[path/{py-,}[hpp-fcl -> coal]] Rename hpp-fcl to coal and update to v…

…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)

math/hpp-pinocchio/Makefile

@@ -2,17 +2,18 @@
 # Created:			Guilhem Saurel on Wed, 14 Mar 2018
 #
 
-HPP_PACKAGE=		hpp-pinocchio
-HPP_COMMENT=		Wrapping of the kinematic/dynamic chain Pinocchio for HPP.
+PKGREVISION=	1
+HPP_PACKAGE=	hpp-pinocchio
+HPP_COMMENT=	Wrapping of the kinematic/dynamic chain Pinocchio for HPP
 
-CATEGORIES=		math
+CATEGORIES=	math
 
 include ../../meta-pkgs/hpp/Makefile.common
 
 include ../../mapping/octomap/depend.mk
 include ../../math/eigen3/depend.mk
 include ../../math/pinocchio/depend.mk
-include ../../path/hpp-fcl/depend.mk
+include ../../path/coal/depend.mk
 include ../../path/hpp-util/depend.mk
 include ../../simulation/hpp-environments/depend.mk
 include ../../robots/example-robot-data/depend.mk

math/hpp-pinocchio/depend.mk

@@ -29,7 +29,7 @@ SYSTEM_SEARCH.hpp-pinocchio=									\
 DEPEND_ABI.eigen3 += eigen3>=3.2.92
 include ../../math/eigen3/depend.mk
 include ../../math/pinocchio/depend.mk
-include ../../path/hpp-fcl/depend.mk
+include ../../path/coal/depend.mk
 
 endif # HPP_PINOCCHIO_DEPEND_MK ---------------------------------
 

math/pinocchio/Makefile

@@ -2,6 +2,7 @@
 # Created:			Olivier Stasse on Thu, 4 Feb 2016
 #
 
+PKGREVISION=		1
 ORG=			stack-of-tasks
 NAME=			pinocchio
 VERSION=		3.2.0
@@ -36,7 +37,7 @@ endif
 
 include ../../graphics/urdfdom/depend.mk
 include ../../math/eigen3/depend.mk
-include ../../path/hpp-fcl/depend.mk
+include ../../path/coal/depend.mk
 include ../../mapping/octomap/depend.mk
 include ../../optimization/casadi/depend.mk
 include ../../pkgtools/pkg-config/depend.mk

math/pinocchio/depend.mk

@@ -32,4 +32,4 @@ DEPEND_DEPTH:=		${DEPEND_DEPTH:+=}
 # pulled by the package public headers
 include ../../graphics/urdfdom/depend.mk
 include ../../math/eigen3/depend.mk
-include ../../path/hpp-fcl/depend.mk
+include ../../path/coal/depend.mk

math/py-pinocchio/Makefile

@@ -2,6 +2,7 @@
 # Created:			Olivier Stasse on Thu, 4 Feb 2016
 #
 
+PKGREVISION=		1
 ORG=			stack-of-tasks
 NAME=			pinocchio
 VERSION=		3.2.0
@@ -43,8 +44,8 @@ endif
 
 include ../../math/pinocchio/depend.mk
 include ../../math/py-eigenpy/depend.mk
-include ../../path/hpp-fcl/depend.mk
-include ../../path/py-hpp-fcl/depend.mk
+include ../../path/coal/depend.mk
+include ../../path/py-coal/depend.mk
 include ../../mapping/octomap/depend.mk
 include ../../optimization/py-casadi/depend.mk
 include ../../pkgtools/pkg-config/depend.mk

optimization/py-crocoddyl/Makefile

@@ -2,6 +2,7 @@
 # Created:			Guilhem Saurel on Tue, 14 Apr 2020
 #
 
+PKGREVISION=		1
 ORG=			loco-3d
 NAME=			crocoddyl
 VERSION=		2.1.0
@@ -29,7 +30,7 @@ include ../../math/pinocchio/depend.mk
 include ../../math/py-eigenpy/depend.mk
 include ../../math/py-pinocchio/depend.mk
 include ../../optimization/ipopt/depend.mk
-include ../../path/hpp-fcl/depend.mk
+include ../../path/coal/depend.mk
 include ../../pkgtools/pkg-config/depend.mk
 include ../../robots/example-robot-data/depend.mk
 include ../../robots/py-example-robot-data/depend.mk

