Add windows build

.github/workflows/wheels.yml

@@ -8,8 +8,7 @@ jobs:
     runs-on: ${{matrix.platform}}
     strategy:
       matrix:
-        platform: [ubuntu-latest, macos-latest] # [ubuntu-latest, macos-latest, windows-latest]
-        python: [39]
+        platform: [ubuntu-latest, macos-latest, windows-latest]
     steps:
     - uses: actions/checkout@v2
     - name: Build wheels

build_dependencies/install_windows.ps1

@@ -0,0 +1,101 @@
+<#
+Originally based on script written by Pebaz (https://github.com/Pebaz/python-fcl/blob/master/requirements/build_win32.ps1)
+but with many modification in order to use fcl 0.6.1 and install dependencies without admin rights.
+
+This script builds fcl and it's dependencies for python-fcl on Windows.
+
+It downloads, builds, installs, and then deletes:
+ * fcl
+ * libccd
+ * eigen
+ * octomap
+#>
+
+$base_dir = Get-Location
+
+# Create a directory that encapsulates all dependencies
+mkdir -p deps; Set-Location deps
+
+# All compiled depencies will be install in following folder
+$install_dir = "$base_dir\deps\install"
+
+
+#------------------------------------------------------------------------------
+# Eigen
+Write-Host "Building Eigen"
+$eigen_ver = "3.3.9"
+Invoke-WebRequest -Uri https://gitlab.com/libeigen/eigen/-/archive/$eigen_ver/eigen-$eigen_ver.tar.gz -Outfile eigen-$eigen_ver.tar.gz
+tar -zxf "eigen-$eigen_ver.tar.gz"
+Set-Location "eigen-$eigen_ver"
+
+cmake -B build `
+    -D CMAKE_BUILD_TYPE=Release `
+    -G "Visual Studio 16 2019" `
+    -D BUILD_SHARED_LIBS=ON `
+    -D CMAKE_INSTALL_PREFIX=$install_dir
+cmake --install build
+
+Set-Location ..
+
+
+# ------------------------------------------------------------------------------
+# LibCCD
+Write-Host "Building LibCCD"
+git clone --depth 1 --branch v2.1 https://github.com/danfis/libccd
+Set-Location libccd
+
+cmake -B build `
+    -D CMAKE_BUILD_TYPE=Release `
+    -G "Visual Studio 16 2019" `
+    -D BUILD_SHARED_LIBS=ON `
+    -D CMAKE_INSTALL_PREFIX=$install_dir
+cmake --build build --config Release --target install
+
+Set-Location ..
+
+
+# ------------------------------------------------------------------------------
+# Octomap
+Write-Host "Building Octomap"
+git clone --depth 1 --branch v1.8.0 https://github.com/OctoMap/octomap
+Set-Location octomap
+
+cmake -B build `
+    -D CMAKE_PREFIX_PATH=$install_dir `
+    -D CMAKE_BUILD_TYPE=Release `
+    -G "Visual Studio 16 2019" `
+    -D BUILD_SHARED_LIBS=ON `
+    -D CMAKE_INSTALL_PREFIX=$install_dir `
+    -D BUILD_OCTOVIS_SUBPROJECT=OFF `
+    -D BUILD_DYNAMICETD3D_SUBPROJECT=OFF
+cmake --build build --config Release
+cmake --build build --config Release --target install
+
+Set-Location ..
+
+# ------------------------------------------------------------------------------
+# FCL
+Write-Host "Building FCL"
+git clone --depth 1 --branch v0.6.1 https://github.com/flexible-collision-library/fcl
+Set-Location fcl
+
+cmake -B build `
+    -D CMAKE_PREFIX_PATH=$install_dir `
+    -D CMAKE_BUILD_TYPE=Release `
+    -G "Visual Studio 16 2019" `
+    -D CMAKE_INSTALL_PREFIX=$install_dir
+
+cmake --build build --config Release --target install
+Write-Host "Done"
+Set-Location ..
+
+# ------------------------------------------------------------------------------
+# Python-FCL
+
+Write-Host "Copying dependent DLLs"
+Copy-Item $install_dir\bin\octomap.dll $base_dir\src\fcl
+Copy-Item $install_dir\bin\octomath.dll $base_dir\src\fcl
+Copy-Item $install_dir\bin\ccd.dll $base_dir\src\fcl
+
+Set-Location $base_dir
+Write-Host "All done!"

