From 136180c00aa15e194200502704df9fcc60809ac3 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Thu, 5 Dec 2024 23:26:51 +0100
Subject: [PATCH] hpp-fcl -> coal

---
 CMakeLists.txt         |  2 +-
 doc/figures/archi.svg  |  2 +-
 doc/main.dox.in        |  2 +-
 doc/packages.sh        |  8 ++++----
 makefiles/devel.mk     | 14 +++++++-------
 makefiles/stable.mk    | 18 +++++++++---------
 releases/versions      | 17 -----------------
 scripts/create-tags.sh |  2 +-
 8 files changed, 24 insertions(+), 41 deletions(-)
 delete mode 100644 releases/versions

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 80eec648..6b75cbcb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -61,7 +61,7 @@ endmacro(ADD_HPP_PKG)
 
 set(SETUP_DOC_PKG)
 
-add_hpp_pkg(hpp-fcl)
+add_hpp_pkg(coal)
 add_hpp_pkg(hpp-util)
 add_hpp_pkg(hpp-statistics)
 add_hpp_pkg(pinocchio)
diff --git a/doc/figures/archi.svg b/doc/figures/archi.svg
index afa38e9a..6a97b42c 100644
--- a/doc/figures/archi.svg
+++ b/doc/figures/archi.svg
@@ -2466,7 +2466,7 @@ RERERERUtaWnp+Pnn3+GCABHjx5FZmampWsiIiIiIiIiIqJqJjMzE0eOHAGQv65j/PjxXEdEFrd3
          sodipodi:role="line"
          id="tspan4357"
          x="220.04251"
-         y="436.29044">hpp-fcl</tspan></text>
+         y="436.29044">coal</tspan></text>
     <text
        xml:space="preserve"
        style="font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;font-size:15px;line-height:100%;font-family:'Bitstream Charter';-inkscape-font-specification:'Bitstream Charter, Normal';text-align:start;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
diff --git a/doc/main.dox.in b/doc/main.dox.in
index ddf3d72f..d21d9cea 100644
--- a/doc/main.dox.in
+++ b/doc/main.dox.in
@@ -65,7 +65,7 @@ how to use this project.
 \section hpp_doc_algorithms_motion_planning Motion planning
 
 \par Kinematic chain with geometry
-- @hpp-fcl_LINK@: Modified version of Flexible collision library, for collision detection and distance computation,
+- @coal_LINK@: Modified version of Flexible collision library, for collision detection and distance computation,
 - @pinocchio_LINK@: implementation of kinematic chain with dynamic computations,
 - @hpp-pinocchio_LINK@: Interface between pinocchio and hpp-core,
 
diff --git a/doc/packages.sh b/doc/packages.sh
index 94943cf1..0f0da7a3 100755
--- a/doc/packages.sh
+++ b/doc/packages.sh
@@ -45,10 +45,10 @@ fi
 
 
 # Package database.
-pkg "hpp-fcl" \
-    "hpp-fcl" \
-    "git@github.com:humanoid-path-planner/fcl" \
-    "path/hpp-fcl"
+pkg "coal" \
+    "coal" \
+    "git@github.com:coal-library/coal" \
+    "path/coal"
 
 pkg "hpp-corbaserver" \
     "hpp-corbaserver" \
diff --git a/makefiles/devel.mk b/makefiles/devel.mk
index d3527312..2119c0d5 100644
--- a/makefiles/devel.mk
+++ b/makefiles/devel.mk
@@ -3,7 +3,7 @@
 # Author: Florent Lamiraux
 #
 
-FCL_REPO=https://github.com/flexible-collision-library
+COAL_REPO=https://github.com/coal-library
 LAAS_REPO=https://github.com/laas
 HPP_REPO=https://github.com/humanoid-path-planner
 SOT_REPO=https://github.com/stack-of-tasks
@@ -37,9 +37,9 @@ PYTHON_FLAGS=-DPYTHON_STANDARD_LAYOUT=ON
 ##################################
 # {{{ Dependencies
 
-hpp-fcl_branch=devel
-hpp-fcl_repository=${HPP_REPO}
-hpp-fcl_extra_flags= -DBUILD_PYTHON_INTERFACE=ON -DHPP_FCL_HAS_QHULL=ON ${PYTHON_FLAGS}
+coal_branch=devel
+coal_repository=${COAL_REPO}
+coal_extra_flags= -DBUILD_PYTHON_INTERFACE=ON -DCOAL_HAS_QHULL=ON ${PYTHON_FLAGS} -DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL=ON
 
 eigenpy_branch=devel
 eigenpy_repository=${SOT_REPO}
@@ -250,10 +250,10 @@ rbprm: hpp-affordance-corba.install hpp-gepetto-viewer.install
 # {{{ Dependencies declaration
 
 hpp-doc.configure.dep: hpp-doc.checkout
-hpp-fcl.configure.dep: hpp-fcl.checkout
+coal.configure.dep: coal.checkout
 hpp-util.configure.dep: hpp-util.checkout
 eigenpy.configure.dep: eigenpy.checkout
-pinocchio.configure.dep: eigenpy.install hpp-fcl.install pinocchio.checkout
+pinocchio.configure.dep: eigenpy.install coal.install pinocchio.checkout
 hpp-pinocchio.configure.dep: pinocchio.install hpp-util.install hpp-environments.install\
 	hpp-pinocchio.checkout
 hpp-statistics.configure.dep: hpp-util.install hpp-statistics.checkout
@@ -298,7 +298,7 @@ example-robot-data.configure.dep: pinocchio.install example-robot-data.checkout
 hpp-environments.configure.dep: hpp-environments.checkout
 hpp-baxter.configure.dep: example-robot-data.install hpp-baxter.checkout
 hpp_romeo.configure.dep: hpp_romeo.checkout
-hpp-affordance.configure.dep: hpp-core.install hpp-fcl.install hpp-affordance.checkout
+hpp-affordance.configure.dep: hpp-core.install coal.install hpp-affordance.checkout
 hpp-affordance-corba.configure.dep: hpp-affordance.install hpp-template-corba.install \
  hpp-corbaserver.install hpp-affordance-corba.checkout
 anymal-rbprm.configure.dep: anymal-rbprm.checkout
diff --git a/makefiles/stable.mk b/makefiles/stable.mk
index 9b8035f5..f3bce0ba 100644
--- a/makefiles/stable.mk
+++ b/makefiles/stable.mk
@@ -3,7 +3,7 @@
 # Author: Florent Lamiraux
 #
 
