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Windows Build Script and Associated Documentation Per Platform
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‎README.md‎

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@@ -27,16 +27,58 @@ This package also supports most of FCL's object shapes, including:
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## Installation
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First, install [octomap](https://github.com/OctoMap/octomap), which is necessary using OcTree. For Ubuntu, using `sudo apt-get install liboctomap-dev`
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Second, install FCL using the instructions provided [here](https://github.com/flexible-collision-library/fcl).
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If you're on Ubuntu 17.04 or newer, you can install FCL using `sudo apt-get install libfcl-dev`.
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Otherwise, just compile FCL from source -- it's quick and easy, and its dependencies are all easily installed via `apt` or `brew`.
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In order to install the Python wrappers for FCL, simply run
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```shell
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pip install python-fcl
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### Linux
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First install needed dependencies:
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```bash
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sudo apt-get install liboctomap-dev libfcl-dev
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```
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Then install for your particular Python version:
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```bash
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pip3 install python-fcl
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```
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### MacOS
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First install needed dependencies:
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```bash
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brew install fcl eigen octomap libccd
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```
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Then install for your particular Python version:
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```bash
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pip3 install python-fcl
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```
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### Windows
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Building on Windows requires:
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* Python3 (e.g. Not tested using Python2)
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* Cython
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* CMake
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* MSVC (Visual Studio 16 2019)
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> Since the build script places artifacts in `C:\Program Files (x86)`, it is
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necessary to run it using an "Administrator PowerShell" prompt.
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```bash
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# Run using Administrator PowerShell prompt. WILL FAIL WITHOUT PROPER ACCESS
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git clone https://github.com/BerkeleyAutomation/python-fcl
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cd python-fcl
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# Use CMake to compile/install all dependencies along with installing python-fcl
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requirements/build_win32.ps1
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```
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# Usage Examples
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## Objects
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### Collision Objects

