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fix issue #590 #618

Merged
merged 3 commits into from
Aug 22, 2024
Merged

fix issue #590 #618

merged 3 commits into from
Aug 22, 2024

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jongyaoY
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Solved [#590] by exposing IdVisitor of collision geometries, but it requires eigenpy >=3.7.0

@jongyaoY
fix issue coal-library#590
931c661 
expose IdVisitor of all other collision geometries
nim65s
nim65s requested changes Aug 21, 2024
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This require a new version of eigenpy, v3.8.0, so this is a breaking change.
It will break at least the CI on systems were eigenpy v3.8.0 is not yet available.

Could you guard those changes with #if EIGENPY_VERSION_AT_LEAST(3, 8, 0), to fix this ?

@jongyaoY jongyaoY requested a review from nim65s August 21, 2024 18:04
nim65s
nim65s approved these changes Aug 21, 2024
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Thanks !

@jcarpent jcarpent merged commit 7e3f33b into coal-library:devel Aug 22, 2024
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@jcarpent jcarpent mentioned this pull request Aug 22, 2024
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nim65s added a commit to nim65s/robotpkg that referenced this pull request Nov 21, 2024
@nim65s
[path/{py-,}[hpp-fcl -> coal]] Update to v3.0.0
d4659f4 
    ## [3.0.0] - 2024-11-20

    ### Added
    - Renaming the library from `hpp-fcl` to `coal`. Created a `COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL` CMake option for retro compatibility. This allows to still do `find_package(hpp-fcl)` and `#include <hpp/fcl/...>` in C++ and it allows to still do `import hppfcl` in python (coal-library/coal#596).
    - Added `Transform3f::Random` and `Transform3f::setRandom` (coal-library/coal#584)
    - New feature: computation of contact surfaces for any pair of primitive shapes (triangle, sphere, ellipsoid, plane, halfspace, cone, capsule, cylinder, convex) (coal-library/coal#574).
    - Enhance Broadphase DynamicAABBTree to better handle planes and halfspace (coal-library/coal#570)
    - (coal-library/coal#558):
      - [internal] Removed dead code in `narrowphase/details.h` (coal-library/coal#558)
      - [internal] Removed specializations of methods of `GJKSolver`. Now the specializations are all handled by `ShapeShapeDistance` in `shape_shape_func.h`.
      - [new feature] Added support for Swept-Sphere primitives (sphere, box, capsule, cone, ellipsoid, triangle, halfspace, plane, convex mesh).
    - [API change] Renamed default convergence criterion from `VDB` to `Default` (coal-library/coal#556)
    - Fixed EPA returning nans on cases where it could return an estimate of the normal and penetration depth. (coal-library/coal#556)
    - Fixed too low tolerance in GJK/EPA asserts (coal-library/coal#554)
    - Fixed `normal_and_nearest_points` test (no need to have Eigen 3.4) (coal-library/coal#553)
    - (coal-library/coal#549)
    - Optimize EPA: ignore useless faces in EPA's polytope; warm-start support computation for `Convex`; fix edge-cases witness points computation.
    - Add `Serializable` trait to transform, collision data, collision geometries, bounding volumes, bvh models, hfields. Collision problems can now be serialized from C++ and sent to python and vice versa.
    - CMake: allow use of installed jrl-cmakemodules (coal-library/coal#564)
    - CMake: Add compatibility with jrl-cmakemodules workspace (coal-library/coal#610)
    - Python: add id() support for geometries (coal-library/coal#618).

Packaging changes:
- renamed package
- removed patch 522, merged upstream
- updated patch aa
- replaced common Makefile from HPP to JRL
- turned on backward compatibility with hpp-fcl
- updated required version to 3.0.0 (coal < 3.0.0 does not exist)
nim65s added a commit to nim65s/robotpkg that referenced this pull request Dec 6, 2024
@nim65s
[path/{py-,}[hpp-fcl -> coal]] Rename hpp-fcl to coal and update to v…
a5efd32 
…3.0.0

    ## [3.0.0] - 2024-11-20

    ### Added
    - Renaming the library from `hpp-fcl` to `coal`. Created a `COAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL` CMake option for retro compatibility. This allows to still do `find_package(hpp-fcl)` and `#include <hpp/fcl/...>` in C++ and it allows to still do `import hppfcl` in python (coal-library/coal#596).
    - Added `Transform3f::Random` and `Transform3f::setRandom` (coal-library/coal#584)
    - New feature: computation of contact surfaces for any pair of primitive shapes (triangle, sphere, ellipsoid, plane, halfspace, cone, capsule, cylinder, convex) (coal-library/coal#574).
    - Enhance Broadphase DynamicAABBTree to better handle planes and halfspace (coal-library/coal#570)
    - (coal-library/coal#558):
      - [internal] Removed dead code in `narrowphase/details.h` (coal-library/coal#558)
      - [internal] Removed specializations of methods of `GJKSolver`. Now the specializations are all handled by `ShapeShapeDistance` in `shape_shape_func.h`.
      - [new feature] Added support for Swept-Sphere primitives (sphere, box, capsule, cone, ellipsoid, triangle, halfspace, plane, convex mesh).
    - [API change] Renamed default convergence criterion from `VDB` to `Default` (coal-library/coal#556)
    - Fixed EPA returning nans on cases where it could return an estimate of the normal and penetration depth. (coal-library/coal#556)
    - Fixed too low tolerance in GJK/EPA asserts (coal-library/coal#554)
    - Fixed `normal_and_nearest_points` test (no need to have Eigen 3.4) (coal-library/coal#553)
    - (coal-library/coal#549)
    - Optimize EPA: ignore useless faces in EPA's polytope; warm-start support computation for `Convex`; fix edge-cases witness points computation.
    - Add `Serializable` trait to transform, collision data, collision geometries, bounding volumes, bvh models, hfields. Collision problems can now be serialized from C++ and sent to python and vice versa.
    - CMake: allow use of installed jrl-cmakemodules (coal-library/coal#564)
    - CMake: Add compatibility with jrl-cmakemodules workspace (coal-library/coal#610)
    - Python: add id() support for geometries (coal-library/coal#618).

Packaging changes:
- renamed package, recursive bump of PKGREVISION
- removed patch 522, merged upstream
- updated patch aa
- replaced common Makefile from HPP to JRL
- turned on backward compatibility with hpp-fcl
- updated required version to 3.0.0 (coal < 3.0.0 does not exist)
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@jongyaoY @nim65s @jcarpent