Merge pull request #18611 from jwnimmer-tri/fcl-internal

[workspace] Deprecate the ccd and fcl externals

geometry/BUILD.bazel

@@ -87,7 +87,7 @@ drake_cc_library(
         "//geometry/proximity:hydroelastic_callback",
         "//geometry/proximity:obj_to_surface_mesh",
         "//geometry/proximity:penetration_as_point_pair_callback",
-        "@fcl",
+        "@fcl_internal//:fcl",
         "@fmt",
     ],
 )
@@ -668,7 +668,7 @@ drake_cc_googletest(
         "//geometry/proximity:hydroelastic_callback",
         "//geometry/proximity:make_sphere_mesh",
         "//math",
-        "@fcl",
+        "@fcl_internal//:fcl",
     ],
 )
 

geometry/proximity/BUILD.bazel

@@ -146,7 +146,7 @@ drake_cc_library(
         ":collision_filter",
         ":proximity_utilities",
         "//geometry:geometry_ids",
-        "@fcl",
+        "@fcl_internal//:fcl",
     ],
 )
 
@@ -234,7 +234,7 @@ drake_cc_library(
         "//geometry:geometry_ids",
         "//geometry/query_results:signed_distance_to_point",
         "//math:geometric_transform",
-        "@fcl",
+        "@fcl_internal//:fcl",
     ],
 )
 
@@ -285,7 +285,7 @@ drake_cc_library(
         ":collision_filter",
         ":proximity_utilities",
         "//common:sorted_pair",
-        "@fcl",
+        "@fcl_internal//:fcl",
         "@fmt",
     ],
 )
@@ -312,7 +312,7 @@ drake_cc_library(
         "//geometry:proximity_properties",
         "//geometry/query_results:contact_surface",
         "//math:geometric_transform",
-        "@fcl",
+        "@fcl_internal//:fcl",
         "@fmt",
     ],
 )
@@ -683,7 +683,7 @@ drake_cc_library(
         "//common:nice_type_name",
         "//geometry/query_results:penetration_as_point_pair",
         "//geometry/query_results:signed_distance_to_point",
-        "@fcl",
+        "@fcl_internal//:fcl",
     ],
 )
 
@@ -734,7 +734,7 @@ drake_cc_library(
         "//common:sorted_pair",
         "//geometry:geometry_ids",
         "//geometry:shape_specification",
-        "@fcl",
+        "@fcl_internal//:fcl",
         "@fmt",
     ],
 )
@@ -870,7 +870,7 @@ drake_cc_library(
         "//geometry:utilities",
         "//geometry/proximity:proximity_utilities",
         "//math:geometric_transform",
-        "@fcl",
+        "@fcl_internal//:fcl",
     ],
 )
 

tools/install/check_licenses.bzl

@@ -4,7 +4,7 @@ load("@drake//tools/install:install.bzl", "InstallInfo")
 
 # List of exact file names of license files
 LICENSE_LITERALS = [
-    "BSD-LICENSE",  # @ccd
+    "BSD-LICENSE",  # @ccd_internal
     "COPYING",
     "Copyright.txt",  # @vtk
     "EULA.pdf",  # @gurobi

tools/workspace/BUILD.bazel

@@ -77,12 +77,12 @@ drake_py_binary(
 )
 
 _DRAKE_EXTERNAL_PACKAGE_INSTALLS = ["@%s//:install" % p for p in [
-    "ccd",
+    "ccd_internal",
     "com_jidesoft_jide_oss",
     "common_robotics_utilities",
     "commons_io",
     "curl_internal",
-    "fcl",
+    "fcl_internal",
     "fmt",
     "gz_math_internal",
     "gz_utils_internal",

tools/workspace/ccd/package.BUILD.bazel

@@ -4,10 +4,6 @@ load(
     "@drake//tools/workspace:cmake_configure_file.bzl",
     "cmake_configure_file",
 )
-load(
-    "@drake//tools/install:install.bzl",
-    "install",
-)
 
 licenses(["notice"])  # BSD-3-Clause
 
@@ -58,9 +54,5 @@ cc_library(
     defines = ["CCD_STATIC_DEFINE"],
     includes = ["src"],
     linkstatic = 1,
-)
-
-install(
-    name = "install",
-    docs = ["BSD-LICENSE"],
+    deprecation = "DRAKE DEPRECATED: The @ccd external is deprecated. The deprecated code will be removed from Drake on or after 2023-05-01.",  # noqa,
 )

tools/workspace/ccd_internal/BUILD.bazel

@@ -0,0 +1,5 @@
+# -*- python -*-
+
+load("//tools/lint:lint.bzl", "add_lint_tests")
+
+add_lint_tests()

