spatialgeometry 1.1.0__tar.gz → 1.3.0__tar.gz

spatialgeometry-1.3.0/.gitattributes

@@ -0,0 +1 @@
+spatialgeometry/core/Eigen/** linguist-vendored

spatialgeometry-1.3.0/.github/Makefile

@@ -0,0 +1,44 @@
+.FORCE:
+
+BLUE=\033[0;34m
+BLACK=\033[0;30m
+
+help:
+	@echo "$(BLUE) make test - run all unit tests"
+	@echo " make coverage - run unit tests and coverage report"
+	@echo " make docs - build Sphinx documentation"
+	@echo " make docupdate - upload Sphinx documentation to GitHub pages"
+	@echo " make dist - build dist files"
+	@echo " make upload - upload to PyPI"
+	@echo " make clean - remove dist and docs build files"
+	@echo " make help - this message$(BLACK)"
+
+test:
+	pytest
+
+coverage:
+	coverage run --omit=\*/test_\* -m unittest
+	coverage report
+
+docs: .FORCE
+	(cd docs; make html)
+
+docupdate: docs
+	git clone https://github.com/petercorke/roboticstoolbox-python.git --branch gh-pages --single-branch gh-pages
+	cp -r docs/build/html/. gh-pages
+	git add gh-pages
+	git commit -m "rebuilt docs"
+	git push origin gh-pages
+
+dist: .FORCE
+	$(MAKE) test
+	python setup.py sdist
+
+upload: .FORCE
+	twine upload dist/*
+
+clean: .FORCE
+	(cd docs; make clean)
+	-rm -r *.egg-info
+	-rm -r dist
+

spatialgeometry-1.3.0/.github/workflows/build.yml

@@ -0,0 +1,102 @@
+# Run tests and build/deploy docs.
+# Triggers on pushes to main and on PRs targeting main.
+
+name: Run Tests and Build Docs
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+jobs:
+  unittest:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [windows-latest, ubuntu-latest, macos-latest]
+        python-version: ["3.10", "3.11", "3.12", "3.13"]
+    steps:
+      - uses: actions/checkout@v4
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python-version }}
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+      - name: Test with pytest
+        run: |
+          pip install .[dev,collision]
+          pip install pytest-timeout
+          pytest --timeout=30 --timeout_method thread -s
+
+  codecov:
+    # If all tests pass:
+    # Run coverage and upload to codecov
+    needs: unittest
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+      - name: Run coverage
+        run: |
+          pip install -e .[dev,collision]
+          pytest --cov=spatialgeometry --cov-report xml:coverage.xml
+          coverage report
+      - name: upload coverage to Codecov
+        uses: codecov/codecov-action@v4
+        with:
+          file: ./coverage.xml
+
+  docs-build:
+    needs: unittest
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+
+      - name: Install docs dependencies
+        run: |
+          pip install .[docs,collision]
+          pip install sympy
+          sudo apt-get install -y graphviz
+
+      - name: Build docs
+        run: |
+          cd docs && make html
+          touch build/html/.nojekyll
+
+      - name: Upload Pages artifact
+        uses: actions/upload-pages-artifact@v3
+        with:
+          path: docs/build/html
+
+  # Separate job so the github-pages environment (and its deployment
+  # protection rules restricting it to main) is only ever touched on main —
+  # a job-level `environment:` triggers a deployment attempt as soon as the
+  # job starts, regardless of any step-level `if:`, so PR runs would
+  # otherwise show a false "failed to deploy to github-pages".
+  docs-deploy:
+    needs: docs-build
+    if: github.ref == 'refs/heads/main'
+    runs-on: ubuntu-latest
+    permissions:
+      pages: write
+      id-token: write
+    environment:
+      name: github-pages
+      url: ${{ steps.deploy.outputs.page_url }}
+    steps:
+      - name: Deploy to GitHub Pages
+        id: deploy
+        uses: actions/deploy-pages@v4

