From e2afd46a4a12009a79fc110a4eaadc1f92e2fa72 Mon Sep 17 00:00:00 2001
From: Michael Dawson-Haggerty <mikedh@kerfed.com>
Date: Tue, 21 Oct 2025 15:30:30 -0400
Subject: [PATCH 01/11] update cibuildwheel for Python 3.14

---
 .github/workflows/push.yml    | 2 +-
 .github/workflows/release.yml | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/push.yml b/.github/workflows/push.yml
index 02965b4..d030454 100644
--- a/.github/workflows/push.yml
+++ b/.github/workflows/push.yml
@@ -28,7 +28,7 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - name: Build wheels
-        uses: pypa/cibuildwheel@v2.22.0
+        uses: pypa/cibuildwheel@v3.2.1
       - uses: actions/upload-artifact@v4
         with:
           path: ./wheelhouse/*.whl
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index e8bbe50..5f6aa28 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -15,7 +15,7 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - name: Build wheels
-        uses: pypa/cibuildwheel@v2.22.0
+        uses: pypa/cibuildwheel@v3.2.1
       - uses: actions/upload-artifact@v4
         with:
           path: ./wheelhouse/*.whl

From 7ee8167616eb977891bff97dbd5e11b040786a6b Mon Sep 17 00:00:00 2001
From: Michael Dawson-Haggerty <mikedh@kerfed.com>
Date: Tue, 21 Oct 2025 15:33:39 -0400
Subject: [PATCH 02/11] update macos intel runners

---
 .github/workflows/push.yml    | 2 +-
 .github/workflows/release.yml | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/push.yml b/.github/workflows/push.yml
index d030454..44c076f 100644
--- a/.github/workflows/push.yml
+++ b/.github/workflows/push.yml
@@ -24,7 +24,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        platform: [ubuntu-latest, macos-latest, windows-latest, macos-13]
+        platform: [ubuntu-latest, macos-latest, windows-latest, macos-15-intel]
     steps:
       - uses: actions/checkout@v4
       - name: Build wheels
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index 5f6aa28..7960211 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -11,7 +11,7 @@ jobs:
     runs-on: ${{matrix.platform}}
     strategy:
       matrix:
-        platform: [ubuntu-latest, macos-latest, windows-latest, macos-13]
+        platform: [ubuntu-latest, macos-latest, windows-latest, macos-15-intel]
     steps:
       - uses: actions/checkout@v4
       - name: Build wheels

From 3f4b1589c63ceb1d3fe99d24f9d9a1410782f141 Mon Sep 17 00:00:00 2001
From: Michael Dawson-Haggerty <mikedh@kerfed.com>
Date: Tue, 21 Oct 2025 15:36:44 -0400
Subject: [PATCH 03/11] try freezing cmake

---
 build_dependencies/install_linux.sh | 2 ++
 build_dependencies/install_macos.sh | 2 +-
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/build_dependencies/install_linux.sh b/build_dependencies/install_linux.sh
index 202c386..cee6088 100644
--- a/build_dependencies/install_linux.sh
+++ b/build_dependencies/install_linux.sh
@@ -1,6 +1,8 @@
 # exit immediately on any failed step
 set -xe
 
+pip install cmake=3.31.6
+
 mkdir -p deps
 cd deps
 
diff --git a/build_dependencies/install_macos.sh b/build_dependencies/install_macos.sh
index 0c579bb..20e140b 100644
--- a/build_dependencies/install_macos.sh
+++ b/build_dependencies/install_macos.sh
@@ -1,6 +1,6 @@
 # exit immediately on any failed step
 set -xe
-pip install cmake
+pip install cmake=3.31.6
 
 mkdir -p deps
 cd deps

From 2ad63a46c9d09288fb3b0ceb620d6ad9a56f8e78 Mon Sep 17 00:00:00 2001
From: Michael Dawson-Haggerty <mikedh@kerfed.com>
Date: Tue, 21 Oct 2025 15:37:48 -0400
Subject: [PATCH 04/11] fix pip syntax

---
 build_dependencies/install_linux.sh | 2 +-
 build_dependencies/install_macos.sh | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/build_dependencies/install_linux.sh b/build_dependencies/install_linux.sh
index cee6088..53ddf33 100644
--- a/build_dependencies/install_linux.sh
+++ b/build_dependencies/install_linux.sh
@@ -1,7 +1,7 @@
 # exit immediately on any failed step
 set -xe
 