tools/workspace/ccd_internal/package.BUILD.bazel

@@ -0,0 +1,66 @@
+# -*- python -*-
+
+load(
+    "@drake//tools/workspace:cmake_configure_file.bzl",
+    "cmake_configure_file",
+)
+load(
+    "@drake//tools/install:install.bzl",
+    "install",
+)
+
+licenses(["notice"])  # BSD-3-Clause
+
+package(
+    default_visibility = ["//visibility:public"],
+)
+
+# Generates config.h based on the defines= we want in Drake.
+cmake_configure_file(
+    name = "config",
+    src = "src/ccd/config.h.cmake.in",
+    out = "src/ccd/config.h",
+    defines = ["CCD_DOUBLE"],
+    visibility = ["//visibility:private"],
+)
+
+# Guessing headers with
+#       install(...
+#          guess_hdrs = "PACKAGE",
+#         )
+# fails and lists internal headers in addition to the public headers.
+CCD_PUBLIC_HEADERS = [
+    "src/ccd/ccd.h",
+    "src/ccd/config.h",
+    "src/ccd/compiler.h",
+    "src/ccd/quat.h",
+    "src/ccd/vec3.h",
+    "src/ccd/ccd_export.h",
+]
+
+# Options used when building the ccd code. Handled by cmake in upstream code
+CCD_COPTS = [
+    "-Wno-all",
+    "-fvisibility=hidden",
+]
+
+# Generates the library exported to users.  Upstream's CMake code lists out all
+# sources instead of globbing, but conveniently puts the public headers in one
+# place and private sources and headers in another; we'll use globbing here.
+cc_library(
+    name = "ccd",
+    srcs = glob([
+        "src/*.c",
+        "src/*.h",
+    ]),
+    hdrs = CCD_PUBLIC_HEADERS,
+    copts = CCD_COPTS,
+    defines = ["CCD_STATIC_DEFINE"],
+    includes = ["src"],
+    linkstatic = 1,
+)
+
+install(
+    name = "install",
+    docs = ["BSD-LICENSE"],
+)

tools/workspace/ccd_internal/repository.bzl

@@ -0,0 +1,15 @@
+# -*- python -*-
+
+load("@drake//tools/workspace:github.bzl", "github_archive")
+
+def ccd_internal_repository(
+        name,
+        mirrors = None):
+    github_archive(
+        name = name,
+        repository = "danfis/libccd",
+        commit = "7931e764a19ef6b21b443376c699bbc9c6d4fba8",
+        sha256 = "479994a86d32e2effcaad64204142000ee6b6b291fd1859ac6710aee8d00a482",  # noqa
+        build_file = ":package.BUILD.bazel",
+        mirrors = mirrors,
+    )

tools/workspace/default.bzl

@@ -8,6 +8,7 @@ load("@drake//tools/workspace/blas:repository.bzl", "blas_repository")
 load("@drake//tools/workspace/buildifier:repository.bzl", "buildifier_repository")  # noqa
 load("@drake//tools/workspace/cc:repository.bzl", "cc_repository")
 load("@drake//tools/workspace/ccd:repository.bzl", "ccd_repository")
+load("@drake//tools/workspace/ccd_internal:repository.bzl", "ccd_internal_repository")  # noqa
 load("@drake//tools/workspace/cds:repository.bzl", "cds_repository")
 load("@drake//tools/workspace/clang_cindex_python3_internal:repository.bzl", "clang_cindex_python3_internal_repository")  # noqa
 load("@drake//tools/workspace/clp:repository.bzl", "clp_repository")
@@ -24,7 +25,8 @@ load("@drake//tools/workspace/drake_visualizer:repository.bzl", "drake_visualize
 load("@drake//tools/workspace/dreal:repository.bzl", "dreal_repository")
 load("@drake//tools/workspace/eigen:repository.bzl", "eigen_repository")
 load("@drake//tools/workspace/expat:repository.bzl", "expat_repository")
-load("@drake//tools/workspace/fcl:repository.bzl", "fcl_repository")
+load("@drake//tools/workspace/fcl:repository.bzl", "fcl_repository")  # noqa
+load("@drake//tools/workspace/fcl_internal:repository.bzl", "fcl_internal_repository")  # noqa
 load("@drake//tools/workspace/fmt:repository.bzl", "fmt_repository")
 load("@drake//tools/workspace/gflags:repository.bzl", "gflags_repository")
 load("@drake//tools/workspace/gfortran:repository.bzl", "gfortran_repository")
@@ -126,6 +128,8 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS):
         cc_repository(name = "cc")
     if "ccd" not in excludes:
         ccd_repository(name = "ccd", mirrors = mirrors)
+    if "ccd_internal" not in excludes:
+        ccd_internal_repository(name = "ccd_internal", mirrors = mirrors)
     if "cds" not in excludes:
         # N.B. This repository is deprecated for removal on 2023-02-01.
         # For details see https://github.com/RobotLocomotion/drake/pull/18156.
@@ -166,6 +170,8 @@ def add_default_repositories(excludes = [], mirrors = DEFAULT_MIRRORS):
         expat_repository(name = "expat")
     if "fcl" not in excludes:
         fcl_repository(name = "fcl", mirrors = mirrors)
+    if "fcl_internal" not in excludes:
+        fcl_internal_repository(name = "fcl_internal", mirrors = mirrors)
     if "fmt" not in excludes:
         fmt_repository(name = "fmt", mirrors = mirrors)
     if "gflags" not in excludes:

tools/workspace/fcl/package.BUILD.bazel

@@ -4,10 +4,6 @@ load(
     "@drake//tools/workspace:cmake_configure_file.bzl",
     "cmake_configure_file",
 )
-load(
-    "@drake//tools/install:install.bzl",
-    "install",
-)
 load(
     "@drake//tools/workspace:generate_export_header.bzl",
     "generate_export_header",
@@ -136,9 +132,5 @@ cc_library(
         "@ccd",
         "@eigen",
     ],
-)
-
-install(
-    name = "install",
-    docs = ["LICENSE"],
+    deprecation = "DRAKE DEPRECATED: The @fcl external is deprecated. The deprecated code will be removed from Drake on or after 2023-05-01.",  # noqa,
 )

tools/workspace/fcl_internal/BUILD.bazel

@@ -0,0 +1,7 @@
+# -*- python -*-
+
+load("//tools/lint:lint.bzl", "add_lint_tests")
+
+exports_files(["version-from-xml.sed"])
+
+add_lint_tests()