chore: add publish script for urdf and stl + unify all releases by de… (

#727)

* chore: add publish script for urdf and stl + unify all releases by default

* better cross platform publish support

* publish in dry run within ci

* publish scripts better errors, abort if a publish fails, with an exit code.

* chore(rapier_urdf): fix warnings

* chore(rapier-urdf): typo fix

---------

Co-authored-by: Sébastien Crozet <developer@crozet.re>

.github/workflows/rapier-ci-build.yml

@@ -97,3 +97,11 @@ jobs:
       - uses: actions/checkout@v4
       - name: check typos
         uses: crate-ci/typos@v1.23.2
+  publish-dry-run:
+    runs-on: ubuntu-latest
+    env:
+      RUSTFLAGS: -D warnings
+    steps:
+      - uses: actions/checkout@v4
+      - name: publish dry-run
+        run: ./publish-all.sh

crates/rapier3d-urdf/src/lib.rs

@@ -32,10 +32,7 @@ use rapier3d::{
         JointAxis, MassProperties, MultibodyJointHandle, MultibodyJointSet, RigidBody,
         RigidBodyBuilder, RigidBodyHandle, RigidBodySet, RigidBodyType,
     },
-    geometry::{
-        Collider, ColliderBuilder, ColliderHandle, ColliderSet, MeshConverter, SharedShape,
-        TriMeshFlags,
-    },
+    geometry::{Collider, ColliderBuilder, ColliderHandle, ColliderSet, SharedShape, TriMeshFlags},
     math::{Isometry, Point, Real, Vector},
     na,
 };
@@ -493,7 +490,7 @@ fn urdf_to_rigid_body(options: &UrdfLoaderOptions, inertial: &Inertial) -> Rigid
 
 fn urdf_to_collider(
     options: &UrdfLoaderOptions,
-    mesh_dir: &Path,
+    _mesh_dir: &Path, // NOTO: this isn’t used if there is no external mesh feature enabled (like stl).
     geometry: &Geometry,
     origin: &Pose,
 ) -> Option<Collider> {
@@ -514,17 +511,18 @@ fn urdf_to_collider(
         Geometry::Sphere { radius } => SharedShape::ball(*radius as Real),
         Geometry::Mesh { filename, scale } => {
             let path: &Path = filename.as_ref();
-            let scale = scale
+            let _scale = scale
                 .map(|s| Vector::new(s.x as Real, s.y as Real, s.z as Real))
                 .unwrap_or_else(|| Vector::<Real>::repeat(1.0));
             match path.extension().and_then(|ext| ext.to_str()) {
                 #[cfg(feature = "stl")]
                 Some("stl") | Some("STL") => {
-                    let full_path = mesh_dir.join(filename);
+                    use rapier3d::geometry::MeshConverter;
+                    let full_path = _mesh_dir.join(filename);
                     match rapier3d_stl::load_from_path(
                         full_path,
                         MeshConverter::TriMeshWithFlags(options.trimesh_flags),
-                        scale,
+                        _scale,
                     ) {
                         Ok(stl_shape) => {
                             shape_transform = stl_shape.pose;

publish-all.sh

@@ -0,0 +1,14 @@
+#! /bin/bash
+
+if [[ "$PUBLISH_MODE" == 1 ]]
+then
+    ./scripts/publish-rapier.sh &&
+    ./scripts/publish-testbeds.sh &&
+    ./scripts/publish-extra-formats.sh
+else
+    echo "Running in dry mode, re-run with \`PUBLISH_MODE=1 publish-all.sh\` to actually publish."
+
+    DRY_RUN="--dry-run" ./scripts/publish-rapier.sh &&
+    DRY_RUN="--dry-run" ./scripts/publish-testbeds.sh &&
+    DRY_RUN="--dry-run" ./scripts/publish-extra-formats.sh
+fi

scripts/publish-extra-formats.sh

@@ -0,0 +1,11 @@
+#!/bin/bash
+
+currdir=$(pwd)
+
+### Publish rapier3d-stl.
+cd "crates/rapier3d-stl" && cargo publish $DRY_RUN || exit 1
+cd "$currdir" || exit 2
+
+### Publish rapier3d-urdf.
+cd "crates/rapier3d-urdf" && cargo publish $DRY_RUN || exit 1
+cd "$currdir" || exit 2

publish.sh → scripts/publish-rapier.sh

@@ -1,4 +1,4 @@
-#! /bin/bash
+#!/bin/bash
 
 tmp=$(mktemp -d)
 
@@ -10,26 +10,26 @@ cp -r LICENSE README.md "$tmp"/.
 ### Publish the 2D version.
 sed 's#\.\./\.\./src#src#g' crates/rapier2d/Cargo.toml > "$tmp"/Cargo.toml
 currdir=$(pwd)
-cd "$tmp" && cargo publish
-cd "$currdir" || exit
+cd "$tmp" && cargo publish $DRY_RUN || exit 1
+cd "$currdir" || exit 2
 
 
 ### Publish the 3D version.
 sed 's#\.\./\.\./src#src#g' crates/rapier3d/Cargo.toml > "$tmp"/Cargo.toml
 cp -r LICENSE README.md "$tmp"/.
-cd "$tmp" && cargo publish
-cd "$currdir" || exit
+cd "$tmp" && cargo publish $DRY_RUN || exit 1
+cd "$currdir" || exit 2
 
 ### Publish the 2D f64 version.
 sed 's#\.\./\.\./src#src#g' crates/rapier2d-f64/Cargo.toml > "$tmp"/Cargo.toml
 currdir=$(pwd)
-cd "$tmp" && cargo publish
-cd "$currdir" || exit
+cd "$tmp" && cargo publish $DRY_RUN || exit 1
+cd "$currdir" || exit 2
 
 
 ### Publish the 3D f64 version.
 sed 's#\.\./\.\./src#src#g' crates/rapier3d-f64/Cargo.toml > "$tmp"/Cargo.toml
 cp -r LICENSE README.md "$tmp"/.
-cd "$tmp" && cargo publish
+cd "$tmp" && cargo publish $DRY_RUN || exit 1
 
-rm -rf "$tmp"
+rm -rf "$tmp"

scripts/publish-testbeds.sh

@@ -0,0 +1,34 @@
+#!/bin/bash
+
+gsed -v >> /dev/null
+if [ $? == 0 ]; then
+    gsed=gsed
+else
+    # Hopefully installed sed is the gnu one.
+    gsed=sed
+fi
+
+tmp=$(mktemp -d)
+
+echo "$tmp"
+
+cp -r src "$tmp"/.
+cp -r src_testbed "$tmp"/.
+cp -r crates "$tmp"/.
+cp -r LICENSE README.md "$tmp"/.
+
+### Publish the 2D version.
+$gsed 's#\.\./\.\./src#src#g' crates/rapier_testbed2d/Cargo.toml > "$tmp"/Cargo.toml
+$gsed -i 's#\.\./rapier#./crates/rapier#g' "$tmp"/Cargo.toml
+currdir=$(pwd)
+cd "$tmp" && cargo publish $DRY_RUN
+cd "$currdir" || exit
+
+
+### Publish the 3D version.
+$gsed 's#\.\./\.\./src#src#g' crates/rapier_testbed3d/Cargo.toml > "$tmp"/Cargo.toml
+$gsed -i 's#\.\./rapier#./crates/rapier#g' "$tmp"/Cargo.toml
+cp -r LICENSE README.md "$tmp"/.
+cd "$tmp" && cargo publish $DRY_RUN
+
+rm -rf "$tmp"