Merge pull request #483 from jcarpent/hppfcl2x

Import #482 and fix Python stubs testing on Windows

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

@@ -52,7 +52,7 @@ jobs:
           -G "Visual Studio 16 2019" -T "ClangCl" -DCMAKE_GENERATOR_PLATFORM=x64 ^
           -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library ^
           -DCMAKE_BUILD_TYPE=Release ^
-          -DGENERATE_PYTHON_STUBS=OFF ^
+          -DGENERATE_PYTHON_STUBS=ON ^
           -DPYTHON_SITELIB=%CONDA_PREFIX%\Lib\site-packages ^
           -DPYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe ^
           -DHPP_FCL_HAS_QHULL=ON ^
@@ -64,11 +64,6 @@ jobs:
         cmake --build . --config Release --target install
         if errorlevel 1 exit 1
 
-        :: Build stubs
-        git clone https://github.com/jcarpent/pybind11-stubgen.git
-        python "%CD%\pybind11-stubgen\pybind11_stubgen\__init__.py" -o %CONDA_PREFIX%\Lib\site-packages hppfcl --boost-python --ignore-invalid signature --no-setup-py --root-module-suffix ""
-        if errorlevel 1 exit 1
-
         :: Testing
         ctest --output-on-failure -C Release -V
         if errorlevel 1 exit 1

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

@@ -51,7 +51,7 @@ jobs:
           -G "Visual Studio 16 2019" -T "v142" -DCMAKE_GENERATOR_PLATFORM=x64 ^
           -DCMAKE_INSTALL_PREFIX=%CONDA_PREFIX%\Library ^
           -DCMAKE_BUILD_TYPE=Release ^
-          -DGENERATE_PYTHON_STUBS=OFF ^
+          -DGENERATE_PYTHON_STUBS=ON ^
           -DPYTHON_SITELIB=%CONDA_PREFIX%\Lib\site-packages ^
           -DPYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe ^
           -DHPP_FCL_HAS_QHULL=ON ^
@@ -63,11 +63,6 @@ jobs:
         cmake --build . --config Release --target install
         if errorlevel 1 exit 1
 
-        :: Build stubs
-        git clone https://github.com/jcarpent/pybind11-stubgen.git
-        python "%CD%\pybind11-stubgen\pybind11_stubgen\__init__.py" -o %CONDA_PREFIX%\Lib\site-packages hppfcl --boost-python --ignore-invalid signature --no-setup-py --root-module-suffix ""
-        if errorlevel 1 exit 1
-
         :: Testing
         ctest --output-on-failure -C Release -V
         if errorlevel 1 exit 1

cmake @ 02719f32

-Subproject commit 1f6b9ebae6c0e16c6eedd869d459ef6a0da41151
+Subproject commit 02719f3288d3f79d2269fe784bd071657ba59f6d

include/hpp/fcl/collision_object.h

@@ -300,14 +300,20 @@ class HPP_FCL_DLLAPI CollisionObject {
   /// @brief set the object in local coordinate
   void setIdentityTransform() { t.setIdentity(); }
 
-  /// @brief get geometry from the object instance
+  /// @brief get shared pointer to collision geometry of the object instance
   const shared_ptr<const CollisionGeometry> collisionGeometry() const {
     return cgeom;
   }
 
-  /// @brief get geometry from the object instance
+  /// @brief get shared pointer to collision geometry of the object instance
   const shared_ptr<CollisionGeometry>& collisionGeometry() { return cgeom; }
 
+  /// @brief get raw pointer to collision geometry of the object instance
+  const CollisionGeometry* collisionGeometryPtr() const { return cgeom.get(); }
+
+  /// @brief get raw pointer to collision geometry of the object instance
+  CollisionGeometry* collisionGeometryPtr() { return cgeom.get(); }
+
   /// @brief Associate a new CollisionGeometry
   ///
   /// @param[in] collision_geometry The new CollisionGeometry

python/CMakeLists.txt

@@ -114,7 +114,7 @@ IF(HPP_FCL_HAS_OCTOMAP)
   LIST(APPEND ${LIBRARY_NAME}_SOURCES octree.cc)
 ENDIF(HPP_FCL_HAS_OCTOMAP)
 
