.clang-format

+BasedOnStyle: Google
+SortIncludes: false

.git-blame-ignore-revs

+0067c8aa66aac548601e2a3fd029aa264cc59f2a
+76b68f785df31b00e153290b45ec290a9c5f7963
+# ruff --fix . (Guilhem Saurel, 2023-10-25)
+02cef56abfacee590c8444fd379c8837bf007fa1
+# black . (Guilhem Saurel, 2023-10-25)
+febfbcbe9c98cdb4e0c7bbf4554a6925b391834b
+# ruff --fix . (Guilhem Saurel, 2023-10-24)
+58dee5ae90eded5125825a2da0fe76a5031f3334
+# black . (Guilhem Saurel, 2023-10-24)
+889ff8d1ca00b9e317e1da4136e233bb49a049df

.gitattributes

+# SCM syntax highlighting
+pixi.lock linguist-language=YAML linguist-generated=true

.github/workflows/check-changelog.yml

+name: Check-changelog
+on:
+  pull_request:
+    types: [assigned, opened, synchronize, reopened, labeled, unlabeled]
+    branches:
+      - devel
+jobs:
+  check-changelog:
+    name: Check changelog action
+    runs-on: ubuntu-latest
+    steps:
+      - uses: tarides/changelog-check-action@v2
+        with:
+          changelog: CHANGELOG.md

.github/workflows/macos-linux-pip.yml

+name: CI - MacOS/Linux via pip
+
+on:
+  push:
+    paths-ignore:
+      - .gitlab-ci.yml
+      - .gitignore
+      - '*.md'
+      - CITATION.*
+      - LICENSE
+      - colcon.pkg
+      - .pre-commit-config.yaml
+      - CHANGELOG.md
+      - development/*.md
+  pull_request:
+    paths-ignore:
+      - .gitlab-ci.yml
+      - .gitignore
+      - '*.md'
+      - CITATION.*
+      - LICENSE
+      - colcon.pkg
+      - .pre-commit-config.yaml
+      - CHANGELOG.md
+      - development/*.md
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+env:
+    CTEST_OUTPUT_ON_FAILURE: 1
+    CTEST_PARALLEL_LEVEL: 4
+
+jobs:
+  coal-pip:
+    name: "CI on ${{ matrix.os }} / py ${{ matrix.python-version }} with pip"
+    runs-on: "${{ matrix.os }}-latest"
+
+    strategy:
+      fail-fast: false
+      matrix:
+        os: ["ubuntu", "macos"]
+        python-version: ["3.8", "3.9", "3.10", "3.11", "3.12", "3.13"]
+        exclude:
+          - os: "macos"
+            python-version: "3.8"  # Not available on arm64
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: 'true'
+      - uses: actions/setup-python@v4
+        with:
+          python-version: ${{ matrix.python-version }}
+      - run: python -m pip install -U pip
+      - run: python -m pip install cmeel-assimp cmeel-octomap cmeel-qhull eigenpy[build]
+      - run: echo "CMAKE_PREFIX_PATH=$(cmeel cmake)" >> $GITHUB_ENV
+      - run: cmake -B build -S . -DCOAL_HAS_QHULL=ON
+      - run: cmake --build build -j 4
+      - run: cmake --build build -t test

