spatialgeometry 1.2.0__tar.gz → 1.3.0__tar.gz

{spatialgeometry-1.2.0 → spatialgeometry-1.3.0}/.github/workflows/build.yml

@@ -67,7 +67,7 @@ jobs:
 
       - name: Install docs dependencies
         run: |
-          pip install .[docs]
+          pip install .[docs,collision]
           pip install sympy
           sudo apt-get install -y graphviz
 

{spatialgeometry-1.2.0 → spatialgeometry-1.3.0}/.github/workflows/cibuildwheel.yml

@@ -1,5 +1,13 @@
 # Build wheels for all platforms and publish to PyPI.
-# Triggered on GitHub release creation or manually via workflow_dispatch.
+#
+# 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.
 
@@ -7,8 +15,7 @@ name: Publish to PyPI
 
 on:
   release:
-    types: [created]
-  workflow_dispatch:
+    types: [published]
 
 jobs:
   build_wheels:
@@ -84,7 +91,7 @@ jobs:
   upload_pyodide_asset:
     name: Attach Pyodide wheel to GitHub release
     needs: build_pyodide
-    if: github.event_name == 'release' && needs.build_pyodide.result == 'success'
+    if: needs.build_pyodide.result == 'success'
     runs-on: ubuntu-latest
     permissions:
       contents: write

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-1.2.0 → spatialgeometry-1.3.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: spatialgeometry
-Version: 1.2.0
+Version: 1.3.0
 Summary: A Shape and Geometry Description Package
 Keywords: python,robotics,robotics-toolbox,kinematics,dynamics,motion-planning,trajectory-generation,jacobian,hessian,control,simulation,robot-manipulator,mobile-robot
 Author-Email: Jesse Haviland <j.haviland@qut.edu.au>, Peter Corke <rvc@petercorke.com>
@@ -41,6 +41,7 @@ Requires-Dist: spatialmath-python>=1.0.0
 Provides-Extra: collision
 Requires-Dist: coal; sys_platform != "win32" and extra == "collision"
 Requires-Dist: trimesh; extra == "collision"
+Requires-Dist: pycollada; extra == "collision"
 Provides-Extra: dev
 Requires-Dist: black; extra == "dev"
 Requires-Dist: editables; extra == "dev"
@@ -53,7 +54,10 @@ Requires-Dist: trimesh; extra == "dev"
 Provides-Extra: docs
 Requires-Dist: sphinx; extra == "docs"
 Requires-Dist: sphinx_rtd_theme; extra == "docs"
-Requires-Dist: sphinx-autorun; extra == "docs"
+Requires-Dist: sphinx-pyrunblock; extra == "docs"
+Requires-Dist: sphinx-copybutton; extra == "docs"
+Requires-Dist: sphinx-codeautolink; extra == "docs"
+Requires-Dist: sphinxcontrib-mermaid; extra == "docs"
 Description-Content-Type: text/markdown
 
 # Spatial Geometry
@@ -136,6 +140,14 @@ required there.
 > version range Coal needs), so the `collision` extra skips it there and
 > collision checking is unavailable via `pip` on Windows. Everything else
 > in the package works normally.
+>
+> Workaround: conda-forge publishes `coal-python` built for `win-64`
+> against its own assimp, sidestepping the missing wheel entirely:
+>
+> ```shell
+> conda install -c conda-forge coal-python
+> pip install spatialgeometry trimesh
+> ```
 
 ### conda / conda-forge
 

{spatialgeometry-1.2.0 → spatialgeometry-1.3.0}/README.md

@@ -78,6 +78,14 @@ required there.
 > version range Coal needs), so the `collision` extra skips it there and
 > collision checking is unavailable via `pip` on Windows. Everything else
 > in the package works normally.
+>
+> Workaround: conda-forge publishes `coal-python` built for `win-64`
+> against its own assimp, sidestepping the missing wheel entirely:
+>
+> ```shell
+> conda install -c conda-forge coal-python
+> pip install spatialgeometry trimesh
+> ```
 
 ### conda / conda-forge
 

{spatialgeometry-1.2.0 → spatialgeometry-1.3.0}/docs/Makefile

@@ -12,7 +12,13 @@ BUILDDIR      = build
 help:
 	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
 
-.PHONY: help Makefile
+# Live-rebuild and reload in the browser on every source change.
+livehtml:
+	sphinx-autobuild "$(SOURCEDIR)" "$(BUILDDIR)/html" $(SPHINXOPTS) $(O) \
+		--open-browser \
+		--ignore "$(SOURCEDIR)/generated/*"
+
+.PHONY: help livehtml Makefile
 
 # Catch-all target: route all unknown targets to Sphinx using the new
 # "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).