-ADD_LIBRARY(${LIBRARY_NAME} SHARED ${${LIBRARY_NAME}_SOURCES} ${${LIBRARY_NAME}_HEADERS})
+ADD_LIBRARY(${LIBRARY_NAME} MODULE ${${LIBRARY_NAME}_SOURCES} ${${LIBRARY_NAME}_HEADERS})
 TARGET_INCLUDE_DIRECTORIES(${LIBRARY_NAME} SYSTEM PRIVATE ${PYTHON_INCLUDE_DIRS})
 TARGET_INCLUDE_DIRECTORIES(${LIBRARY_NAME} PRIVATE "${CMAKE_SOURCE_DIR}/src" "${CMAKE_CURRENT_BINARY_DIR}")
 IF(WIN32)
@@ -159,7 +159,7 @@ INSTALL(TARGETS ${LIBRARY_NAME}
 # --- GENERATE STUBS
 IF(GENERATE_PYTHON_STUBS)
   LOAD_STUBGEN()
-  GENERATE_STUBS(${CMAKE_CURRENT_BINARY_DIR} ${LIBRARY_NAME} ${ABSOLUTE_PYTHON_SITELIB} ${LIBRARY_NAME})
+  GENERATE_STUBS(${CMAKE_CURRENT_BINARY_DIR} ${LIBRARY_NAME} ${ABSOLUTE_PYTHON_SITELIB} ${LIBRARY_NAME} ${PROJECT_NAME})
 ENDIF(GENERATE_PYTHON_STUBS)
 
 # --- INSTALL SCRIPTS

src/broadphase/broadphase_dynamic_AABB_tree.cpp

@@ -574,7 +574,7 @@ void DynamicAABBTreeCollisionManager::collide(
     case GEOM_OCTREE: {
       if (!octree_as_geometry_collide) {
         const OcTree* octree =
-            static_cast<const OcTree*>(obj->collisionGeometry().get());
+            static_cast<const OcTree*>(obj->collisionGeometryPtr());
         detail::dynamic_AABB_tree::collisionRecurse(
             dtree.getRoot(), octree, octree->getRoot(), octree->getRootBV(),
             obj->getTransform(), callback);
@@ -600,7 +600,7 @@ void DynamicAABBTreeCollisionManager::distance(
     case GEOM_OCTREE: {
       if (!octree_as_geometry_distance) {
         const OcTree* octree =
-            static_cast<const OcTree*>(obj->collisionGeometry().get());
+            static_cast<const OcTree*>(obj->collisionGeometryPtr());
         detail::dynamic_AABB_tree::distanceRecurse(
             dtree.getRoot(), octree, octree->getRoot(), octree->getRootBV(),
             obj->getTransform(), callback, min_dist);

src/broadphase/broadphase_dynamic_AABB_tree_array.cpp

@@ -622,7 +622,7 @@ void DynamicAABBTreeArrayCollisionManager::collide(
     case GEOM_OCTREE: {
       if (!octree_as_geometry_collide) {
         const OcTree* octree =
-            static_cast<const OcTree*>(obj->collisionGeometry().get());
+            static_cast<const OcTree*>(obj->collisionGeometryPtr());
         detail::dynamic_AABB_tree_array::collisionRecurse(
             dtree.getNodes(), dtree.getRoot(), octree, octree->getRoot(),
             octree->getRootBV(), obj->getTransform(), callback);
@@ -648,7 +648,7 @@ void DynamicAABBTreeArrayCollisionManager::distance(
     case GEOM_OCTREE: {
       if (!octree_as_geometry_distance) {
         const OcTree* octree =
-            static_cast<const OcTree*>(obj->collisionGeometry().get());
+            static_cast<const OcTree*>(obj->collisionGeometryPtr());
         detail::dynamic_AABB_tree_array::distanceRecurse(
             dtree.getNodes(), dtree.getRoot(), octree, octree->getRoot(),
             octree->getRootBV(), obj->getTransform(), callback, min_dist);

src/collision.cpp

@@ -62,8 +62,8 @@ void CollisionResult::swapObjects() {
 
 std::size_t collide(const CollisionObject* o1, const CollisionObject* o2,
                     const CollisionRequest& request, CollisionResult& result) {
-  return collide(o1->collisionGeometry().get(), o1->getTransform(),
-                 o2->collisionGeometry().get(), o2->getTransform(), request,
+  return collide(o1->collisionGeometryPtr(), o1->getTransform(),
+                 o2->collisionGeometryPtr(), o2->getTransform(), request,
                  result);
 }
 

src/distance.cpp

@@ -52,8 +52,8 @@ DistanceFunctionMatrix& getDistanceFunctionLookTable() {
 
 FCL_REAL distance(const CollisionObject* o1, const CollisionObject* o2,
                   const DistanceRequest& request, DistanceResult& result) {
-  return distance(o1->collisionGeometry().get(), o1->getTransform(),
-                  o2->collisionGeometry().get(), o2->getTransform(), request,
+  return distance(o1->collisionGeometryPtr(), o1->getTransform(),
+                  o2->collisionGeometryPtr(), o2->getTransform(), request,
                   result);
 }