_NAME})
+endif()
 
-if(COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL)
+if(COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL AND NOT BUILD_ONLY_PYTHON_INTERFACE)
   include(CMakePackageConfigHelpers)
   write_basic_package_version_file(
     hpp-fclConfigVersion.cmake

flake.nix

@@ -3,9 +3,7 @@
 
   inputs = {
     flake-parts.url = "github:hercules-ci/flake-parts";
-    # TODO: switch back to nixos-unstable after
-    # https://github.com/NixOS/nixpkgs/pull/357705
-    nixpkgs.url = "github:NixOS/nixpkgs/refs/pull/357705/head";
+    nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable";
   };
 
   outputs =
@@ -19,10 +17,27 @@
             type = "app";
             program = pkgs.python3.withPackages (_: [ self'.packages.default ]);
           };
-          devShells.default = pkgs.mkShell { inputsFrom = [ self'.packages.default ]; };
+          devShells.default =
+            with pkgs;
+            mkShell {
+              inputsFrom = [ pkgs.python3Packages.coal ];
+              packages =
+                let
+                  py = p: [
+                    p.boost
+                    p.eigenpy
+                    p.numpy
+                    p.scipy
+                  ];
+                in
+                [
+                  (python312.withPackages py)
+                  (python313.withPackages py)
+                ];
+            };
           packages = {
             default = self'.packages.coal;
-            coal = pkgs.python3Packages.coal.overrideAttrs (_: {
+            coal = pkgs.coal.overrideAttrs {
               src = pkgs.lib.fileset.toSource {
                 root = ./.;
                 fileset = pkgs.lib.fileset.unions [
@@ -36,7 +51,26 @@
                   ./test
                 ];
               };
-            });
+            };
+            py-coal =
+              (self'.packages.coal.override {
+                inherit (pkgs) python3Packages;
+                pythonSupport = true;
+              }).overrideAttrs
+                (super: {
+                  cmakeFlags = super.cmakeFlags ++ [
+                    "-DBUILD_ONLY_PYTHON_PYTHON_INTERFACE=ON"
+                  ];
+                  propagatedBuildInputs = super.propagatedBuildInputs ++ [
+                    self'.packages.coal
+                  ];
+                });
+            py312-coal = self'.packages.py-coal.override {
+              python3Packages = pkgs.python312Packages;
+            };
+            py313-coal = self'.packages.py-coal.override {
+              python3Packages = pkgs.python313Packages;
+            };
           };
         };
     };

include/coal/octree.h

@@ -238,39 +238,23 @@ class COAL_DLLAPI OcTree : public CollisionGeometry {
 
   /// @return ptr to child number childIdx of node
   OcTreeNode* getNodeChild(OcTreeNode* node, unsigned int childIdx) {
-#if OCTOMAP_VERSION_AT_LEAST(1, 8, 0)
     return tree->getNodeChild(node, childIdx);
-#else
-    return node->getChild(childIdx);
-#endif
   }
 
   /// @return const ptr to child number childIdx of node
   const OcTreeNode* getNodeChild(const OcTreeNode* node,
                                  unsigned int childIdx) const {
-#if OCTOMAP_VERSION_AT_LEAST(1, 8, 0)
     return tree->getNodeChild(node, childIdx);
-#else
-    return node->getChild(childIdx);
-#endif
   }
 
   /// @brief return true if the child at childIdx exists
   bool nodeChildExists(const OcTreeNode* node, unsigned int childIdx) const {
-#if OCTOMAP_VERSION_AT_LEAST(1, 8, 0)
     return tree->nodeChildExists(node, childIdx);
-#else
-    return node->childExists(childIdx);
-#endif
   }
 
   /// @brief return true if node has at least one child
   bool nodeHasChildren(const OcTreeNode* node) const {
-#if OCTOMAP_VERSION_AT_LEAST(1, 8, 0)
     return tree->nodeHasChildren(node);
-#else
-    return node->hasChildren();
-#endif
   }
 
   /// @brief return object type, it is an octree

python/CMakeLists.txt

@@ -188,7 +188,7 @@ endif()
 
 target_link_libraries(
   ${PYTHON_LIB_NAME}
-  PUBLIC ${PROJECT_NAME} eigenpy::eigenpy Boost::system
+  PUBLIC ${PROJECT_NAME}::${PROJECT_NAME} eigenpy::eigenpy Boost::system
 )
 
 set_target_properties(

test/CMakeLists.txt

@@ -1,89 +1,91 @@
 # Find Boost.UnitTestFramework
-find_package(Boost REQUIRED COMPONENTS unit_test_framework filesystem)
+if(NOT BUILD_ONLY_PYTHON_INTERFACE)
+  find_package(Boost REQUIRED COMPONENTS unit_test_framework filesystem)
 