.github/workflows/macos-linux-windows-pixi.yml

+name: CI - MacOS/Linux/Windows via Pixi
+
+on:
+  push:
+    paths-ignore:
+      - .gitlab-ci.yml
+      - .gitignore
+      - '*.md'
+      - CITATION.*
+      - LICENSE
+      - colcon.pkg
+      - .pre-commit-config.yaml
+      - CHANGELOG.md
+      - development/*.md
+  pull_request:
+    paths-ignore:
+      - .gitlab-ci.yml
+      - .gitignore
+      - '*.md'
+      - CITATION.*
+      - LICENSE
+      - colcon.pkg
+      - .pre-commit-config.yaml
+      - CHANGELOG.md
+      - development/*.md
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  coal-pixi:
+    name: ${{ matrix.os }} - Env ${{ matrix.environment }} ${{ matrix.build_type }} ${{ matrix.cxx_options }}
+    runs-on: ${{ matrix.os }}
+    env:
+      CCACHE_BASEDIR: "${GITHUB_WORKSPACE}"
+      CCACHE_DIR: "${GITHUB_WORKSPACE}/.ccache"
+      CCACHE_COMPRESS: true
+      CCACHE_COMPRESSLEVEL: 6
+
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, macos-latest, macos-13]
+        environment: [all, all-python-oldest]
+        build_type: [Release, Debug]
+        cxx_options: ['', '-mavx2']
+        exclude:
+          - os: macos-latest
+            cxx_options: '-mavx2'
+          - os: macos-13
+            cxx_options: '-mavx2'
+
+        include:
+          - os: windows-latest
+            environment: all
+            cxx_options: ''
+            build_type: Release
+          - os: windows-latest
+            environment: all-clang-cl
+            cxx_options: ''
+            build_type: Release
+          - os: windows-latest
+            environment: default
+            cxx_options: ''
+            build_type: Debug
+
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: recursive
+
+    - uses: actions/cache@v4
+      with:
+        path: .ccache
+        key: ccache-macos-linux-windows-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.cxx_options }}-${{ matrix.environment }}-${{ github.sha }}
+        restore-keys: ccache-macos-linux-windows-pixi-${{ matrix.os }}-${{ matrix.build_type }}-${{ matrix.cxx_options }}-${{ matrix.environment }}-
+
+    - uses: prefix-dev/setup-pixi@v0.8.1
+      with:
+        cache: true
+        environments: ${{ matrix.environment }}
+
+    - name: Build Coal [MacOS/Linux/Windows]
+      env:
+        CMAKE_BUILD_PARALLEL_LEVEL: 2
+        COAL_BUILD_TYPE: ${{ matrix.build_type }}
+        COAL_CXX_FLAGS: ${{ matrix.cxx_options }}
+      run: |
+        pixi run -e ${{ matrix.environment }} build
+
+    - name: Test Coal [MacOS/Linux/Windows]
+      if: ${{ ! (contains(matrix.os, 'windows') && matrix.build_type == 'Debug') }}
+      run: |
+        pixi run -e ${{ matrix.environment }} ctest --test-dir build --output-on-failure
+
+  check:
+    if: always()
+    name: check-macos-linux-windows-pixi
+
+    needs:
+    - coal-pixi
+
+    runs-on: Ubuntu-latest
+
+    steps:
+    - name: Decide whether the needed jobs succeeded or failed
+      uses: re-actors/alls-green@release/v1
+      with:
+        jobs: ${{ toJSON(needs) }}

.github/workflows/nix.yml

+name: "CI - Nix"
+
+on:
+  push:
+    paths-ignore:
+      - .gitlab-ci.yml
+      - .gitignore
+      - '*.md'
+      - CITATION.*
+      - LICENSE
+      - colcon.pkg
+      - .pre-commit-config.yaml
+      - CHANGELOG.md
+      - development/*.md
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  nix:
+    runs-on: "${{ matrix.os }}-latest"
+    strategy:
+      matrix:
+        os: [ubuntu, macos]
+    steps:
+      - uses: actions/checkout@v4
+      - uses: cachix/install-nix-action@v27
+      - uses: cachix/cachix-action@v15
+        with:
+          name: gepetto
+          authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+      - run: nix build -L

