Fix bvh path

.github/workflows/push.yml

@@ -0,0 +1,38 @@
+name: Build
+
+on: [push, pull_request, workflow_dispatch]
+
+jobs:
+  formatting:
+    name: Check Formatting
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out source repository
+        uses: actions/checkout@v3
+      - name: Set up Python environment
+        uses: actions/setup-python@v4
+        with:
+          python-version: 3.9
+      - name: flake8
+        uses: py-actions/flake8@v2
+      - name: black
+        uses: psf/black@stable
+        with:
+          options: '--check --diff -l 90'
+
+  build_wheels:
+    name: Build wheel on ${{matrix.platform}}
+    runs-on: ${{matrix.platform}}
+    strategy:
+      fail-fast: false
+      matrix:
+        platform: [ubuntu-latest, macos-latest, windows-latest]
+    steps:
+      - uses: actions/checkout@v3
+      - name: Build wheels
+        uses: pypa/cibuildwheel@v2.15.0
+        env:
+          CIBW_ARCHS_MACOS: 'x86_64 arm64'
+      - uses: actions/upload-artifact@v3
+        with:
+          path: ./wheelhouse/*.whl

.github/workflows/release.yml

@@ -0,0 +1,78 @@
+name: Release To Pypi
+
+on:
+  push:
+    branches:
+      - master
+
+jobs:
+  create_release:
+    name: Create GitHub Release
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 2
+      - name: Get changed files
+        id: changed-files
+        uses: tj-actions/changed-files@v35.4.1
+      - name: Tag Version
+        if: contains(steps.changed-files.outputs.modified_files, 'src/fcl/version.py')
+        id: set_tag
+        run: |
+          export VER=v$(python -c "exec(open('src/fcl/version.py','r').read());print(__version__)")
+          echo "tag_name=${VER}" >> $GITHUB_OUTPUT
+      - name: Create Release
+        if: contains(steps.changed-files.outputs.modified_files, 'src/fcl/version.py')
+        id: create_release
+        uses: actions/create-release@v1
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        with:
+          tag_name: ${{ steps.set_tag.outputs.tag_name }}
+          release_name: ${{ steps.set_tag.outputs.tag_name }}
+          draft: false
+          prerelease: false
+    outputs:
+      mod_files: ${{ steps.changed-files.outputs.modified_files }}
+
+  build_wheels:
+    if: contains(needs.create_release.outputs.mod_files, 'src/fcl/version.py')
+    name: Build wheel on ${{matrix.platform}}
+    runs-on: ${{matrix.platform}}
+    needs: create_release
+    strategy:
+      matrix:
+        platform: [ubuntu-latest, macos-latest, windows-latest]
+    steps:
+      - uses: actions/checkout@v3
+      - name: Build wheels
+        uses: pypa/cibuildwheel@v2.15.0
+        env:
+          CIBW_ARCHS_MACOS: 'x86_64 arm64'
+      - uses: actions/upload-artifact@v3
+        with:
+          path: ./wheelhouse/*.whl
+      - uses: xresloader/upload-to-github-release@v1
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+        with:
+          file: ./wheelhouse/*.whl
+          overwrite: true
+          draft: false
+          update_latest_release: true
+
+  upload_pypi:
+    if: contains(needs.create_release.outputs.mod_files, 'src/fcl/version.py')
+    needs: [create_release, build_wheels]
+    runs-on: ubuntu-latest
+    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 }}

.gitignore

@@ -25,6 +25,7 @@ wheels/
 .installed.cfg
 *.egg
 MANIFEST
+deps/
 
 # PyInstaller
 #  Usually these files are written by a python script from a template
@@ -103,3 +104,6 @@ venv.bak/
 
 # mypy
 .mypy_cache/
+
+# vscode settings
+.vscode/

README.md

@@ -1,11 +1,9 @@
 # python-fcl
 ### Python Interface for the Flexible Collision Library
 
-[![Build Status](https://travis-ci.org/BerkeleyAutomation/python-fcl.svg?branch=master)](https://travis-ci.org/BerkeleyAutomation/python-fcl)
-
 Python-FCL is an (unofficial) Python interface for the [Flexible Collision Library (FCL)](https://github.com/flexible-collision-library/fcl),
 an excellent C++ library for performing proximity and collision queries on pairs of geometric models.
-Currently, this package is targeted for FCL 0.5.0.
+Currently, this package is targeted for FCL 0.7.0.
 