-CONFIG_FILES(fcl_resources/config.h)
+  CONFIG_FILES(fcl_resources/config.h)
 
-function(add_coal_test test_name source)
-  set(target_name ${PROJECT_NAME}-${test_name})
-  ADD_UNIT_TEST(${target_name} ${source})
-  set_standard_output_directory(${target_name})
-  target_link_libraries(
-    ${target_name}
-    PUBLIC ${LIBRARY_NAME} Boost::filesystem ${utility_target}
-  )
-  CXX_FLAGS_BY_COMPILER_FRONTEND(
-    GNU "-Wno-c99-extensions"
-    OUTPUT PRIVATE_OPTIONS
-  )
-  target_compile_options(${target_name} PRIVATE ${PRIVATE_OPTIONS})
-  if(COAL_HAS_QHULL)
-    target_compile_options(${target_name} PRIVATE -DCOAL_HAS_QHULL)
-  endif()
-endfunction()
+  function(add_coal_test test_name source)
+    set(target_name ${PROJECT_NAME}-${test_name})
+    ADD_UNIT_TEST(${target_name} ${source})
+    set_standard_output_directory(${target_name})
+    target_link_libraries(
+      ${target_name}
+      PUBLIC ${LIBRARY_NAME} Boost::filesystem ${utility_target}
+    )
+    CXX_FLAGS_BY_COMPILER_FRONTEND(
+      GNU "-Wno-c99-extensions"
+      OUTPUT PRIVATE_OPTIONS
+    )
+    target_compile_options(${target_name} PRIVATE ${PRIVATE_OPTIONS})
+    if(COAL_HAS_QHULL)
+      target_compile_options(${target_name} PRIVATE -DCOAL_HAS_QHULL)
+    endif()
+  endfunction()
 
-include_directories(${CMAKE_CURRENT_BINARY_DIR})
+  include_directories(${CMAKE_CURRENT_BINARY_DIR})
 
-set(utility_target ${PROJECT_NAME}-utility)
-add_library(${utility_target} STATIC utility.cpp)
-set_standard_output_directory(${utility_target})
-target_link_libraries(${utility_target} PUBLIC ${PROJECT_NAME})
+  set(utility_target ${PROJECT_NAME}-utility)
+  add_library(${utility_target} STATIC utility.cpp)
+  set_standard_output_directory(${utility_target})
+  target_link_libraries(${utility_target} PUBLIC ${PROJECT_NAME})
 
-add_coal_test(math math.cpp)
+  add_coal_test(math math.cpp)
 
-add_coal_test(collision collision.cpp)
-add_coal_test(contact_patch contact_patch.cpp)
-add_coal_test(distance distance.cpp)
-add_coal_test(swept_sphere_radius swept_sphere_radius.cpp)
-add_coal_test(normal_and_nearest_points normal_and_nearest_points.cpp)
-add_coal_test(distance_lower_bound distance_lower_bound.cpp)
-add_coal_test(security_margin security_margin.cpp)
-add_coal_test(geometric_shapes geometric_shapes.cpp)
-add_coal_test(shape_inflation shape_inflation.cpp)
-#add_coal_test(shape_mesh_consistency shape_mesh_consistency.cpp)
-add_coal_test(gjk_asserts gjk_asserts.cpp)
-add_coal_test(frontlist frontlist.cpp)
-set_tests_properties(${PROJECT_NAME}-frontlist PROPERTIES TIMEOUT 7200)
+  add_coal_test(collision collision.cpp)
+  add_coal_test(contact_patch contact_patch.cpp)
+  add_coal_test(distance distance.cpp)
+  add_coal_test(swept_sphere_radius swept_sphere_radius.cpp)
+  add_coal_test(normal_and_nearest_points normal_and_nearest_points.cpp)
+  add_coal_test(distance_lower_bound distance_lower_bound.cpp)
+  add_coal_test(security_margin security_margin.cpp)
+  add_coal_test(geometric_shapes geometric_shapes.cpp)
+  add_coal_test(shape_inflation shape_inflation.cpp)
+  #add_coal_test(shape_mesh_consistency shape_mesh_consistency.cpp)
+  add_coal_test(gjk_asserts gjk_asserts.cpp)
+  add_coal_test(frontlist frontlist.cpp)
+  set_tests_properties(${PROJECT_NAME}-frontlist PROPERTIES TIMEOUT 7200)
 