.github/workflows/ros_ci.yml

+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: ROS-CI
+
+# This determines when this workflow is run
+on:
+  push:
+    paths-ignore:
+      - .gitlab-ci.yml
+      - .gitignore
+      - '*.md'
+      - CITATION.*
+      - LICENSE
+      - .pre-commit-config.yaml
+      - CHANGELOG.md
+      - development/*.md
+  pull_request:
+    paths-ignore:
+      - .gitlab-ci.yml
+      - .gitignore
+      - '*.md'
+      - CITATION.*
+      - LICENSE
+      - .pre-commit-config.yaml
+      - CHANGELOG.md
+      - development/*.md
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  CI:
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: noetic}
+          - {ROS_DISTRO: iron}
+          - {ROS_DISTRO: humble}
+          #- {ROS_DISTRO: rolling}
+    env:
+      #CCACHE_DIR: /github/home/.ccache # Enable ccache
+      BUILDER: colcon
+      PRERELEASE: true
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
+      # This step will fetch/store the directory used by ccache before/after the ci run
+      #- uses: actions/cache@v3
+      #  with:
+      #    path: ${{ env.CCACHE_DIR }}
+      #    key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+      # Run industrial_ci
+      - uses: 'ros-industrial/industrial_ci@9f963f67ebb889792175776c5ee00134d7bb569b'
+        env: ${{ matrix.env }}
+
+  check:
+    if: always()
+    name: check-ros-ci
+
+    needs:
+    - CI
+
+    runs-on: Ubuntu-latest
+
+    steps:
+    - name: Decide whether the needed jobs succeeded or failed
+      uses: re-actors/alls-green@release/v1
+      with:
+        jobs: ${{ toJSON(needs) }}

.github/workflows/update-flake-lock.yml

+name: update-flake-lock
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '0 11 12 * *'
+
+jobs:
+  lockfile:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+      - name: Install Nix
+        uses: DeterminateSystems/nix-installer-action@main
+      - name: Update flake.lock
+        uses: DeterminateSystems/update-flake-lock@main
+        with:
+          pr-labels: "no changelog"
+          token: ${{ secrets.GH_TOKEN_FOR_UPDATES }}

.github/workflows/update_pixi_lockfile.yml

+name: CI - Update Pixi lockfile
+permissions:
+  contents: write
+  pull-requests: write
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: 0 5 1 * *
+
+jobs:
+  pixi-update:
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/create-github-app-token@v1
+        id: generate-token
+        with:
+          app-id: ${{ secrets.APP_ID }}
+          private-key: ${{ secrets.APP_PRIVATE_KEY }}
+
+      - uses: actions/checkout@v4
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          ref: devel
+          # Make sure the value of GITHUB_TOKEN will not be persisted in repo's config
+          persist-credentials: false
+
+      - name: Set up pixi
+        uses: prefix-dev/setup-pixi@v0.8.1
+        with:
+          run-install: false
+
+      - name: Update lockfile
+        run: |
+          set -o pipefail
+          pixi update --json | pixi exec pixi-diff-to-markdown >> diff.md
+
+      - name: Create pull request
+        uses: peter-evans/create-pull-request@v7
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          commit-message: 'pixi: Update pixi lockfile'
+          title: Update pixi lockfile
+          body-path: diff.md
+          branch: topic/update-pixi
+          base: devel
+          labels: |
+            pixi
+            no changelog
+          delete-branch: true
+          add-paths: pixi.lock

.gitignore

-build*
+build*/
 Xcode/*
+*~
+*.pyc
+
+
+# pixi environments
+.pixi
+*.egg-info

.gitlab-ci.yml

-include: http://rainboard.laas.fr/project/hpp-fcl/.gitlab-ci.yml
+include: https://rainboard.laas.fr/project/coal/.gitlab-ci.yml

.gitmodules

 [submodule "cmake"]
 	path = cmake
-	url = git://github.com/jrl-umi3218/jrl-cmakemodules.git
+	url = https://github.com/jrl-umi3218/jrl-cmakemodules.git
+[submodule "third-parties/qhull"]
+	path = third-parties/qhull
+	url = https://github.com/qhull/qhull.git

.pre-commit-config.yaml

+ci:
+  autoupdate_branch: devel
+  autofix_prs: false
+  autoupdate_schedule: quarterly
+repos:
+- repo: https://github.com/astral-sh/ruff-pre-commit
+  rev: v0.8.6
+  hooks:
+  - id: ruff
+    args:
+    - --fix
+    - --exit-non-zero-on-fix
+  - id: ruff-format
+- repo: https://github.com/pre-commit/mirrors-clang-format
+  rev: v19.1.6
+  hooks:
+  - id: clang-format
+    args:
+    - '--style={BasedOnStyle: Google, SortIncludes: false}'
+- repo: https://github.com/pre-commit/pre-commit-hooks
+  rev: v5.0.0
+  hooks:
+  - id: trailing-whitespace

