Merge pull request #241 from jcarpent/devel

Bug fixes

.github/workflows/conda/conda-env.yml

@@ -13,3 +13,4 @@ dependencies:
   - doxygen
   - lxml
   - pylatexenc
+  - qhull

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

@@ -40,7 +40,7 @@ jobs:
         mkdir build
         cd build
 
-        cmake .. -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=$(which python3) -DGENERATE_PYTHON_STUBS=ON
+        cmake .. -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=$(which python3) -DGENERATE_PYTHON_STUBS=ON -DHPP_FCL_HAS_QHULL=ON
         make -j2
         make build_tests
         export CTEST_OUTPUT_ON_FAILURE=1

.github/workflows/windows-conda-clang.yml

@@ -55,6 +55,7 @@ jobs:
           -DGENERATE_PYTHON_STUBS=OFF ^
           -DPYTHON_SITELIB=%CONDA_PREFIX%\Lib\site-packages ^
           -DPYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe ^
+          -DHPP_FCL_HAS_QHULL=ON ^
           -DBUILD_PYTHON_INTERFACE=ON ^
           ..
 

.github/workflows/windows-conda-v142.yml

@@ -54,6 +54,7 @@ jobs:
           -DGENERATE_PYTHON_STUBS=OFF ^
           -DPYTHON_SITELIB=%CONDA_PREFIX%\Lib\site-packages ^
           -DPYTHON_EXECUTABLE=%CONDA_PREFIX%\python.exe ^
+          -DHPP_FCL_HAS_QHULL=ON ^
           -DBUILD_PYTHON_INTERFACE=ON ^
           ..
 

CMakeLists.txt

@@ -120,10 +120,8 @@ endif()
 
 option(HPP_FCL_HAS_QHULL "use qhull library to compute convex hulls." FALSE)
 if(HPP_FCL_HAS_QHULL)
-  if(DEFINED CMAKE_CXX_STANDARD AND CMAKE_CXX_STANDARD EQUAL 98)
-    message(FATAL_ERROR "Cannot use qhull library with C++ < 11.\nYou may add -DCMAKE_CXX_STANDARD=11")
-  endif()
-  find_package(Qhull COMPONENTS qhull_r qhullcpp)
+  CHECK_MINIMAL_CXX_STANDARD(11 ENFORCE)
+  ADD_PROJECT_DEPENDENCY(Qhull COMPONENTS qhull_r qhullcpp PKG_CONFIG_REQUIRES "qhull_r, qhuppcpp")
   if(Qhull_FOUND)
     set(HPP_FCL_USE_SYSTEM_QHULL TRUE)
   else()

include/hpp/fcl/internal/traversal_node_base.h

@@ -119,10 +119,7 @@ public:
   virtual bool BVDisjoints(int b1, int b2, FCL_REAL& sqrDistLowerBound) const = 0;
 
   /// @brief Leaf test between node b1 and b2, if they are both leafs
-  virtual void leafCollides(int /*b1*/, int /*b2*/, FCL_REAL& /*sqrDistLowerBound*/) const
-  {
-    throw std::runtime_error ("Not implemented");
-  }
+  virtual void leafCollides(int /*b1*/, int /*b2*/, FCL_REAL& /*sqrDistLowerBound*/) const = 0;
 
   /// @brief Check whether the traversal can stop
   bool canStop() const { return this->request.isSatisfied(*(this->result)); }

python/collision-geometries.cc

@@ -77,12 +77,20 @@ typedef std::vector<Triangle> Triangles;
 
 struct BVHModelBaseWrapper
 {
-  static Vec3f vertices (const BVHModelBase& bvh, int i)
+  typedef Eigen::Matrix<double,Eigen::Dynamic,3> MatrixX3;
+  typedef Eigen::Map<MatrixX3> MapMatrixX3;
+  
+  static Vec3f & vertice (BVHModelBase & bvh, int i)
   {
     if (i >= bvh.num_vertices) throw std::out_of_range("index is out of range");
     return bvh.vertices[i];
   }
 
+  static MapMatrixX3 vertices(BVHModelBase & bvh)
+  {
+    return MapMatrixX3(bvh.vertices[0].data(),bvh.num_vertices,3);
+  }
+  
   static Triangle tri_indices (const BVHModelBase& bvh, int i)
   {
     if (i >= bvh.num_tris) throw std::out_of_range("index is out of range");
@@ -461,8 +469,12 @@ void exposeCollisionGeometries ()
 
   class_ <BVHModelBase, bases<CollisionGeometry>, BVHModelPtr_t, noncopyable>
     ("BVHModelBase", no_init)
+    .def ("vertice", &BVHModelBaseWrapper::vertice,
+          bp::args("self","index"),"Retrieve the vertex given by its index.",
+          bp::return_internal_reference<>())
     .def ("vertices", &BVHModelBaseWrapper::vertices,
-          bp::args("self","index"),"Retrieve the vertex given by its index.")
+          bp::args("self"),"Retrieve the vertex given by its index.",
+          bp::with_custodian_and_ward_postcall<0,1>())
     .def ("tri_indices", &BVHModelBaseWrapper::tri_indices,
           bp::args("self","index"),"Retrieve the triangle given by its index.")
     .def_readonly ("num_vertices", &BVHModelBase::num_vertices)

src/BVH/BVH_model.cpp

@@ -139,7 +139,7 @@ void BVHModelBase::buildConvexRepresentation(bool share_memory)
       polygons = new Triangle[num_tris];
       memcpy(polygons, tri_indices, sizeof(Triangle) * (size_t)num_tris);
     }
-    convex.reset(new Convex<Triangle>(!share_memory, points, num_vertices, polygons, num_vertices));
+    convex.reset(new Convex<Triangle>(!share_memory, points, num_vertices, polygons, num_tris));
   }
 }