-pip install cmake=3.31.6
+pip install cmake==3.31.6
 
 mkdir -p deps
 cd deps
diff --git a/build_dependencies/install_macos.sh b/build_dependencies/install_macos.sh
index 20e140b..d4aa66f 100644
--- a/build_dependencies/install_macos.sh
+++ b/build_dependencies/install_macos.sh
@@ -1,6 +1,6 @@
 # exit immediately on any failed step
 set -xe
-pip install cmake=3.31.6
+pip install cmake==3.31.6
 
 mkdir -p deps
 cd deps

From 215942b85aa7cb226c33982893333c7160eec066 Mon Sep 17 00:00:00 2001
From: Michael Dawson-Haggerty <mikedh@kerfed.com>
Date: Tue, 21 Oct 2025 15:49:00 -0400
Subject: [PATCH 05/11] add cmake debug

---
 build_dependencies/install_linux.sh | 2 ++
 build_dependencies/install_macos.sh | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/build_dependencies/install_linux.sh b/build_dependencies/install_linux.sh
index 53ddf33..9302b91 100644
--- a/build_dependencies/install_linux.sh
+++ b/build_dependencies/install_linux.sh
@@ -3,6 +3,8 @@ set -xe
 
 pip install cmake==3.31.6
 
+cmake --version
+
 mkdir -p deps
 cd deps
 
diff --git a/build_dependencies/install_macos.sh b/build_dependencies/install_macos.sh
index d4aa66f..563fb30 100644
--- a/build_dependencies/install_macos.sh
+++ b/build_dependencies/install_macos.sh
@@ -2,6 +2,8 @@
 set -xe
 pip install cmake==3.31.6
 
+cmake --version
+
 mkdir -p deps
 cd deps
 

From a0c7d8b4b7ceb6bc5b6dbe45ddf869a99fc68798 Mon Sep 17 00:00:00 2001
From: Michael Dawson-Haggerty <mikedh@kerfed.com>
Date: Tue, 21 Oct 2025 15:56:14 -0400
Subject: [PATCH 06/11] use cmake from pip

---
 build_dependencies/install_linux.sh | 15 +++++++++------
 build_dependencies/install_macos.sh | 15 +++++++++------
 pyproject.toml                      |  2 +-
 3 files changed, 19 insertions(+), 13 deletions(-)

diff --git a/build_dependencies/install_linux.sh b/build_dependencies/install_linux.sh
index 9302b91..40f2257 100644
--- a/build_dependencies/install_linux.sh
+++ b/build_dependencies/install_linux.sh
@@ -1,9 +1,12 @@
 # exit immediately on any failed step
 set -xe
 
+# get cmake from pip so we can version-lock
 pip install cmake==3.31.6
+# Set CMAKE variable to use the cmake in the same directory as python
+export CMAKE="$(dirname $(which python))/cmake"
 
-cmake --version
+$CMAKE --version
 
 mkdir -p deps
 cd deps
@@ -21,26 +24,26 @@ 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
+$CMAKE -B build -S eigen-3.3.9
+$CMAKE --install build
 
 # Build and install libccd
 cd libccd
-cmake . -D ENABLE_DOUBLE_PRECISION=ON
+$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
+$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 .
+$CMAKE .
 make -j4
 make install
 cd ..
diff --git a/build_dependencies/install_macos.sh b/build_dependencies/install_macos.sh
index 563fb30..0ab672c 100644
--- a/build_dependencies/install_macos.sh
+++ b/build_dependencies/install_macos.sh
@@ -2,7 +2,10 @@
 set -xe
 pip install cmake==3.31.6
 
-cmake --version
+# Set CMAKE variable to use the cmake in the same directory as python
+export CMAKE="$(dirname $(which python))/cmake"
+
+$CMAKE --version
 
 mkdir -p deps
 cd deps
@@ -21,26 +24,26 @@ 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
+$CMAKE -B build -S eigen
+sudo $CMAKE --install build
 