optimization/py-tsid/Makefile

@@ -2,6 +2,7 @@
 # Created:			Guilhem Saurel on Tue, 14 Apr 2020
 #
 
+PKGREVISION=		1
 ORG=			stack-of-tasks
 NAME=			tsid
 VERSION=		1.7.1
@@ -26,7 +27,7 @@ include ../../math/pinocchio/depend.mk
 include ../../math/py-eigenpy/depend.mk
 include ../../math/py-pinocchio/depend.mk
 include ../../optimization/tsid/depend.mk
-include ../../path/hpp-fcl/depend.mk
+include ../../path/coal/depend.mk
 include ../../mk/sysdep/boost-headers.mk
 include ../../mk/sysdep/boost-libs.mk
 include ../../mk/sysdep/cmake.mk

optimization/tsid/Makefile

@@ -2,6 +2,7 @@
 # Created:			Justin Carpentier on Tue, 14 Apr 2020
 #
 
+PKGREVISION=		1
 ORG=			stack-of-tasks
 NAME=			tsid
 VERSION=		1.7.1
@@ -20,7 +21,7 @@ include ../../mapping/octomap/depend.mk
 include ../../math/eigen3/depend.mk
 include ../../math/eiquadprog/depend.mk
 include ../../math/pinocchio/depend.mk
-include ../../path/hpp-fcl/depend.mk
+include ../../path/coal/depend.mk
 include ../../mk/sysdep/boost-headers.mk
 include ../../mk/sysdep/boost-libs.mk
 include ../../mk/sysdep/cmake.mk

path/Makefile

@@ -6,10 +6,10 @@
 COMMENT=	Path planning algorithms and tools
 
 SUBDIR+=	aspect-genom
+SUBDIR+=	coal
 SUBDIR+=	hpp-affordance
 SUBDIR+=	hpp-constraints
 SUBDIR+=	hpp-core
-SUBDIR+=	hpp-fcl
 SUBDIR+=	hpp-manipulation
 SUBDIR+=	hpp-manipulation-urdf
 SUBDIR+=	hpp-statistics
@@ -20,11 +20,11 @@ SUBDIR+=	libp3d
 SUBDIR+=	maneuver-genom3
 SUBDIR+=	ndd-genom
 SUBDIR+=	p3d-genom
+SUBDIR+=	py-coal
 SUBDIR+=	py-hpp-affordance-corba
 SUBDIR+=	py-hpp-bezier-com-traj
 SUBDIR+=	py-hpp-centroidal-dynamics
 SUBDIR+=	py-hpp-corbaserver
-SUBDIR+=	py-hpp-fcl
 SUBDIR+=	py-hpp-manipulation-corba
 
 include ../mk/robotpkg.subdir.mk

path/hpp-fcl/Makefile → path/coal/Makefile

@@ -1,25 +1,25 @@
-# robotpkg Makefile for:	path/hpp-fcl
+# robotpkg Makefile for:	path/coal
 # Created:			Florent Lamiraux on Sat, 7 Mar 2015
 #
 
-HPP_PACKAGE=		hpp-fcl
-HPP_VERSION=		2.4.5
+ORG=			coal-library
+NAME=			coal
+VERSION=		3.0.0
 
 CATEGORIES=		path
-HPP_COMMENT=		collision detection and distance computations
+COMMENT=		collision detection and distance computations
 LICENSE=		2-clause-bsd
-
-CONFLICTS+=		hpp-fcl04-[0-9]*
-
-include ../../meta-pkgs/hpp/Makefile.common
+CONFLICTS+=		hpp-fcl-[0-9]*
 
 USE_BOOST_LIBS= thread date_time system filesystem unit_test_framework chrono
+USE_MASTER_GITHUB=	true
 
 # boost-1.47.0 has -Wconversion warnings in date_time/posix_time/posix_time.hpp
 CMAKE_ARGS+=		-DCXX_DISABLE_WERROR=yes
 CMAKE_ARGS+=		-DBUILD_PYTHON_INTERFACE=OFF
+CMAKE_ARGS+=		-DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL=ON
 
-DEPEND_ABI.cmake+=	cmake>=3.10
+include ../../devel/jrl-cmakemodules/Makefile.common
 
 include ../../mk/robotpkg.prefs.mk
 ifeq (,$(filter Ubuntu-16.04 Debian-9,${OPSYS}-${OS_VERSION}))
@@ -34,6 +34,7 @@ include ../../math/eigen3/depend.mk
 include ../../mk/sysdep/assimp.mk
 include ../../mk/sysdep/boost-headers.mk
 include ../../mk/sysdep/boost-libs.mk
+include ../../mk/sysdep/cmake.mk
 include ../../mk/language/c.mk
 include ../../mk/language/c++.mk
 include ../../mk/robotpkg.mk