Merge pull request #1263 from SpaceIm/fcl/0.6.1

add fcl/0.6.1

recipes/fcl/all/CMakeLists.txt

@@ -0,0 +1,7 @@
+cmake_minimum_required(VERSION 3.1.2)
+project(cmake_wrapper)
+
+include(conanbuildinfo.cmake)
+conan_basic_setup(TARGETS)
+
+add_subdirectory("source_subfolder")

recipes/fcl/all/conandata.yml

@@ -0,0 +1,12 @@
+sources:
+  "0.6.1":
+    url: "https://github.com/flexible-collision-library/fcl/archive/v0.6.1.tar.gz"
+    sha256: "c8a68de8d35a4a5cd563411e7577c0dc2c626aba1eef288cb1ca88561f8d8019"
+patches:
+  "0.6.1":
+    - patch_file: "patches/conanize-cmake-0.6.1.patch"
+      base_path: "source_subfolder"
+    - patch_file: "patches/fix-mingw-bigobj.patch"
+      base_path: "source_subfolder"
+    - patch_file: "patches/fix-alias-type-msvc2015.patch"
+      base_path: "source_subfolder"

recipes/fcl/all/conanfile.py

@@ -0,0 +1,98 @@
+import os
+
+from conans import ConanFile, CMake, tools
+from conans.errors import ConanInvalidConfiguration
+
+class FclConan(ConanFile):
+    name = "fcl"
+    description = "C++11 library for performing three types of proximity " \
+                  "queries on a pair of geometric models composed of triangles."
+    license = "BSD-3-Clause"
+    topics = ("conan", "fcl", "geometry", "collision")
+    homepage = "https://github.com/flexible-collision-library/fcl"
+    url = "https://github.com/conan-io/conan-center-index"
+    exports_sources = ["CMakeLists.txt", "patches/**"]
+    generators = "cmake"
+    settings = "os", "arch", "compiler", "build_type"
+    options = {
+        "shared": [True, False],
+        "fPIC": [True, False],
+        "with_octomap": [True, False]
+    }
+    default_options = {
+        "shared": False,
+        "fPIC": True,
+        "with_octomap": True
+    }
+
+    _cmake = None
+
+    @property
+    def _source_subfolder(self):
+        return "source_subfolder"
+
+    @property
+    def _build_subfolder(self):
+        return "build_subfolder"
+
+    def config_options(self):
+        if self.settings.os == "Windows":
+            del self.options.fPIC
+
+    def configure(self):
+        if self.settings.compiler.cppstd:
+            tools.check_min_cppstd(self, 11)
+        if self.settings.os == "Windows" and self.options.shared:
+            raise ConanInvalidConfiguration("{0} {1} doesn't properly support shared lib on Windows".format(self.name,
+                                                                                                            self.version))
+