-FCL_REPO=https://github.com/flexible-collision-library
+COAL_REPO=https://github.com/coal-library
 LAAS_REPO=https://github.com/laas
 HPP_REPO=https://github.com/humanoid-path-planner
 SOT_REPO=https://github.com/stack-of-tasks
@@ -37,15 +37,15 @@ PYTHON_FLAGS=-DPYTHON_STANDARD_LAYOUT=ON
 ##################################
 # {{{ Dependencies
 
-hpp-fcl_branch=v2.4.5
-hpp-fcl_repository=${HPP_REPO}
-hpp-fcl_extra_flags= -DBUILD_PYTHON_INTERFACE=ON -DHPP_FCL_HAS_QHULL=ON ${PYTHON_FLAGS}
+coal_branch=v3.0.0
+coal_repository=${COAL_REPO}
+coal_extra_flags= -DBUILD_PYTHON_INTERFACE=ON -DCOAL_HAS_QHULL=ON ${PYTHON_FLAGS} -DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL=ON
 
-eigenpy_branch=v3.10.0
+eigenpy_branch=v3.10.1
 eigenpy_repository=${SOT_REPO}
 eigenpy_extra_flags=${PYTHON_FLAGS}
 
-pinocchio_branch=v3.2.0
+pinocchio_branch=v3.3.0
 pinocchio_repository=${SOT_REPO}
 pinocchio_extra_flags= -DBUILD_PYTHON_INTERFACE=ON -DBUILD_UNIT_TESTS=OFF -DBUILD_WITH_COLLISION_SUPPORT=ON -DINSTALL_DOCUMENTATION=OFF ${PYTHON_FLAGS}
 
@@ -250,10 +250,10 @@ rbprm: hpp-affordance-corba.install hpp-gepetto-viewer.install
 # {{{ Dependencies declaration
 
 hpp-doc.configure.dep: hpp-doc.checkout
-hpp-fcl.configure.dep: hpp-fcl.checkout
+coal.configure.dep: coal.checkout
 hpp-util.configure.dep: hpp-util.checkout
 eigenpy.configure.dep: eigenpy.checkout
-pinocchio.configure.dep: eigenpy.install hpp-fcl.install pinocchio.checkout
+pinocchio.configure.dep: eigenpy.install coal.install pinocchio.checkout
 hpp-pinocchio.configure.dep: pinocchio.install hpp-util.install hpp-environments.install\
 	hpp-pinocchio.checkout
 hpp-statistics.configure.dep: hpp-util.install hpp-statistics.checkout
@@ -298,7 +298,7 @@ example-robot-data.configure.dep: pinocchio.install example-robot-data.checkout
 hpp-environments.configure.dep: hpp-environments.checkout
 hpp-baxter.configure.dep: example-robot-data.install hpp-baxter.checkout
 hpp_romeo.configure.dep: hpp_romeo.checkout
-hpp-affordance.configure.dep: hpp-core.install hpp-fcl.install hpp-affordance.checkout
+hpp-affordance.configure.dep: hpp-core.install coal.install hpp-affordance.checkout
 hpp-affordance-corba.configure.dep: hpp-affordance.install hpp-template-corba.install \
  hpp-corbaserver.install hpp-affordance-corba.checkout
 anymal-rbprm.configure.dep: anymal-rbprm.checkout
diff --git a/releases/versions b/releases/versions
deleted file mode 100644
index bd750564..00000000
--- a/releases/versions
+++ /dev/null
@@ -1,17 +0,0 @@
-hpp-fcl_version= 0.6.0
-hpp-util_version= 3.3
-hpp-pinocchio_version= 4.1
-hpp-statistics_version= 1.1.1
-hpp-constraints_version= 4.1
-hpp-core_version= 4.1
-hpp-hrp2_version= 0.1
-hpp-manipulation_version= 4.1
-hpp-manipulation-urdf_version= 4.1
-hpp-corbaserver_version= 4.1
-hpp-manipulation-corba_version= 4.1
-hpp_tutorial_version= 1.1
-gepetto-viewer_version= 2.1.3
-gepetto-viewer-corba_version= 2.3
-hpp-gepetto-viewer_version= 4.1
-hpp-baxter_version= 0.1
-hpp_romeo_version= 0.1
diff --git a/scripts/create-tags.sh b/scripts/create-tags.sh
index 4e287db8..2468fc73 100755
--- a/scripts/create-tags.sh
+++ b/scripts/create-tags.sh
@@ -16,7 +16,7 @@ version=$1
 
 # Packages to tag
 # pinocchio
-pkg_main="hpp-util hpp-statistics hpp-fcl hpp-pinocchio \
+pkg_main="hpp-util hpp-statistics hpp-pinocchio \
 hpp-constraints hpp-corbaserver hpp-core hpp_tutorial hpp-doc \
 hpp-manipulation hpp-manipulation-corba hpp-manipulation-urdf \
 hpp-gepetto-viewer hpp-gui hpp-plot"