-# add_coal_test(sphere_capsule sphere_capsule.cpp)
-add_coal_test(capsule_capsule capsule_capsule.cpp)
-add_coal_test(box_box_distance box_box_distance.cpp)
-add_coal_test(box_box_collision box_box_collision.cpp)
-add_coal_test(simple simple.cpp)
-add_coal_test(capsule_box_1 capsule_box_1.cpp)
-add_coal_test(capsule_box_2 capsule_box_2.cpp)
-add_coal_test(obb obb.cpp)
-add_coal_test(convex convex.cpp)
+  # add_coal_test(sphere_capsule sphere_capsule.cpp)
+  add_coal_test(capsule_capsule capsule_capsule.cpp)
+  add_coal_test(box_box_distance box_box_distance.cpp)
+  add_coal_test(box_box_collision box_box_collision.cpp)
+  add_coal_test(simple simple.cpp)
+  add_coal_test(capsule_box_1 capsule_box_1.cpp)
+  add_coal_test(capsule_box_2 capsule_box_2.cpp)
+  add_coal_test(obb obb.cpp)
+  add_coal_test(convex convex.cpp)
 
-add_coal_test(bvh_models bvh_models.cpp)
-add_coal_test(collision_node_asserts collision_node_asserts.cpp)
-add_coal_test(hfields hfields.cpp)
+  add_coal_test(bvh_models bvh_models.cpp)
+  add_coal_test(collision_node_asserts collision_node_asserts.cpp)
+  add_coal_test(hfields hfields.cpp)
 
-add_coal_test(profiling profiling.cpp)
+  add_coal_test(profiling profiling.cpp)
 
-add_coal_test(gjk gjk.cpp)
-add_coal_test(accelerated_gjk accelerated_gjk.cpp)
-add_coal_test(gjk_convergence_criterion gjk_convergence_criterion.cpp)
-if(COAL_HAS_OCTOMAP)
-  add_coal_test(octree octree.cpp)
-endif(COAL_HAS_OCTOMAP)
+  add_coal_test(gjk gjk.cpp)
+  add_coal_test(accelerated_gjk accelerated_gjk.cpp)
+  add_coal_test(gjk_convergence_criterion gjk_convergence_criterion.cpp)
+  if(COAL_HAS_OCTOMAP)
+    add_coal_test(octree octree.cpp)
+  endif(COAL_HAS_OCTOMAP)
 
-add_coal_test(serialization serialization.cpp)
+  add_coal_test(serialization serialization.cpp)
 
-# Broadphase
-add_coal_test(broadphase broadphase.cpp)
-set_tests_properties(${PROJECT_NAME}-broadphase PROPERTIES WILL_FAIL TRUE)
-add_coal_test(broadphase_dynamic_AABB_tree broadphase_dynamic_AABB_tree.cpp)
-add_coal_test(broadphase_collision_1 broadphase_collision_1.cpp)
-add_coal_test(broadphase_collision_2 broadphase_collision_2.cpp)
+  # Broadphase
+  add_coal_test(broadphase broadphase.cpp)
+  set_tests_properties(${PROJECT_NAME}-broadphase PROPERTIES WILL_FAIL TRUE)
+  add_coal_test(broadphase_dynamic_AABB_tree broadphase_dynamic_AABB_tree.cpp)
+  add_coal_test(broadphase_collision_1 broadphase_collision_1.cpp)
+  add_coal_test(broadphase_collision_2 broadphase_collision_2.cpp)
 
-## Benchmark
-set(test_benchmark_target ${PROJECT_NAME}-test-benchmark)
-add_executable(${test_benchmark_target} benchmark.cpp)
-set_standard_output_directory(${test_benchmark_target})
-target_link_libraries(
-  ${test_benchmark_target}
-  PUBLIC ${utility_target} Boost::filesystem ${PROJECT_NAME}
-)
+  ## Benchmark
+  set(test_benchmark_target ${PROJECT_NAME}-test-benchmark)
+  add_executable(${test_benchmark_target} benchmark.cpp)
+  set_standard_output_directory(${test_benchmark_target})
+  target_link_libraries(
+    ${test_benchmark_target}
+    PUBLIC ${utility_target} Boost::filesystem ${PROJECT_NAME}
+  )
+endif()
 
 ## Python tests
 if(BUILD_PYTHON_INTERFACE)