spatialgeometry-1.3.0/.github/workflows/cibuildwheel.yml

@@ -0,0 +1,130 @@
+# Build wheels for all platforms and publish to PyPI.
+#
+# To ship a release: bump the version in pyproject.toml, merge that to
+# main, then on GitHub go to Releases -> "Draft a new release", pick a
+# tag matching the new version, and click "Publish release". That single
+# click is the only trigger for this workflow -- it builds every wheel
+# (including Pyodide/wasm32), uploads everything to PyPI, and attaches
+# the Pyodide wheel to the release as a downloadable asset. There is no
+# separate manual/workflow_dispatch path, so there's only one way to
+# publish and it always does the full job.
+#
+# Uses OIDC trusted publishing -- no stored PyPI token required.
+
+name: Publish to PyPI
+
+on:
+  release:
+    types: [published]
+
+jobs:
+  build_wheels:
+    name: Build compiled wheels on ${{ matrix.os }} (${{ matrix.arch }})
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        include:
+          - os: ubuntu-latest
+            arch: x86_64
+          - os: ubuntu-24.04-arm
+            arch: arm64
+          - os: windows-latest
+            arch: x86_64
+          - os: macos-latest
+            arch: arm64
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Build wheels
+        uses: pypa/cibuildwheel@v3.4.1
+        env:
+          CIBW_BUILD_VERBOSITY: 1
+          # Only build CPython 3.10-3.13; skip PyPy and free-threaded builds.
+          CIBW_BUILD: "cp310-* cp311-* cp312-* cp313-*"
+          CIBW_SKIP: "pp* cp313t-* *musllinux*"
+          # Only build for this runner's native arch (no QEMU cross-compilation).
+          CIBW_ARCHS: native
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: wheels-${{ matrix.os }}
+          path: ./wheelhouse/*.whl
+
+  build_pyodide:
+    name: Build Pyodide (wasm32) wheel
+    runs-on: ubuntu-latest
+    continue-on-error: true
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Build Pyodide wheel
+        uses: pypa/cibuildwheel@v3.4.1
+        env:
+          CIBW_PLATFORM: pyodide
+
+      - uses: actions/upload-artifact@v4
+        if: success()
+        with:
+          name: pyodide-wheel
+          path: ./wheelhouse/*.whl
+
+  build_sdist:
+    name: Build source distribution
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Build sdist
+        run: pipx run build --sdist
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: sdist
+          path: dist/*.tar.gz
+
+  # PyPI rejects the pyodide_* platform tag, so attach it to the GitHub
+  # Release as a downloadable asset instead -- same pattern as RTB's own
+  # release.yml, which is where a future RTB fix for its own JupyterLite
+  # build (it needs a wasm spatialgeometry wheel now that it depends on
+  # the real package instead of vendoring a pure-Python copy) would fetch
+  # this from.
+  upload_pyodide_asset:
+    name: Attach Pyodide wheel to GitHub release
+    needs: build_pyodide
+    if: needs.build_pyodide.result == 'success'
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          name: pyodide-wheel
+          path: pyodide-dist
+
+      - name: Upload Pyodide wheel as release asset
+        uses: softprops/action-gh-release@v3
+        with:
+          tag_name: ${{ github.ref_name }}
+          files: pyodide-dist/*.whl
+
+  upload_pypi:
+    needs: [build_wheels, build_sdist]
+    runs-on: ubuntu-latest
+    environment: pypi
+    permissions:
+      id-token: write # required for OIDC trusted publishing
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          pattern: wheels-*
+          merge-multiple: true
+          path: dist
+
+      - uses: actions/download-artifact@v4
+        with:
+          name: sdist
+          path: dist
+
+      - uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          skip-existing: true

spatialgeometry-1.3.0/.gitignore

@@ -0,0 +1,185 @@
+# MacOS stuff
+**DS_STORE
+
+# Vim
+*.sw*
+
+.idea/*
+
+### VisualStudioCode ###
+.vscode/*
+#!.vscode/settings.json
+#!.vscode/tasks.json
+#!.vscode/launch.json
+#!.vscode/extensions.json
+
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+pip-wheel-metadata/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+wheelhouse/
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+.python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+
+# celery beat schedule file
+celerybeat-schedule
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+### ROS ###
+devel/
+logs/
+bin/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+# Catkin custom files
+CATKIN_IGNORE
+
+### VisualStudioCode Patch ###
+# Ignore all local history of files
+.history