+    def requirements(self):
+        self.requires.add("eigen/3.3.7")
+        self.requires.add("libccd/2.1")
+        if self.options.with_octomap:
+            self.requires.add("octomap/1.9.3")
+
+    def source(self):
+        tools.get(**self.conan_data["sources"][self.version])
+        os.rename(self.name + "-" + self.version, self._source_subfolder)
+
+    def build(self):
+        for patch in self.conan_data["patches"][self.version]:
+            tools.patch(**patch)
+        cmake = self._configure_cmake()
+        cmake.build()
+
+    def _configure_cmake(self):
+        if self._cmake:
+            return self._cmake
+        self._cmake = CMake(self)
+        self._cmake.definitions["FCL_ENABLE_PROFILING"] = False
+        self._cmake.definitions["FCL_TREAT_WARNINGS_AS_ERRORS"] = False
+        self._cmake.definitions["FCL_HIDE_ALL_SYMBOLS"] = False
+        self._cmake.definitions["FCL_STATIC_LIBRARY"] = not self.options.shared
+        self._cmake.definitions["FCL_USE_X64_SSE"] = False # Let consumer decide to add relevant compile options, ftl doesn't have simd intrinsics
+        self._cmake.definitions["FCL_USE_HOST_NATIVE_ARCH"] = False
+        self._cmake.definitions["FCL_USE_SSE"] = False
+        self._cmake.definitions["FCL_COVERALLS"] = False
+        self._cmake.definitions["FCL_COVERALLS_UPLOAD"] = False
+        self._cmake.definitions["FCL_WITH_OCTOMAP"] = self.options.with_octomap
+        if self.options.with_octomap:
+            octomap_major, octomap_minor, octomap_patch = self.deps_cpp_info["octomap"].version.split(".")
+            self._cmake.definitions["OCTOMAP_MAJOR_VERSION"] = octomap_major
+            self._cmake.definitions["OCTOMAP_MINOR_VERSION"] = octomap_minor
+            self._cmake.definitions["OCTOMAP_PATCH_VERSION"] = octomap_patch
+        self._cmake.definitions["BUILD_TESTING"] = False
+        self._cmake.configure(build_folder=self._build_subfolder)
+        return self._cmake
+
+    def package(self):
+        self.copy("LICENSE", dst="licenses", src=self._source_subfolder)
+        cmake = self._configure_cmake()
+        cmake.install()
+        tools.rmdir(os.path.join(self.package_folder, "CMake"))
+        tools.rmdir(os.path.join(self.package_folder, "lib", "cmake"))
+        tools.rmdir(os.path.join(self.package_folder, "lib", "pkgconfig"))
+        tools.rmdir(os.path.join(self.package_folder, "share"))
+
+    def package_info(self):
+        self.cpp_info.libs = tools.collect_libs(self)

