CMakeModules/FCLVersion.cmake

-# set the version in a way CMake can use
-set(FCL_MAJOR_VERSION 0)
-set(FCL_MINOR_VERSION 3)
-set(FCL_PATCH_VERSION 2)
-set(FCL_VERSION "${FCL_MAJOR_VERSION}.${FCL_MINOR_VERSION}.${FCL_PATCH_VERSION}")
-
-# increment this when we have ABI changes
-set(FCL_ABI_VERSION 5)

CMakeModules/Findflann.cmake

-# Find FLANN, a Fast Library for Approximate Nearest Neighbors
-
-include(FindPackageHandleStandardArgs)
-
-find_path(FLANN_INCLUDE_DIR flann.hpp PATH_SUFFIXES flann)
-if (FLANN_INCLUDE_DIR)
-    file(READ "${FLANN_INCLUDE_DIR}/config.h" FLANN_CONFIG)
-    string(REGEX REPLACE ".*FLANN_VERSION_ \"([0-9.]+)\".*" "\\1" FLANN_VERSION ${FLANN_CONFIG})
-    if(NOT FLANN_VERSION VERSION_LESS flann_FIND_VERSION)
-        string(REGEX REPLACE "/flann$" "" FLANN_INCLUDE_DIRS ${FLANN_INCLUDE_DIR})
-    endif()
-endif()
-
-find_package_handle_standard_args(flann DEFAULT_MSG FLANN_INCLUDE_DIRS)

CMakeModules/Findtinyxml.cmake

-# this module was taken from http://trac.evemu.org/browser/trunk/cmake/FindTinyXML.cmake
-# - Find TinyXML
-# Find the native TinyXML includes and library
-#
-# TINYXML_FOUND - True if TinyXML found.
-# TINYXML_INCLUDE_DIR - where to find tinyxml.h, etc.
-# TINYXML_LIBRARIES - List of libraries when using TinyXML.
-#
-INCLUDE( "FindPackageHandleStandardArgs" )
-
-
-FIND_PATH( TINYXML_INCLUDE_DIRS "tinyxml.h"
-PATH_SUFFIXES "tinyxml" )
-
-FIND_LIBRARY( TINYXML_LIBRARY_DIRS
-NAMES "tinyxml"
-PATH_SUFFIXES "tinyxml" )
-
-# handle the QUIETLY and REQUIRED arguments and set TINYXML_FOUND to TRUE if
-# all listed variables are TRUE
-FIND_PACKAGE_HANDLE_STANDARD_ARGS( "TinyXML" DEFAULT_MSG TINYXML_INCLUDE_DIRS TINYXML_LIBRARY_DIRS )

CMakeModules/cmake_uninstall.cmake.in

-if(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
-  message(FATAL_ERROR "Cannot find install manifest: @CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
-endif(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
-
-file(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files)
-string(REGEX REPLACE "\n" ";" files "${files}")
-foreach(file ${files})
-  message(STATUS "Uninstalling $ENV{DESTDIR}${file}")
-  if(EXISTS "$ENV{DESTDIR}${file}")
-    execute_process(
-      COMMAND @CMAKE_COMMAND@ -E remove "$ENV{DESTDIR}${file}"
-      OUTPUT_VARIABLE rm_out
-      RESULT_VARIABLE rm_retval
-      )
-    if(NOT "${rm_retval}" STREQUAL 0)
-      message(FATAL_ERROR "Problem when removing $ENV{DESTDIR}${file}")
-    endif(NOT "${rm_retval}" STREQUAL 0)
-  else(EXISTS "$ENV{DESTDIR}${file}")
-    message(STATUS "File $ENV{DESTDIR}${file} does not exist.")
-  endif(EXISTS "$ENV{DESTDIR}${file}")
-endforeach(file)

INSTALL

-
-Dependencies:
-============
-
- - Boost (thread, date_time, unit_test_framework, filesystem)
- - libccd (available at http://libccd.danfis.cz/)
- - octomap (optional dependency, available at http://octomap.github.com)
-
-Boost and libccd are mandatory dependencies. If octomap is not found,
-collision detection with octrees will not be possible.
-
-For installation, CMake will also be needed (http://cmake.org).
-
-Install:
-=======
-
-* Linux / Mac OS:
-  The CMakeLists.txt can be used to generate makefiles; For example, one may use operations such as:
-
-  mkdir build
-  cd build
-  cmake ..
-  make -jN # N is the maximum number of parallel compile jobs
-  
-Once the compilation is finished,
-  make install
-will install the project. To specify the installation prefix,
-pass the parameter -DCMAKE_INSTALL_PREFIX=/my/prefix/ to the "cmake .." command above.
-
-
-* Visual Studio:
-  The CMakeLists.txt can be used to generate a Visual Studio project, using the cmake build tool.