 # Build and install libccd
 cd libccd
-cmake . -D ENABLE_DOUBLE_PRECISION=ON
+$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
+$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 .
+$CMAKE .
 make -j4
 sudo make install
 cd ..
diff --git a/pyproject.toml b/pyproject.toml
index dae65b4..5f3a41f 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -97,7 +97,7 @@ ignore = [
 
 
 [tool.cibuildwheel]
-skip = ["pp*", "*musllinux*"]
+skip = ["*musllinux*"]
 test-requires = "pytest"
 test-command = "pytest {package}/tests"
 

From 9bb45a0d40675a615dfa27bf0b6098946a206fbc Mon Sep 17 00:00:00 2001
From: Michael Dawson-Haggerty <mikedh@kerfed.com>
Date: Tue, 21 Oct 2025 15:59:41 -0400
Subject: [PATCH 07/11] force c++17 for octomap build

---
 build_dependencies/install_linux.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/build_dependencies/install_linux.sh b/build_dependencies/install_linux.sh
index 40f2257..ff05f4d 100644
--- a/build_dependencies/install_linux.sh
+++ b/build_dependencies/install_linux.sh
@@ -36,7 +36,7 @@ cd ..
 
 # Build and install octomap
 cd octomap
-$CMAKE . -D CMAKE_BUILD_TYPE=Release -D BUILD_OCTOVIS_SUBPROJECT=OFF -D BUILD_DYNAMICETD3D_SUBPROJECT=OFF
+$CMAKE . -D CMAKE_BUILD_TYPE=Release -D BUILD_OCTOVIS_SUBPROJECT=OFF -D BUILD_DYNAMICETD3D_SUBPROJECT=OFF -D CMAKE_CXX_STANDARD=17
 make -j4
 make install
 cd ..

From ad33f7a79e934478beb6b115d1f9a328522bebc2 Mon Sep 17 00:00:00 2001
From: Michael Dawson-Haggerty <mikedh@kerfed.com>
Date: Tue, 21 Oct 2025 16:07:52 -0400
Subject: [PATCH 08/11] add more flags for C++17

---
 build_dependencies/install_linux.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/build_dependencies/install_linux.sh b/build_dependencies/install_linux.sh
index ff05f4d..3fa048a 100644
--- a/build_dependencies/install_linux.sh
+++ b/build_dependencies/install_linux.sh
@@ -36,7 +36,7 @@ cd ..
 
 # Build and install octomap
 cd octomap
-$CMAKE . -D CMAKE_BUILD_TYPE=Release -D BUILD_OCTOVIS_SUBPROJECT=OFF -D BUILD_DYNAMICETD3D_SUBPROJECT=OFF -D CMAKE_CXX_STANDARD=17
+$CMAKE . -D CMAKE_BUILD_TYPE=Release -D BUILD_OCTOVIS_SUBPROJECT=OFF -D BUILD_DYNAMICETD3D_SUBPROJECT=OFF -D CMAKE_CXX_STANDARD=17 -D CMAKE_CXX_FLAGS="-std=c++17"
 make -j4
 make install
 cd ..

From 733415ccfb38e2d044f9ea32943b07997aa28383 Mon Sep 17 00:00:00 2001
From: Michael Dawson-Haggerty <mikedh@kerfed.com>
Date: Tue, 21 Oct 2025 16:22:25 -0400
Subject: [PATCH 09/11] add more cmake flags for octomap

---
 build_dependencies/install_linux.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/build_dependencies/install_linux.sh b/build_dependencies/install_linux.sh
index 3fa048a..a8cb0a2 100644
--- a/build_dependencies/install_linux.sh
+++ b/build_dependencies/install_linux.sh
@@ -36,7 +36,7 @@ cd ..
 
 # Build and install octomap
 cd octomap
-$CMAKE . -D CMAKE_BUILD_TYPE=Release -D BUILD_OCTOVIS_SUBPROJECT=OFF -D BUILD_DYNAMICETD3D_SUBPROJECT=OFF -D CMAKE_CXX_STANDARD=17 -D CMAKE_CXX_FLAGS="-std=c++17"
+$CMAKE . -D CMAKE_BUILD_TYPE=Release -D BUILD_OCTOVIS_SUBPROJECT=OFF -D BUILD_DYNAMICETD3D_SUBPROJECT=OFF -D CMAKE_CXX_STANDARD=17 -D CMAKE_CXX_STANDARD_REQUIRED=ON -D CMAKE_CXX_FLAGS="-std=c++17 -Wno-error=template-id-cdtor"
 make -j4
 make install
 cd ..