recipes/fcl/all/patches/conanize-cmake-0.6.1.patch

@@ -0,0 +1,169 @@
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -142,20 +142,6 @@ set(PKG_CONFIG_USE_CMAKE_PREFIX_PATH ON)
+ #
+ # If Eigen3 is not found, manually set the cache variable EIGEN3_INCLUDE_DIR
+ #===============================================================================
+-find_package(Eigen3 3.0.5 QUIET CONFIG)
+-
+-# If Eigen3Config.cmake is not found, use the FindEigen3.cmake module
+-if(NOT Eigen3_FOUND)
+-  find_package(Eigen3 3.0.5 QUIET MODULE)
+-  set(Eigen3_FOUND ON)
+-endif()
+-
+-if(Eigen3_FOUND)
+-  set(FCL_HAVE_EIGEN TRUE)
+-else()
+-  message(SEND_ERROR "EIGEN3 (>= 3.0.5) is required by FCL")
+-  set(FCL_HAVE_EIGEN FALSE)
+-endif()
+
+ #===============================================================================
+ # Find required dependency libccd
+@@ -163,41 +149,6 @@ endif()
+ # If libccd is not found, manually set the cache variables CCD_INCLUDE_DIR and
+ # CCD_LIBRARY
+ #===============================================================================
+-find_package(ccd QUIET)
+-
+-# If ccd-config.cmake is not found, use pkg-config and/or find_path() and
+-# find_library()
+-if(NOT ccd_FOUND)
+-  if(PKG_CONFIG_FOUND)
+-    pkg_check_modules(PC_CCD ccd)
+-    pkg_check_modules(PC_LIBCCD libccd)
+-  endif()
+-
+-  find_path(CCD_INCLUDE_DIR ccd/ccd.h
+-    HINTS "${PC_CCD_INCLUDE_DIRS}" "${PC_LIBCCD_INCLUDE_DIRS}")
+-
+-  # Using find_library() even if pkg-config is available ensures that the full
+-  # path to the ccd library is available in CCD_LIBRARIES
+-  find_library(CCD_LIBRARY ccd
+-    HINTS "${PC_CCD_LIBRARY_DIRS}" "${PC_LIBCCD_LIBRARY_DIRS}")
+-
+-  # libccd links to LibM on UNIX.
+-  if(CYGWIN OR NOT WIN32)
+-    find_library(M_LIBRARY m)
+-  endif()
+-
+-  if(CCD_INCLUDE_DIR AND CCD_LIBRARY)
+-    set(CCD_INCLUDE_DIRS "${CCD_INCLUDE_DIR}")
+-    set(CCD_LIBRARIES "${CCD_LIBRARY}" "${M_LIBRARY}")
+-    set(ccd_FOUND ON)
+-
+-    mark_as_advanced(CCD_INCLUDE_DIR CCD_LIBRARY)
+-  endif()
+-endif()
+-
+-if(NOT ccd_FOUND)
+-  message(FATAL_ERROR "CCD is required by FCL")
+-endif()
+
+ set(PKG_EXTERNAL_DEPS "ccd eigen3")
+
+@@ -211,58 +162,9 @@ option(FCL_WITH_OCTOMAP "OctoMap library support" ON)
+ set(FCL_HAVE_OCTOMAP 0)
+
+ if(FCL_WITH_OCTOMAP)
+-  find_package(octomap QUIET)
+-
+-  # Older versions of octomap-config.cmake may not define OCTOMAP_VERSION so
+-  # fall back to pkg-config
+-  if(NOT octomap_FOUND OR NOT OCTOMAP_VERSION)
+-    if(PKG_CONFIG_FOUND)
+-      pkg_check_modules(PC_OCTOMAP octomap)
+-    endif()
+-
+-    find_path(OCTOMAP_INCLUDE_DIR octomap/octomap.h
+-      HINTS "${PC_OCTOMAP_INCLUDE_DIRS}")
+-
+-    # Using find_library() even if pkg-config is available ensures that the full
+-    # paths to the octomap and octomath libraries are set in OCTOMAP_LIBRARIES
+-    find_library(OCTOMAP_LIBRARY octomap
+-      HINTS "${PC_OCTOMAP_LIBRARY_DIRS}")
+-
+-    find_library(OCTOMATH_LIBRARY octomath
+-      HINTS "${PC_OCTOMAP_LIBRARY_DIRS}")
+-
+-    # Use a cache variable so that the version can be manually set if pkg-config
+-    # is not available
+-    set(OCTOMAP_VERSION "${PC_OCTOMAP_VERSION}"
+-      CACHE STRING "octomap version (major.minor.patch)")