 This package supports three types of proximity queries for pairs of geometric models:
 * __Collision Detection__: Detecting whether two models overlap (and optionally where).
@@ -19,6 +17,7 @@ This package also supports most of FCL's object shapes, including:
 * Ellipsoid
 * Capsule
 * Cone
+* Convex
 * Cylinder
 * Half-Space
 * Plane
@@ -27,10 +26,11 @@ This package also supports most of FCL's object shapes, including:
 
 ## Installation
 
-First, install [octomap](https://github.com/OctoMap/octomap), which is necessary using OcTree. For Ubuntu, using `sudo apt-get install liboctomap-dev`   
+First, install [octomap](https://github.com/OctoMap/octomap), which is necessary to use OcTree. For Ubuntu, use `sudo apt-get install liboctomap-dev`.
 Second, install FCL using the instructions provided [here](https://github.com/flexible-collision-library/fcl).
 If you're on Ubuntu 17.04 or newer, you can install FCL using `sudo apt-get install libfcl-dev`.
 Otherwise, just compile FCL from source -- it's quick and easy, and its dependencies are all easily installed via `apt` or `brew`.
+Note: the provided install scripts (under `build_dependencies`) can automate this process as well.
 
 In order to install the Python wrappers for FCL, simply run
 ```shell
@@ -41,8 +41,7 @@ pip install python-fcl
 
 ### Collision Objects
 The primary construct in FCL is the `CollisionObject`, which forms the backbone of all collision and distance computations.
-A `CollisionObject` consists of two components -- its geometry, defined by a `CollisionGeometry` object,
-  and its pose, defined by a `Transform` object.
+A `CollisionObject` consists of two components -- its geometry, defined by a `CollisionGeometry` object, and its pose, defined by a `Transform` object.
 
 #### Collision Geometries
 There are two main types of `CollisionGeometry` objects -- geometric primitives, such as boxes and spheres,
@@ -90,6 +89,20 @@ m.addSubModel(verts, tris)
 m.endModel()
 ```
 
+If the mesh is convex, such as the example above, you can also wrap it in the `Convex` class. Note that the instantiation is a bit different because the `Convex` class supports arbitrary polygons for each face of the convex object.
+```python
+verts = np.array([[1.0, 1.0, 1.0],
+                  [2.0, 1.0, 1.0],
+                  [1.0, 2.0, 1.0],
+                  [1.0, 1.0, 2.0]])
+tris  = np.array([[0,2,1],
+                  [0,3,2],
+                  [0,1,3],
+                  [1,2,3]])
+faces = np.concatenate((3 * np.ones((len(tris), 1), dtype=np.int64), tris), axis=1).flatten()
+c = fcl.Convex(verts, len(tris), faces)
+```
+
 #### Transforms
 In addition to a `CollisionGeometry`, a `CollisionObject` requires a `Transform`, which tells FCL where the `CollisionGeometry` is actually located in the world.
 All `Transform` objects specify a rigid transformation (i.e. a rotation and a translation).
@@ -349,4 +362,4 @@ for coll_pair in objs_in_collision:
 ```
 >>> Object obj1 in collision with object obj2!
 ```
-For more examples, see `example/example.py`.
+For more examples, see `examples/example.py`.

build_dependencies/Dockerfile

@@ -0,0 +1,25 @@
+# NOTE: this docker file is only for local testing of the build
+# example of testing a build locally:
+# docker build . -t pythonfcl -f build_dependencies/Dockerfile
+
+FROM quay.io/pypa/manylinux2010_x86_64:latest
+
+# build and install libccd and fcl using cmake
+COPY build_dependencies/install_linux.sh .
+RUN bash install_linux.sh
+
+# manylinux includes a bunch of pythons
+# to test with others change this env variable
+#ENV PATH=/opt/python/cp27-cp27m/bin:$PATH
+ENV PATH=/opt/python/cp39-cp39/bin:$PATH
+
+# we need numpy to build python-fcl
+# since we set our path we'll be using the right pip
+RUN pip install numpy cython
+
+# build the python-fcl module
+COPY . /python_fcl
+RUN pip wheel /python_fcl --no-deps -w wheelhouse/
+RUN pip install python_fcl --no-index -f /wheelhouse
+RUN ls /wheelhouse
+RUN auditwheel repair wheelhouse/python_fcl-0.7.0-cp39-cp39-linux_x86_64.whl -w /wheelhouse

build_dependencies/install_linux.sh

@@ -0,0 +1,44 @@
+# exit immediately on any failed step
+set -xe
+
+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
+
+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-3.3.9
+cmake --install build
+
+# Build and install libccd
+cd libccd
+cmake . -D ENABLE_DOUBLE_PRECISION=ON
+make -j4
+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
+make install
+cd ..
+
+# Build and install fcl
+cd fcl
+cmake .
+make -j4
+make install
+cd ..
+
+cd ..

build_dependencies/install_macos.sh

@@ -0,0 +1,20 @@
+# 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 ..