From bd3117333bb2bbecc476844c99ef558aa0029ea4 Mon Sep 17 00:00:00 2001
From: Michael Dawson-Haggerty <mikedh@kerfed.com>
Date: Tue, 21 Oct 2025 17:26:18 -0400
Subject: [PATCH 10/11] add lib64

---
 build_dependencies/install_linux.sh | 11 ++++++-----
 pyproject.toml                      |  1 +
 setup.py                            |  2 +-
 3 files changed, 8 insertions(+), 6 deletions(-)

diff --git a/build_dependencies/install_linux.sh b/build_dependencies/install_linux.sh
index a8cb0a2..ad899cf 100644
--- a/build_dependencies/install_linux.sh
+++ b/build_dependencies/install_linux.sh
@@ -24,28 +24,29 @@ 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 -B build -S eigen-3.3.9 
 $CMAKE --install build
 
 # Build and install libccd
 cd libccd
-$CMAKE . -D ENABLE_DOUBLE_PRECISION=ON
+$CMAKE . -DENABLE_DOUBLE_PRECISION=ON
 make -j4
 make install
 cd ..
 
 # Build and install octomap
 cd octomap
-$CMAKE . -D CMAKE_BUILD_TYPE=Release -D BUILD_OCTOVIS_SUBPROJECT=OFF -D BUILD_DYNAMICETD3D_SUBPROJECT=OFF -D CMAKE_CXX_STANDARD=17 -D CMAKE_CXX_STANDARD_REQUIRED=ON -D CMAKE_CXX_FLAGS="-std=c++17 -Wno-error=template-id-cdtor"
+$CMAKE .  -DCMAKE_BUILD_TYPE=Release -DBUILD_OCTOVIS_SUBPROJECT=OFF -DBUILD_DYNAMICETD3D_SUBPROJECT=OFF -DCMAKE_CXX_STANDARD=17 -DCMAKE_CXX_STANDARD_REQUIRED=ON -DCMAKE_CXX_FLAGS="-std=c++17 -Wno-error=template-id-cdtor"
 make -j4
 make install
 cd ..
 
 # Build and install fcl
 cd fcl
-$CMAKE .
+$CMAKE . 
 make -j4
 make install
 cd ..
 
-cd ..
+# Update library cache so the system can find the newly installed libraries
+ldconfig
diff --git a/pyproject.toml b/pyproject.toml
index 5f3a41f..44a7709 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -103,6 +103,7 @@ test-command = "pytest {package}/tests"
 
 [tool.cibuildwheel.linux]
 before-all = "bash build_dependencies/install_linux.sh"
+repair-wheel-command = "LD_LIBRARY_PATH=/usr/local/lib64 auditwheel repair -w {dest_dir} {wheel}"
 archs = ["x86_64"]
 
 [tool.cibuildwheel.macos]
diff --git a/setup.py b/setup.py
index 15e69dd..9ebe01f 100644
--- a/setup.py
+++ b/setup.py
@@ -43,7 +43,7 @@ def get_include_dirs():
 
 def get_libraries_dir():
     if is_nix_platform(sys.platform):
-        lib_dirs = ["/usr/lib", "/usr/local/lib"]
+        lib_dirs = ["/usr/lib", "/usr/local/lib", "/usr/lib64", "/usr/local/lib64"]
 
         if "LD_LIBRARY_PATH" in os.environ:
             lib_dirs += os.environ["LD_LIBRARY_PATH"].split(":")

From 4f9f0e08be14bbb5dcf1066608ae8e11995b79b5 Mon Sep 17 00:00:00 2001
From: Michael Dawson-Haggerty <mikedh@kerfed.com>
Date: Tue, 21 Oct 2025 19:41:43 -0400
Subject: [PATCH 11/11] bump version

---
 src/fcl/version.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/fcl/version.py b/src/fcl/version.py
index 4338f6c..3517f47 100644
--- a/src/fcl/version.py
+++ b/src/fcl/version.py
@@ -1 +1 @@
-__version__ = "0.7.0.8"
+__version__ = "0.7.0.9"