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