‎example/example.py‎

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@@ -1,28 +1,29 @@
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from __future__ import print_function
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import numpy as np
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import fcl
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def print_collision_result(o1_name, o2_name, result):
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print 'Collision between {} and {}:'.format(o1_name, o2_name)
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print '-'*30
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print 'Collision?: {}'.format(result.is_collision)
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print 'Number of contacts: {}'.format(len(result.contacts))
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print ''
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print('Collision between {} and {}:'.format(o1_name, o2_name))
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print('-'*30)
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print('Collision?: {}'.format(result.is_collision))
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print('Number of contacts: {}'.format(len(result.contacts)))
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print()
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def print_continuous_collision_result(o1_name, o2_name, result):
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print 'Continuous collision between {} and {}:'.format(o1_name, o2_name)
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print '-'*30
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print 'Collision?: {}'.format(result.is_collide)
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print 'Time of collision: {}'.format(result.time_of_contact)
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print ''
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print('Continuous collision between {} and {}:'.format(o1_name, o2_name))
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print('-'*30)
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print('Collision?: {}'.format(result.is_collide))
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print('Time of collision: {}'.format(result.time_of_contact))
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print()
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def print_distance_result(o1_name, o2_name, result):
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print 'Distance between {} and {}:'.format(o1_name, o2_name)
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print '-'*30
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print 'Distance: {}'.format(result.min_distance)
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print 'Closest Points:'
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print result.nearest_points[0]
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print result.nearest_points[1]
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print ''
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print('Distance between {} and {}:'.format(o1_name, o2_name))
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print('-'*30)
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print('Distance: {}'.format(result.min_distance))
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print('Closest Points:')
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print(result.nearest_points[0])
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print(result.nearest_points[1])
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print()
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# Create simple geometries
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box = fcl.Box(1.0, 2.0, 3.0)
@@ -48,10 +49,10 @@ def print_distance_result(o1_name, o2_name, result):
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#=====================================================================
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# Pairwise collision checking
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#=====================================================================
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print '='*60
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print 'Testing Pairwise Collision Checking'
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print '='*60
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print ''
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print('='*60)
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print('Testing Pairwise Collision Checking')
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print('='*60)
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print()
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req = fcl.CollisionRequest(enable_contact=True)
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res = fcl.CollisionResult()
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#=====================================================================
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# Pairwise distance checking
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#=====================================================================
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print '='*60
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print 'Testing Pairwise Distance Checking'
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print '='*60
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print ''
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print('='*60)
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print('Testing Pairwise Distance Checking')
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print('='*60)
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print()
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req = fcl.DistanceRequest(enable_nearest_points=True)
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res = fcl.DistanceResult()
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#=====================================================================
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# Pairwise continuous collision checking
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#=====================================================================
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print '='*60
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print 'Testing Pairwise Continuous Collision Checking'
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print '='*60
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print ''
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print('='*60)
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print('Testing Pairwise Continuous Collision Checking')
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print('='*60)
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print()
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req = fcl.ContinuousCollisionRequest()
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res = fcl.ContinuousCollisionResult()
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#=====================================================================
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# Managed collision checking
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#=====================================================================
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print '='*60
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print 'Testing Managed Collision and Distance Checking'
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print '='*60
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print ''
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print('='*60)
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print('Testing Managed Collision and Distance Checking')
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print('='*60)
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print('')
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objs1 = [fcl.CollisionObject(box, fcl.Transform(np.array([20,0,0]))), fcl.CollisionObject(sphere)]
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objs2 = [fcl.CollisionObject(cone), fcl.CollisionObject(mesh)]
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objs3 = [fcl.CollisionObject(box), fcl.CollisionObject(sphere)]
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#=====================================================================
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cdata = fcl.CollisionData()
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manager1.collide(cdata, fcl.defaultCollisionCallback)
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print 'Collision within manager 1?: {}'.format(cdata.result.is_collision)
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print ''
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print('Collision within manager 1?: {}'.format(cdata.result.is_collision))
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print()
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149150
cdata = fcl.CollisionData()
150151
manager2.collide(cdata, fcl.defaultCollisionCallback)
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print 'Collision within manager 2?: {}'.format(cdata.result.is_collision)
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print ''
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print('Collision within manager 2?: {}'.format(cdata.result.is_collision))
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print()
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##=====================================================================
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## Managed internal (n^2) distance checking
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##=====================================================================
157158
ddata = fcl.DistanceData()
158159
manager1.distance(ddata, fcl.defaultDistanceCallback)
159-
print 'Closest distance within manager 1?: {}'.format(ddata.result.min_distance)
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print ''
160+
print('Closest distance within manager 1?: {}'.format(ddata.result.min_distance))
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print()
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ddata = fcl.DistanceData()
163164
manager2.distance(ddata, fcl.defaultDistanceCallback)
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print 'Closest distance within manager 2?: {}'.format(ddata.result.min_distance)
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print ''
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print('Closest distance within manager 2?: {}'.format(ddata.result.min_distance))
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print()
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#=====================================================================
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# Managed one to many collision checking
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rdata = fcl.CollisionData(request = req)
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manager1.collide(fcl.CollisionObject(mesh), rdata, fcl.defaultCollisionCallback)
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print 'Collision between manager 1 and Mesh?: {}'.format(rdata.result.is_collision)
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print 'Contacts:'
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print('Collision between manager 1 and Mesh?: {}'.format(rdata.result.is_collision))
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print('Contacts:')
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for c in rdata.result.contacts:
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print '\tO1: {}, O2: {}'.format(c.o1, c.o2)
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print ''
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print('\tO1: {}, O2: {}'.format(c.o1, c.o2))
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print()
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#=====================================================================
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# Managed many to many collision checking
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#=====================================================================
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rdata = fcl.CollisionData(request = req)
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manager3.collide(manager2, rdata, fcl.defaultCollisionCallback)
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print 'Collision between manager 2 and manager 3?: {}'.format(rdata.result.is_collision)
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print 'Contacts:'
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print('Collision between manager 2 and manager 3?: {}'.format(rdata.result.is_collision))
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print('Contacts:')
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for c in rdata.result.contacts:
188-
print '\tO1: {}, O2: {}'.format(c.o1, c.o2)
189-
print ''
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189+
print('\tO1: {}, O2: {}'.format(c.o1, c.o2))
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print()