spatialgeometry-1.3.0/CHANGELOG.md

@@ -0,0 +1,101 @@
+# Changelog
+
+Notable changes to this project are documented in this file. Starts from
+v1.2.0 — earlier releases aren't documented retroactively.
+
+## [1.3.0] - 2026-08-03
+
+### New
+
+- **`Path` shape**: a polyline through a sequence of waypoints — straight
+  segments joining consecutive points, for drawing paths and trajectories
+  in the scene. `radius`/`linewidth` mirror `Arrow`'s existing mutual
+  exclusivity (a real tube when `radius > 0`, a line honoring `linewidth`
+  otherwise). Deliberately a plain `Shape`, not `CollisionShape` — Coal has
+  no native "tube along a polyline" primitive.
+- **`Axes` gains `arrows=False`** (render each axis as a colored `Arrow`
+  instead of a plain line) plus `radius`/`linewidth`, passed straight
+  through to each constituent `Arrow` when `arrows=True`.
+- **`Arrow` gains `linewidth`**: when `radius == 0` (the existing
+  "shaft is a line" fallback), `linewidth` now actually controls that
+  line's width in pixels — previously uncontrolled, whatever the browser's
+  default happened to render.
+- **`__version__`** is now exposed, matching the other packages in the
+  toolbox family (`spatialmath-python`, `robotics-toolbox-python`, `bdsim`,
+  `machinevision-toolbox-python`).
+
+### Changed
+
+- **`Shape` and `CollisionShape` are now abstract base classes.** Neither
+  was meant to be instantiated directly — `Shape.to_dict` and
+  `CollisionShape._init_coal` are `@abstractmethod`; every concrete shape
+  already overrode both.
+- **`T` (pose) moved from `Shape` up to `SceneNode`.** It was a thin
+  wrapper with nothing `Shape`-specific about it; moving it up means
+  `SceneGroup` (and any future `SceneNode` subclass) gets the same
+  convenient, `SE3`-accepting pose property that only `Shape` had before —
+  so a whole group of shapes can now be moved as one unit via `group.T`.
+- **`repr()`/`str()` rewritten.** `repr()` previously showed only the
+  shape's `stype` string plus translation — not unambiguous (`Box`, a
+  deprecated alias of `Cuboid`, was indistinguishable from `Cuboid`) and
+  broke visually the moment more than one shape appeared together (e.g. in
+  a list, or a `SceneGroup`). Now single-line and constructor-style, e.g.
+  `Cylinder(radius=1.0, length=2.0, pose='t = 0, 0, 0; rpy/zyx = 0°, 0°, 0°')`.
+- **Type hints modernized** across the scene-graph/shape classes —
+  `typing.Union`/`List`/`Dict`/`Tuple`/`Optional` replaced with
+  `X | Y`/`list`/`dict`/`tuple`, and filled in on several public
+  constructors/properties that had none at all.
+- Docs: the Sphinx build's `docs` extra now also installs `collision`, so
+  the intro chapter's `closest_point()`/`iscollided()` example actually
+  runs instead of silently baking a traceback into the rendered page.
+- Docs: intro chapter rewritten with mesh/collision worked examples, mouse
+  navigation controls, and scene-graph parenting; `sphinx-copybutton`,
+  `sphinx-codeautolink`, `sphinxcontrib-mermaid`, and a `make livehtml`
+  target wired up for faster doc iteration.
+
+### Fixed
+
+- **`Shape.color`'s setter left an all-integer color input as
+  `numpy.int64`** (e.g. `color=[1, 0, 0, 1]`, a very natural way to write
+  "opaque red") rather than a plain `float` — `self.color[3]` (opacity)
+  being `int64` broke real (non-mocked) `json.dumps()` sends. Never caught
+  by the existing test suite since those tests are `FakeBrowser`-mocked.
+- **`SceneNode._T`'s setter referenced a nonexistent `self.parent.wT`**
+  (should have been `self._scene_parent._wT`) — setting a node's pose
+  while it already had a `scene_parent` raised `AttributeError` instead of
+  composing the world transform. No test coverage existed for this path
+  before.
+- `SceneNode.scene_parent`'s return type was annotated `Type["SceneNode"]`
+  (the class itself) rather than an instance; corrected to
+  `SceneNode | None`.
+
+## [1.2.0] - 2026-07-28
+
+First release since v1.1.0 (2023) — mostly packaging and build-system work, plus a collision-backend swap.
+
+### New
+
+- **Coal replaces PyBullet as the collision backend.** PyBullet wouldn't build with clang on macOS, so all collision checking now runs on [Coal](https://github.com/coal-library/coal) instead.
+- **NumPy 2 support.**
+- **Pyodide (WebAssembly) wheels**, so spatialgeometry can run in-browser (e.g. JupyterLite), alongside the usual platform wheels. Since there's no C++ compiler to target under Pyodide, that wheel ships a pure-Python fallback for the scene-graph transform math instead of the compiled extension — same API, just not compiled.
+- **Prebuilt wheels for more platforms**: native Linux arm64 and macOS arm64 in addition to Linux/Windows x86_64 — no compiler needed on install for any of them.
+
+### Changed
+
+- **Build system rewritten**: the C++ extension now builds with **nanobind + scikit-build-core** (previously a hand-rolled hatchling build hook). Faster builds, and the vendored Eigen copy was trimmed from Eigen's full 337-file tree down to the ~175 files this project actually uses.
+- **Project layout moved to `src/`**, and the build backend moved from setuptools to hatchling and then to scikit-build-core over the course of this work.
+- **Docs rewritten**: the README, intro chapter, and API reference no longer borrow content from the Robotics Toolbox docs — they now describe spatialgeometry on its own terms, with a Swift-based display example.
+- **Dependency cleanup**: `roboticstoolbox` is no longer pulled into the `dev` extra, removing a version-pin collision some installs were hitting.
+
+### Fixed
+
+- macOS build failures caused by PyBullet + clang (resolved by the Coal switch above).
+- NumPy 2 compatibility issues.
+- Windows wheel builds failing over an overly long temp-file path.
+- Several wheel-tagging/build-hook bugs that could produce a stale or wrong-architecture compiled extension, or silently fall back to a non-compiled wheel.
+- The PyPI publish pipeline itself: a workflow bug was letting the Pyodide/wasm32 wheel — which PyPI doesn't accept — get bundled into the same upload batch as the real wheels, aborting the upload partway through. Publishing now uses a single, unambiguous trigger (creating a GitHub Release) that always completes the full publish.
+
+### Known limitations
+
+- Collision checking (Coal) isn't available via `pip` on Windows — one of Coal's own dependencies doesn't publish a Windows wheel. Everything else works there; `pip install spatialgeometry[collision]` will just have no effect on that platform for now.
+  **Workaround:** conda-forge publishes `coal-python` for `win-64` against its own assimp build, so `conda install -c conda-forge coal-python` followed by `pip install spatialgeometry trimesh` gets collision checking working on Windows today.