+-
+-    if(OCTOMAP_INCLUDE_DIR AND OCTOMAP_LIBRARY AND OCTOMATH_LIBRARY AND OCTOMAP_VERSION)
+-      set(OCTOMAP_INCLUDE_DIRS "${OCTOMAP_INCLUDE_DIR}")
+-      set(OCTOMAP_LIBRARIES "${OCTOMAP_LIBRARY}" "${OCTOMATH_LIBRARY}")
+-      set(octomap_FOUND ON)
+-
+-      mark_as_advanced(OCTOMAP_INCLUDE_DIR OCTOMAP_LIBRARY OCTOMATH_LIBRARY OCTOMAP_VERSION)
+-    else()
+-      set(octomap_FOUND OFF)
+-    endif()
+-  endif()
+-
+-  if(octomap_FOUND)
+-    if(NOT OCTOMAP_MAJOR_VERSION AND NOT OCTOMAP_MINOR_VERSION AND NOT OCTOMAP_PATCH_VERSION)
+-      string(REPLACE "." ";" VERSION_LIST "${OCTOMAP_VERSION}")
+-      list(GET VERSION_LIST 0 OCTOMAP_MAJOR_VERSION)
+-      list(GET VERSION_LIST 1 OCTOMAP_MINOR_VERSION)
+-      list(GET VERSION_LIST 2 OCTOMAP_PATCH_VERSION)
+-    endif()
+-
+-    set(FCL_HAVE_OCTOMAP 1)
+-    message(STATUS "FCL uses OctoMap")
+-    set(PKG_EXTERNAL_DEPS "${PKG_EXTERNAL_DEPS} octomap")
+-  else()
+-    message(STATUS "FCL does not use OctoMap")
+-  endif()
+-else()
+-  message(STATUS "FCL does not use OctoMap (as requested)")
++  set(FCL_HAVE_OCTOMAP 1)
++  message(STATUS "FCL uses OctoMap")
++  set(PKG_EXTERNAL_DEPS "${PKG_EXTERNAL_DEPS} octomap")
+ endif()
+
+ if(TARGET ccd)
+--- a/src/CMakeLists.txt
++++ b/src/CMakeLists.txt
+@@ -77,36 +77,17 @@ endif()
+
+ # Use the IMPORTED target from newer versions of ccd-config.cmake if available,
+ # otherwise fall back to CCD_INCLUDE_DIRS and CCD_LIBRARIES
+-if(TARGET ccd)
+-  target_link_libraries(${PROJECT_NAME} PUBLIC ccd)
+-else()
+-  target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC "${CCD_INCLUDE_DIRS}")
+-  target_link_libraries(${PROJECT_NAME} PUBLIC "${CCD_LIBRARIES}")
+-endif()
++target_link_libraries(${PROJECT_NAME} PUBLIC CONAN_PKG::libccd)
+
+ # Use the IMPORTED target from newer versions of Eigen3Config.cmake if
+ # available, otherwise fall back to EIGEN3_INCLUDE_DIRS from older versions of
+ # Eigen3Config.cmake or EIGEN3_INCLUDE_DIR from FindEigen3.cmake
+-if(TARGET Eigen3::Eigen)
+-  # Note that Eigen3::Eigen is an INTERFACE library, so the INCLUDE_DIRECTORIES
+-  # and INTERFACE_INCLUDE_DIRECTORIES are populated, but nothing is actually
+-  # linked
+-  target_link_libraries(${PROJECT_NAME} PUBLIC Eigen3::Eigen)
+-elseif(EIGEN3_INCLUDE_DIRS)
+-  target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC "${EIGEN3_INCLUDE_DIRS}")
+-else()
+-  target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC "${EIGEN3_INCLUDE_DIR}")
+-endif()
++target_link_libraries(${PROJECT_NAME} PUBLIC CONAN_PKG::eigen)
+
+ if(FCL_HAVE_OCTOMAP)
+   # Use the IMPORTED target from newer versions of octomap-config.cmake if
+   # available, otherwise fall back to OCTOMAP_INCLUDE_DIRS and OCTOMAP_LIBRARIES
+-  if(TARGET octomap)
+-    target_link_libraries(${PROJECT_NAME} PUBLIC octomap)
+-  elseif(OCTOMAP_INCLUDE_DIRS AND OCTOMAP_LIBRARIES)
+-    target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC "${OCTOMAP_INCLUDE_DIRS}")
+-    target_link_libraries(${PROJECT_NAME} PUBLIC "${OCTOMAP_LIBRARIES}")
+-  endif()
++  target_link_libraries(${PROJECT_NAME} PUBLIC CONAN_PKG::octomap)
+ endif()
+
+ target_include_directories(${PROJECT_NAME} INTERFACE