‎requirements/build_win32.ps1‎

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<#
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This script builds fcl and it's dependencies for python-fcl on Windows.
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It downloads, builds, installs, and then deletes:
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* fcl
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* libccd
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* eigen
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* octomap
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#>
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# Ensure that paths are constant between runs
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pushd $PSScriptRoot
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# Create a directory that encapsulates all Git repos
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mkdir fcl; cd fcl
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#------------------------------------------------------------------------------
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# Eigen
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Write-Host "Building Eigen"
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git clone https://gitlab.com/libeigen/eigen.git
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cd eigen
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mkdir build; cd build
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cmake -DCMAKE_BUILD_TYPE=Release -G "Visual Studio 16 2019" -DBUILD_SHARED_LIBS=ON ..
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cmake --build . --config Release --target install
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Write-Host "Done"
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cd ../..
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# ------------------------------------------------------------------------------
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# LibCCD
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Write-Host "Building LibCCD"
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git clone https://github.com/danfis/libccd
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cd libccd
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mkdir build; cd build
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cmake -DCMAKE_BUILD_TYPE=Release -G "Visual Studio 16 2019" -DBUILD_SHARED_LIBS=ON ..
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cmake --build . --config Release --target install
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Write-Host "Done"
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cd ../..
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# FCL won't be able to find libccd unless it is named "ccd" exactly
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Rename-Item "C:\Program Files (x86)\libccd" ccd
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# ------------------------------------------------------------------------------
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# Octomap
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Write-Host "Building Octomap"
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git clone https://github.com/OctoMap/octomap
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cd octomap
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mkdir build; cd build
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cmake -DCMAKE_BUILD_TYPE=Release -G "Visual Studio 16 2019" -DBUILD_SHARED_LIBS=ON ..
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# Build Octomap (won't install for some reason)
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cmake --build . --config Release --target install
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# Now rebuild, which installs correctly
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cmake --build . --config Release --target install
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Write-Host "Done"
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cd ../../
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# FCL won't be able to find octomap unless it is named "octomap" exactly
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Rename-Item "C:\Program Files (x86)\octomap-distribution" octomap
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# ------------------------------------------------------------------------------
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# FCL
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Write-Host "Building FCL"
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git clone https://github.com/flexible-collision-library/fcl
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cd fcl
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# Checkout specific version 0.5.0 (only one compatible with python-fcl)
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git checkout 7075caf32ddcd5825ff67303902e3db7664a407a
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mkdir build; cd build
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# Fiddle with build file to help fcl find LibCCD and Octomap
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# Also tells compiler to dynamically link with C runtime (matches Cython)
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$build_script_modification = @"
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find_package(ccd QUIET)
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find_package(octomap QUIET)
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set(CMAKE_MSVC_RUNTIME_LIBRARY "MultiThreadedDLL$<$<CONFIG:Debug>:Debug>")
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"@
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$filePath = "../CMakeLists.txt"
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$lineNumber = 11
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$fileContent = Get-Content $filePath
85+
$fileContent[$lineNumber-1] = $build_script_modification
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$fileContent | Set-Content $filePath
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# Now perform actual build
89+
cmake -DCMAKE_BUILD_TYPE=Release -G "Visual Studio 16 2019" ..
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cmake --build . --config Release --target install
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Write-Host "Done"
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cd ../../
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# ------------------------------------------------------------------------------
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# Python-FCL
97+
cd ../
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# Delete compilation directory since it is no longer needed
100+
del -Force -Recurse fcl
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102+
cd ../
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# Now build Cython extension
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python setup.py install
106+
Write-Host "Successfully built python-fcl"
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108+
# At this point, you cannot import fcl directly in Python because it will fail.
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# This is because it doesn't have the required DLLs. Let's fix that:
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# NOTE: The default SourceFileLoader will find python-fcl's `fcl` package. So
111+
# let's create a tmp directory and use that to force it to find the one in the
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# `site-packages`'s directory.
113+
mkdir tmp; cd tmp
114+
$fcl_dir = $(python -c "import pathlib as p, pkgutil as pk; print(p.Path(pk.get_loader('fcl').get_filename()).parent)")
115+
Write-Host "Installed into: $fcl_dir. Copying dependent DLLs"
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ls "C:/Program Files (x86)/octomap/bin/*.dll" | cp -destination $fcl_dir
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cp "C:/Program Files (x86)/ccd/bin/ccd.dll" $fcl_dir
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# Now delete all of the installed dependencies (after building python-fcl)
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Write-Host "Removing build directories for Eigen, LibCCD, FCL, and Octomap"
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rmdir -r 'C:\Program Files (x86)\Eigen3'
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rmdir -r 'C:\Program Files (x86)\ccd'
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rmdir -r 'C:\Program Files (x86)\fcl'
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rmdir -r 'C:\Program Files (x86)\octomap'
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126+
Write-Host "All done!"
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# Make sure to return the cwd to wherever it was before the build
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popd

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