spatialgeometry-1.3.0/CMakeLists.txt

@@ -0,0 +1,39 @@
+cmake_minimum_required(VERSION 3.15)
+project(${SKBUILD_PROJECT_NAME} LANGUAGES C CXX)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# Locate Python (interpreter needed to find nanobind cmake dir)
+find_package(Python COMPONENTS Interpreter Development.Module REQUIRED)
+
+# Locate nanobind via the installed Python package
+execute_process(
+    COMMAND "${Python_EXECUTABLE}" -c "import nanobind; print(nanobind.cmake_dir())"
+    OUTPUT_VARIABLE NB_DIR
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+)
+find_package(nanobind CONFIG REQUIRED HINTS "${NB_DIR}")
+
+# ---------------------------------------------------------------------------
+# scene — scene-graph transform propagation
+# Eigen is vendored as header-only (Core module only -- see
+# src/spatialgeometry/core/Eigen) in src/spatialgeometry/core/Eigen/
+# scene_nb.cpp is the nanobind glue; math lives inline in that file.
+#
+# Skipped entirely under Pyodide/Emscripten: no compiler there worth
+# targeting, and spatialgeometry.scene has a pure-Python fallback
+# (scene.py) for exactly this case -- CPython's import machinery prefers
+# a compiled extension module over a same-named .py file when both are
+# present, so building neither is what makes the fallback take over.
+# ---------------------------------------------------------------------------
+if(NOT CMAKE_SYSTEM_NAME STREQUAL "Emscripten")
+    nanobind_add_module(scene
+        src/spatialgeometry/core/scene_nb.cpp
+    )
+    target_include_directories(scene PRIVATE
+        src/spatialgeometry/core
+    )
+
+    install(TARGETS scene DESTINATION spatialgeometry)
+endif()

spatialgeometry-1.3.0/Makefile

@@ -0,0 +1,45 @@
+.FORCE:
+
+BLUE=\033[0;34m
+BLACK=\033[0;30m
+
+help:
+	@echo "$(BLUE) make test - run all unit tests"
+	@echo " make coverage - run unit tests and coverage report"
+	@echo " make docs - build Sphinx documentation"
+	@echo " make docupdate - upload Sphinx documentation to GitHub pages"
+	@echo " make dist - build dist files"
+	@echo " make upload - upload to PyPI"
+	@echo " make clean - remove dist and docs build files"
+	@echo " make help - this message$(BLACK)"
+
+test:
+	python -m pytest
+
+coverage:
+	coverage run --omit=\*/test_\* -m unittest
+	coverage report
+
+docs: .FORCE
+	(cd docs; make html)
+	open docs/build/html/index.html
+
+dist: .FORCE
+	#$(MAKE) test
+	python -m build
+
+pypi: .FORCE
+	validate-pyproject pyproject.toml
+	@if ! git diff --quiet || ! git diff --cached --quiet; then \
+		echo "Error: uncommitted changes present, aborting upload"; exit 1; \
+	fi
+	$(eval VERSION := $(shell grep '^version' pyproject.toml | sed 's/version = "\(.*\)"/\1/'))
+	python -m build
+	twine upload dist/*
+	git tag v$(VERSION)
+	git push origin v$(VERSION)
+
+clean: .FORCE
+	(cd docs; make clean)
+	-rm -r *.egg-info
+	-rm -r dist