LICENSE

@@ -2,6 +2,8 @@ Software License Agreement (BSD License)
 
  Copyright (c) 2008-2014, Willow Garage, Inc.
  Copyright (c) 2014-2015, Open Source Robotics Foundation
+ Copyright (c) 2014-2023, CNRS
+ Copyright (c) 2018-2025, INRIA
  All rights reserved.
 
  Redistribution and use in source and binary forms, with or without

ci/install_linux.sh

-sudo add-apt-repository --yes ppa:libccd-debs/ppa
-sudo apt-get -qq update
-
-########################
-# Mendatory dependencies
-########################
-sudo apt-get -qq --yes --force-yes install cmake
-sudo apt-get -qq --yes --force-yes install libboost-all-dev
-sudo apt-get -qq --yes --force-yes install libccd-dev
-
-########################
-# Optional dependencies
-########################
-sudo apt-get -qq --yes --force-yes install libflann-dev
-
-# Octomap
-git clone https://github.com/OctoMap/octomap
-cd octomap
-git checkout tags/v1.6.8
-mkdir build
-cd build
-cmake ..
-make
-sudo make install

ci/install_osx.sh

-brew tap homebrew/science
-
-brew install git
-brew install cmake
-brew install boost
-brew install libccd

cmake @ 6b0564f4

-Subproject commit bfaeb03c13f01b4e10c36ea13b238b283d18a7bd
+Subproject commit 6b0564f45af29a90160aafdfd67eb7a07ace48ed

colcon.pkg

+{
+    "hooks": [
+        "share/hpp-fcl/hook/ament_prefix_path.dsv",
+        "share/hpp-fcl/hook/python_path.dsv"
+    ]
+}
\ No newline at end of file

development/build.md

+# Build and install from source with Pixi
+
+To build Coal from source the easiest way is to use [Pixi](https://pixi.sh/latest/#installation).
+
+[Pixi](https://pixi.sh/latest/) is a cross-platform package management tool for developers that
+will install all required dependencies in `.pixi` directory.
+It's used by our CI agent so you have the guarantee to get the right dependencies.
+
+Run the following command to install dependencies, configure, build and test the project:
+
+```bash
+pixi run test
+```
+
+The project will be built in the `build` directory.
+You can run `pixi shell` and build the project with `cmake` and `ninja` manually.
+

development/release.md

+# Release with Pixi
+
+To create a release with Pixi run the following commands on the **devel** branch:
+
+```bash
+COAL_VERSION=X.Y.Z pixi run release_new_version
+git push origin
+git push origin vX.Y.Z
+git push origin devel:master
+```
+
+Where `X.Y.Z` is the new version.
+Be careful to follow the [Semantic Versioning](https://semver.org/spec/v2.0.0.html) rules.
+
+You will find the following assets:
+- `./build_new_version/coal-X.Y.Z.tar.gz`
+- `./build_new_version/coal-X.Y.Z.tar.gz.sig`
+
+Then, create a new release on [GitHub](https://github.com/coal-library/coal/releases/new) with:
+
+* Tag: vX.Y.Z
+* Title: Coal X.Y.Z
+* Body:
+```
+## What's Changed
+
+CHANGELOG CONTENT
+
+**Full Changelog**: https://github.com/coal-library/coal/compare/vXX.YY.ZZ...vX.Y.Z
+```
+
+Where `XX.YY.ZZ` is the last release version.
+
+Then upload `coal-X.Y.Z.tar.gz` and `coal-X.Y.Z.tar.gz.sig` and publish the release.

