Update versions of ccd, fcl, and octomap; avoid installation; and hid…

…e binary symbols (#7417)

WORKSPACE

@@ -216,24 +216,24 @@ github_archive(
 github_archive(
  name = "ccd",
  repository = "danfis/libccd",
- commit = "v2.0",
- sha256 = "1b4997e361c79262cf1fe5e1a3bf0789c9447d60b8ae2c1f945693ad574f9471", # noqa
+ commit = "5677d384315d64c41a9e1dabe6a531f10ffbb7fb",
+ sha256 = "3b37ef4555d087f7abb6aa59c3b5cecb96410ea10e95a086ef2771569fb6fdfb", # noqa
  build_file = "tools/workspace/ccd/ccd.BUILD.bazel",
 )
 
 github_archive(
  name = "octomap",
  repository = "OctoMap/octomap",
- commit = "v1.7.2",
- sha256 = "fe55efbb9ebf2b3388860e54b1c8a53d23e5a05de5956c043278013e01066c34", # noqa
+ commit = "v1.8.1",
+ sha256 = "8b18ef7693e87f1400b9a8bc41f86e3b28259ac98c0b458037232652380aa6af", # noqa
  build_file = "tools/workspace/octomap/octomap.BUILD.bazel",
 )
 
 github_archive(
  name = "fcl",
  repository = "flexible-collision-library/fcl",
- commit = "06d48b3b6f3605b8caf119d5208d8156eb64fe0d",
- sha256 = "da86ed593a908d075657a305abec1670b895278a99ba76632b7afb6e678a9978", # noqa
+ commit = "43048336c34a01156dc216e8534ffb2788675ddf",
+ sha256 = "fd74916b92ed58e77c06097dc18f545462417daa8c96fa8ea2a5c81cd3205917", # noqa
  build_file = "tools/workspace/fcl/fcl.BUILD.bazel",
 )
 

multibody/collision/BUILD.bazel

@@ -104,13 +104,6 @@ drake_cc_googletest(
  ],
 )
 
-drake_cc_googletest(
- name = "fcl_model_test",
- deps = [
- ":fcl_collision",
- ],
-)
-
 drake_cc_googletest(
  name = "collision_filter_group_test",
  data = [":test_models"],

tools/install/libdrake/drake.cps

@@ -25,11 +25,6 @@
  "Hints": ["@prefix@/lib/cmake/eigen3"],
  "X-CMake-Find-Args": ["CONFIG"]
  },
- "fcl": {
- "Version": "0.6.0",
- "Hints": ["@prefix@/lib/cmake/fcl"],
- "X-CMake-Find-Args": ["CONFIG"]
- },
  "fmt": {
  "Version": "3.0.1",
  "Hints": ["@prefix@/lib/cmake/fmt"],
@@ -101,7 +96,6 @@
  "bot2-core-lcmtypes:lcmtypes_bot2-core-cpp",
  "Bullet:BulletCollision",
  "Eigen3:Eigen",
- "fcl:fcl",
  "ignition-math4:ignition-math4",
  "ignition-rndf0:ignition-rndf0",
  "lcm:lcm",

tools/workspace/ccd/BUILD.bazel

@@ -2,9 +2,4 @@
 
 load("//tools/lint:lint.bzl", "add_lint_tests")
 
-exports_files(
- ["ccd-create-cps.py"],
- visibility = ["@ccd//:__pkg__"],
-)
-
 add_lint_tests()

tools/workspace/ccd/ccd.BUILD.bazel

@@ -6,9 +6,7 @@ load(
 )
 load(
  "@drake//tools/install:install.bzl",
- "cmake_config",
  "install",
- "install_cmake_config",
 )
 
 package(
@@ -35,6 +33,13 @@ CCD_PUBLIC_HEADERS = [
  "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
@@ -47,24 +52,13 @@ cc_library(
  "src/*.h",
  ]),
  hdrs = CCD_PUBLIC_HEADERS,
- copts = ["-Wno-all"],
+ copts = CCD_COPTS,
+ defines = ["CCD_STATIC_DEFINE"],
  includes = ["src"],
+ linkstatic = 1,
 )
 
-cmake_config(
- package = "ccd",
- script = "@drake//tools/workspace/ccd:ccd-create-cps.py",
- version_file = "CMakeLists.txt",
-)
-
-install_cmake_config(package = "ccd") # Creates rule :install_cmake_config.
-
 install(
  name = "install",
- targets = [":ccd"],
- hdrs = CCD_PUBLIC_HEADERS,
- hdr_dest = "include/ccd",
- hdr_strip_prefix = ["**/"],
  docs = ["BSD-LICENSE"],
- deps = [":install_cmake_config"],
 )

tools/workspace/fcl/BUILD.bazel

@@ -2,9 +2,4 @@
 
 load("//tools/lint:lint.bzl", "add_lint_tests")
 
-exports_files(
- ["fcl-create-cps.py"],
- visibility = ["@fcl//:__pkg__"],
-)
-
 add_lint_tests()

tools/workspace/fcl/fcl.BUILD.bazel

@@ -4,21 +4,30 @@ load(
  "@drake//tools/workspace:cmake_configure_file.bzl",
  "cmake_configure_file",
 )
-load(
- "@drake//tools/workspace:generate_include_header.bzl",
- "drake_generate_include_header",
-)
 load(
  "@drake//tools/install:install.bzl",
- "cmake_config",
  "install",
- "install_cmake_config",
+)
+load(
+ "@drake//tools/workspace:generate_export_header.bzl",
+ "generate_export_header",
+)
+load(
+ "@drake//tools/workspace:generate_include_header.bzl",
+ "drake_generate_include_header",
 )
 
 package(
  default_visibility = ["//visibility:public"],
 )
 
+# Generate header to provide ABI export symbols for fcl.
+generate_export_header(
+ out = "include/fcl/export.h",
+ lib = "fcl",
+ static_define = "FCL_STATIC_DEFINE",
+)
+
 # Generates config.h based on the version numbers in CMake code.
 cmake_configure_file(
  name = "config",
@@ -42,40 +51,31 @@ drake_generate_include_header(
 )
 
 # The globbed srcs= and hdrs= matches upstream's explicit globs of the same.
+# fcl/export.h is a generated file so it is not automatically included by
+# the hdrs glob expression
 cc_library(
  name = "fcl",
  srcs = glob(["src/**/*.cpp"]),
  hdrs = glob(["include/**/*.h"]) + [
  ":config",
  ":fcl_h_genrule",
+ "include/fcl/export.h",
+ ],
+ copts = ["-fvisibility=hidden"],
+ defines = [
+ "FCL_STATIC_DEFINE",
+ "FCL_HAVE_OCTOMAP",
  ],
  includes = ["include"],
+ linkstatic = 1,
  deps = [
  "@ccd",
  "@eigen",
  "@octomap",
  ],
 )
 
-cmake_config(
- package = "fcl",
- script = "@drake//tools/workspace/fcl:fcl-create-cps.py",
- version_file = "CMakeModules/FCLVersion.cmake",
- deps = [
- "@ccd//:cps",
- "@eigen//:cps",
- "@octomap//:cps",
- ],
-)
-
-install_cmake_config(package = "fcl") # Creates rule :install_cmake_config.
-
 install(
  name = "install",
- targets = [":fcl"],
- hdr_dest = "include/fcl",
- hdr_strip_prefix = ["include/fcl"],
- guess_hdrs = "PACKAGE",
  docs = ["LICENSE"],
- deps = [":install_cmake_config"],
 )