recipes/fcl/all/patches/fix-alias-type-msvc2015.patch

@@ -0,0 +1,47 @@
+--- a/include/fcl/geometry/octree/octree-inl.h
++++ b/include/fcl/geometry/octree/octree-inl.h
+@@ -107,7 +107,7 @@ typename OcTree<S>::OcTreeNode* OcTree<S>::getRoot() const
+
+ //==============================================================================
+ template <typename S>
+-bool OcTree<S>::isNodeOccupied(const OcTree<S>::OcTreeNode* node) const
++bool OcTree<S>::isNodeOccupied(const typename OcTree<S>::OcTreeNode* node) const
+ {
+   // return tree->isNodeOccupied(node);
+   return node->getOccupancy() >= occupancy_threshold;
+@@ -115,7 +115,7 @@ bool OcTree<S>::isNodeOccupied(const OcTree<S>::OcTreeNode* node) const
+
+ //==============================================================================
+ template <typename S>
+-bool OcTree<S>::isNodeFree(const OcTree<S>::OcTreeNode* node) const
++bool OcTree<S>::isNodeFree(const typename OcTree<S>::OcTreeNode* node) const
+ {
+   // return false; // default no definitely free node
+   return node->getOccupancy() <= free_threshold;
+@@ -123,7 +123,7 @@ bool OcTree<S>::isNodeFree(const OcTree<S>::OcTreeNode* node) const
+
+ //==============================================================================
+ template <typename S>
+-bool OcTree<S>::isNodeUncertain(const OcTree<S>::OcTreeNode* node) const
++bool OcTree<S>::isNodeUncertain(const typename OcTree<S>::OcTreeNode* node) const
+ {
+   return (!isNodeOccupied(node)) && (!isNodeFree(node));
+ }
+@@ -197,7 +197,7 @@ const typename OcTree<S>::OcTreeNode* OcTree<S>::getNodeChild(
+ //==============================================================================
+ template <typename S>
+ bool OcTree<S>::nodeChildExists(
+-    const OcTree<S>::OcTreeNode* node, unsigned int childIdx) const
++    const typename OcTree<S>::OcTreeNode* node, unsigned int childIdx) const
+ {
+ #if OCTOMAP_VERSION_AT_LEAST(1,8,0)
+   return tree->nodeChildExists(node, childIdx);
+@@ -208,7 +208,7 @@ bool OcTree<S>::nodeChildExists(
+
+ //==============================================================================
+ template <typename S>
+-bool OcTree<S>::nodeHasChildren(const OcTree<S>::OcTreeNode* node) const
++bool OcTree<S>::nodeHasChildren(const typename OcTree<S>::OcTreeNode* node) const
+ {
+ #if OCTOMAP_VERSION_AT_LEAST(1,8,0)
+   return tree->nodeHasChildren(node);

recipes/fcl/all/patches/fix-mingw-bigobj.patch

@@ -0,0 +1,17 @@
+--- a/CMakeModules/CompilerSettings.cmake
++++ b/CMakeModules/CompilerSettings.cmake
+@@ -104,11 +104,13 @@ endif()
+
+ # MinGW
+ if((CMAKE_COMPILER_IS_GNUCXX OR IS_ICPC) AND NOT MINGW)
+-    add_definitions(-fPIC)
+     if(FCL_TREAT_WARNINGS_AS_ERRORS)
+         add_definitions(-Werror)
+     endif()
+ endif()
++if(MINGW)
++  add_definitions(-Wa,-mbig-obj)
++endif()
+
+ # By default CMake sets RPATH for binaries in the build tree, but clears
+ # it when installing. Switch this option off if the default behaviour is

recipes/fcl/all/test_package/CMakeLists.txt

@@ -0,0 +1,9 @@
+cmake_minimum_required(VERSION 2.8.11)
+project(test_package)
+
+include(${CMAKE_BINARY_DIR}/conanbuildinfo.cmake)
+conan_basic_setup()
+
+add_executable(${PROJECT_NAME} test_package.cpp)
+target_link_libraries(${PROJECT_NAME} ${CONAN_LIBS})
+set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 11)

recipes/fcl/all/test_package/conanfile.py

@@ -0,0 +1,17 @@
+import os
+
+from conans import ConanFile, CMake, tools
+
+class TestPackageConan(ConanFile):
+    settings = "os", "compiler", "build_type", "arch"
+    generators = "cmake"
+
+    def build(self):
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+
+    def test(self):
+        if not tools.cross_building(self.settings):
+            bin_path = os.path.join("bin", "test_package")
+            self.run(bin_path, run_environment=True)