pyproject.toml

@@ -6,15 +6,18 @@ build-backend = "setuptools.build_meta"
 skip = "pp*"
 before-build = "pip install numpy Cython"
 manylinux-x86_64-image = "manylinux_2_24"
-# test-requires = "pytest"
-# test-command = "pytest {package}/test"
 
 [tool.cibuildwheel.linux]
 before-all = "bash build_dependencies/install_linux.sh"
 archs = ["x86_64"]
 
 [tool.cibuildwheel.macos]
 before-all = "bash build_dependencies/install_macos.sh"
+test-requires = "pytest"
+test-command = "pytest {package}/test"
 
 [tool.cibuildwheel.windows]
-archs = ["AMD64"]
+before-all = "powershell build_dependencies\\install_windows.ps1"
+archs = ["AMD64"]
+test-requires = "pytest"
+test-command = "pytest {package}\\test"

setup.cfg

@@ -40,7 +40,7 @@ install_requires =
     Cython
 
 [options.package_data]
-* = *.pyx, *.pxd
+* = *.pyx, *.pxd, *.dll
 
 [options.packages.find]
 where = src

setup.py

@@ -4,26 +4,34 @@
 from setuptools import Extension, setup
 from Cython.Build import cythonize
 
+INSTALL_PREFIX_WIN = "deps\\install"
 
-def get_include_dirs():
-    platform_supported = False
+
+def is_nix_platform(platform):
     for prefix in ["darwin", "linux", "bsd"]:
         if prefix in sys.platform:
-            platform_supported = True
-            include_dirs = [
-                "/usr/include",
-                "/usr/local/include",
-                "/usr/include/eigen3",
-                "/usr/local/include/eigen3",
-            ]
-
-            if "CPATH" in os.environ:
-                include_dirs += os.environ["CPATH"].split(":")
-
-            break
-    if sys.platform == "win32":
-        platform_supported = False
-    if not platform_supported:
+            return True
+    return False
+
+
+def get_include_dirs():
+    if is_nix_platform(sys.platform):
+        include_dirs = [
+            "/usr/include",
+            "/usr/local/include",
+            "/usr/include/eigen3",
+            "/usr/local/include/eigen3",
+        ]
+
+        if "CPATH" in os.environ:
+            include_dirs += os.environ["CPATH"].split(":")
+
+    elif sys.platform == "win32":
+        include_dirs = [
+            f"{INSTALL_PREFIX_WIN}\\include",
+            f"{INSTALL_PREFIX_WIN}\\include\\eigen3",
+        ]
+    else:
         raise NotImplementedError(sys.platform)
 
     # get the numpy include path from numpy
@@ -34,17 +42,25 @@ def get_include_dirs():
 
 
 def get_libraries_dir():
-    for prefix in ["darwin", "linux", "bsd"]:
-        if prefix in sys.platform:
-            platform_supported = True
-            lib_dirs = ["/usr/lib", "/usr/local/lib"]
+    if is_nix_platform(sys.platform):
+        lib_dirs = ["/usr/lib", "/usr/local/lib"]
+
+        if "LD_LIBRARY_PATH" in os.environ:
+            lib_dirs += os.environ["LD_LIBRARY_PATH"].split(":")
+        return lib_dirs
+    if sys.platform == "win32":
+        return [f"{INSTALL_PREFIX_WIN}\\lib"]
 
-            if "LD_LIBRARY_PATH" in os.environ:
-                lib_dirs += os.environ["LD_LIBRARY_PATH"].split(":")
-            return lib_dirs
     raise NotImplementedError(sys.platform)
 
 
+def get_libraries():
+    libraries = ["fcl", "octomap"]
+    if sys.platform == "win32":
+        libraries.extend(["octomath", "ccd", "vcruntime"])
+    return libraries
+
+
 setup(
     ext_modules=cythonize(
         [
@@ -53,7 +69,7 @@ def get_libraries_dir():
                 ["src/fcl/fcl.pyx"],
                 include_dirs=get_include_dirs(),
                 library_dirs=get_libraries_dir(),
-                libraries=["fcl", "octomap"],
+                libraries=get_libraries(),
                 language="c++",
                 extra_compile_args=["-std=c++11"],
             )