.travis.yml

-language: cpp
-
-env:
-  global:
-    - CTEST_PARALLEL_LEVEL=4
-    - CTEST_OUTPUT_ON_FAILURE=1
-    - CXX_FLAGS_DEBUG="-O1"
-
-matrix:
-  include:
-    - name: "Trusty - Debug - g++"
-      env: BUILD_TYPE=Debug
-      dist: trusty
-      compiler: g++
-
-    - name: "Xenial - Debug - g++"
-      env: BUILD_TYPE=Debug
-      dist: xenial
-      compiler: g++
-    - name: "Xenial - Release - g++"
-      env: BUILD_TYPE=Release
-      dist: xenial
-      compiler: g++
-    - name: "Xenial - Debug - clang"
-      env: BUILD_TYPE=Debug
-      dist: xenial
-      compiler: clang
-
-    - name: "Bionic - Debug - g++"
-      env: BUILD_TYPE=Debug
-      dist: xenial
-      compiler: g++
-
-    - name: "OSX - Debug - clang"
-      env: BUILD_TYPE=Debug
-      os: osx
-      compiler: clang
-
-install:
-  # Install dependencies for FCL
-  - if [ "$TRAVIS_OS_NAME" = "linux" ]; then 'ci/install_linux.sh' ; fi
-  - if [ "$TRAVIS_OS_NAME" = "osx"   ]; then 'ci/install_osx.sh'   ; fi
-
-script:
-  # Create build directory
-  - mkdir build
-  - cd build
-
-  # Configure
-  - cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DCMAKE_CXX_FLAGS=-w -DCMAKE_CXX_FLAGS_DEBUG=${CXX_FLAGS_DEBUG} ..
-
-  # Build
-  - make -j4
-
-  # Run unit tests
-  - travis_wait 30 ctest
-
-  # Make sure we can install and uninstall with no issues
-  - sudo make -j4 install
-  - sudo make -j4 uninstall

CITATION.bib

+@misc{coalweb,
+   author = {Jia Pan and Sachin Chitta and Dinesh Manocha and Florent Lamiraux and Joseph Mirabel and Justin Carpentier and Louis Montaut and others},
+   title = {Coal: an extension of the Flexible Collision Library},
+   howpublished = {https://github.com/coal-library/coal},
+   year = {2015--2024}
+}

CITATION.cff

+cff-version: 1.2.0
+message: "Thanks for using Coal. Please use the following metadata to cite us in your documents."
+authors:
+  - family-names: Pan
+    given-names: Jia
+  - family-names: Chitta
+    given-names: Sachin
+  - family-names: Pan
+    given-names: Jia
+  - family-names: Manocha
+    given-names: Dinesh
+  - family-names: Mirabel
+    given-names: Joseph
+  - family-names: Carpentier
+    given-names: Justin
+    orcid: "https://orcid.org/0000-0001-6585-2894"
+  - family-names: Montaut
+    given-names: Louis
+title: "Coal - An extension of the Flexible Collision Library"
+abstract: "An extension of the Flexible Collision Library"
+version: 3.0.1
+date-released: "2025-02-12"
+license: BSD-2-Clause
+url: "https://github.com/coal-library/coal"
+

INSTALL

-
-Dependencies:
-============
-
- - Boost (thread, date_time, unit_test_framework, filesystem)
- - libccd (available at http://libccd.danfis.cz/)
- - octomap (optional dependency, available at http://octomap.github.com)
-
-Boost and libccd are mandatory dependencies. If octomap is not found,
-collision detection with octrees will not be possible.
-
-For installation, CMake will also be needed (http://cmake.org).
-
-Install:
-=======
-
-* Linux / Mac OS:
-  The CMakeLists.txt can be used to generate makefiles; For example, one may use operations such as:
-
-  mkdir build
-  cd build
-  cmake ..
-  make -jN # N is the maximum number of parallel compile jobs
-  
-Once the compilation is finished,
-  make install
-will install the project. To specify the installation prefix,
-pass the parameter -DCMAKE_INSTALL_PREFIX=/my/prefix/ to the "cmake .." command above.
-
-
-* Visual Studio:
-  The CMakeLists.txt can be used to generate a Visual Studio project, using the cmake build tool.