development/scripts/pixi/activation.bat

+:: Setup ccache
+set CMAKE_CXX_COMPILER_LAUNCHER=ccache
+
+:: Create compile_commands.json for language server
+set CMAKE_EXPORT_COMPILE_COMMANDS=1
+
+:: Activate color output with Ninja
+set CMAKE_COLOR_DIAGNOSTICS=1
+
+:: Set default build value only if not previously set
+if not defined COAL_BUILD_TYPE (set COAL_BUILD_TYPE=Release)
+if not defined COAL_PYTHON_STUBS (set COAL_PYTHON_STUBS=ON)
+if not defined COAL_HAS_QHULL (set COAL_HAS_QHULL=OFF)

development/scripts/pixi/activation.sh

+#! /bin/bash
+# Activation script
+
+# Remove flags setup from cxx-compiler
+unset CFLAGS
+unset CPPFLAGS
+unset CXXFLAGS
+unset DEBUG_CFLAGS
+unset DEBUG_CPPFLAGS
+unset DEBUG_CXXFLAGS
+unset LDFLAGS
+
+if [[ $host_alias == *"apple"* ]];
+then
+  # On OSX setting the rpath and -L it's important to use the conda libc++ instead of the system one.
+  # If conda-forge use install_name_tool to package some libs, -headerpad_max_install_names is then mandatory
+  export LDFLAGS="-Wl,-headerpad_max_install_names -Wl,-rpath,$CONDA_PREFIX/lib -L$CONDA_PREFIX/lib"
+elif [[ $host_alias == *"linux"* ]];
+then
+  # On GNU/Linux, I don't know if these flags are mandatory with g++ but
+  # it allow to use clang++ as compiler
+  export LDFLAGS="-Wl,-rpath,$CONDA_PREFIX/lib -Wl,-rpath-link,$CONDA_PREFIX/lib -L$CONDA_PREFIX/lib"
+fi
+
+# Setup ccache
+export CMAKE_CXX_COMPILER_LAUNCHER=ccache
+
+# Create compile_commands.json for language server
+export CMAKE_EXPORT_COMPILE_COMMANDS=1
+
+# Activate color output with Ninja
+export CMAKE_COLOR_DIAGNOSTICS=1
+
+# Set default build value only if not previously set
+export COAL_BUILD_TYPE=${COAL_BUILD_TYPE:=Release}
+export COAL_PYTHON_STUBS=${COAL_PYTHON_STUBS:=ON}
+export COAL_HAS_QHULL=${COAL_HAS_QHULL:=OFF}

development/scripts/pixi/activation_clang.sh

+#! /bin/bash
+# Clang activation script
+
+export CC="clang"
+export CXX="clang++"

development/scripts/pixi/activation_clang_cl.bat

+:: Setup clang-cl compiler
+set CC=clang-cl
+set CXX=clang-cl

doc/CMakeLists.txt

+SET(DOXYGEN_XML_OUTPUT          "doxygen-xml"      PARENT_SCOPE)
+SET(DOXYGEN_FILE_PATTERNS       "*.h  *.hh  *.hxx" PARENT_SCOPE)
+SET(DOXYGEN_GENERATE_XML        "YES"              PARENT_SCOPE)
+SET(DOXYGEN_EXPAND_ONLY_PREDEF  "NO"               PARENT_SCOPE)
+SET(DOXYGEN_ENABLE_PREPROCESSING "YES" PARENT_SCOPE)
+SET(DOXYGEN_MACRO_EXPANSION      "YES" PARENT_SCOPE)
+SET(DOXYGEN_EXCLUDE "${PROJECT_SOURCE_DIR}/include/hpp/")
+
+# We must not document octree if Octomap is not setup.
+# This create a build issue when building the bindings because doxygen-autodoc will
+# include octree.h that will include octomap.h.
+IF(NOT COAL_HAS_OCTOMAP)
+  SET(DOXYGEN_EXCLUDE "${DOXYGEN_EXCLUDE} ${PROJECT_SOURCE_DIR}/include/coal/octree.h")
+  SET(DOXYGEN_EXCLUDE "${DOXYGEN_EXCLUDE} ${PROJECT_SOURCE_DIR}/include/coal/serialization/octree.h")
+  SET(DOXYGEN_EXCLUDE "${DOXYGEN_EXCLUDE} ${PROJECT_SOURCE_DIR}/include/coal/internal/traversal_node_octree.h")
+ENDIF()
+SET(DOXYGEN_EXCLUDE ${DOXYGEN_EXCLUDE} PARENT_SCOPE)
+
+SET(DOXYGEN_PREDEFINED          "IS_DOXYGEN"       PARENT_SCOPE)

doc/Doxyfile.extra.in

-FILE_PATTERNS          = *.h  *.hh  *.hxx
+USE_MATHJAX= YES