This is a snapshot version of FCL at 0.5.0 mainly to support

python-fcl otherwise please use the fcl port.
N.B. python-fcl also needs octomap

FCL is a library for performing three types of proximity queries on a pair of
geometric models composed of triangles.

It performs:
* Collision detection: detecting whether the two models overlap, and optionally,
  all of the triangles that overlap.
* Distance computation: computing the minimum distance between a pair of models,
  i.e., the distance between the closest pair of points.
* Tolerance verification: determining whether two models are closer or farther
  than a tolerance distance.
* Continuous collision detection: detecting whether the two moving models
  overlap during the movement, and optionally, the time of contact.
* Contact information: for collision detection and continuous collision
  detection, the contact information (including contact normals and contact
  points) can be returned optionally.

6 files changed, 217 insertions, 0 deletions

diff --git a/math/fcl05/Makefile b/math/fcl05/Makefile
new file mode 100644
index 000000000000..e771739d0e31
--- /dev/null
+++ b/math/fcl05/Makefile
@@ -0,0 +1,42 @@
+# $FreeBSD$
+
+PORTNAME=	fcl
+DISTVERSION=	0.5.0
+CATEGORIES=	math
+PKGNAMESUFFIX=	05
+
+MAINTAINER=	db@FreeBSD.org
+COMMENT=	Flexible Collision Library (Old version)
+
+LICENSE=	BSD3CLAUSE
+LICENSE_FILE=	${WRKSRC}/LICENSE
+
+BUILD_DEPENDS=	boost-libs>0:devel/boost-libs
+LIB_DEPENDS=	libccd.so:math/libccd \
+		liboctomap.so:math/octomap
+
+USES=		cmake compiler:c++11-lang eigen:3 pkgconfig
+USE_GITHUB=	yes
+GH_ACCOUNT=	flexible-collision-library
+GH_PROJECT=	fcl
+USE_LDCONFIG=	yes
+
+CMAKE_OFF=	FCL_BUILD_TESTS BUILD_TESTING
+
+OPTIONS_DEFINE_amd64=		SSE2 SSE3 SSSE3 SSE4 SSE41 SSE42 SSE4A
+OPTIONS_DEFAULT_amd64=		SSE2
+OPTIONS_DEFINE_i386=		${OPTIONS_DEFINE_amd64}
+OPTIONS_DEFAULT_i386=		${OPTIONS_DEFAULT_amd64}
+
+.for sse in ${OPTIONS_DEFINE_amd64}
+${sse}_DESC=		Support for ${sse}
+${sse}_CMAKE_ON=	-DFCL_USE_X64_SSE:BOOL=ON -DOPT_SSE_${sse}=-m${sse:tl:S/41/4.1/:S/42/4.2/}
+.endfor
+
+do-test:
+	@cd ${BUILD_WRKSRC} && \
+		${SETENV} ${CONFIGURE_ENV} ${CMAKE_BIN} ${CMAKE_ARGS} -DBUILD_TESTING:BOOL=ON -DFCL_BUILD_TESTS:BOOL=ON ${CMAKE_SOURCE_PATH} && \
+		${SETENV} ${MAKE_ENV} ${MAKE_CMD} ${MAKE_ARGS} ${ALL_TARGET} && \
+		${SETENV} ${MAKE_ENV} ${MAKE_CMD} ${MAKE_ARGS} test
+
+.include <bsd.port.mk>
diff --git a/math/fcl05/distinfo b/math/fcl05/distinfo
new file mode 100644
index 000000000000..a03dd6a62f98
--- /dev/null
+++ b/math/fcl05/distinfo
@@ -0,0 +1,3 @@
+TIMESTAMP = 1585063007
+SHA256 (flexible-collision-library-fcl-0.5.0_GH0.tar.gz) = 8e6c19720e77024c1fbff5a912d81e8f28004208864607447bc90a31f18fb41a
+SIZE (flexible-collision-library-fcl-0.5.0_GH0.tar.gz) = 5760425
diff --git a/math/fcl05/files/patch-CMakeLists.txt b/math/fcl05/files/patch-CMakeLists.txt
new file mode 100644
index 000000000000..3d2610c8d163
--- /dev/null
+++ b/math/fcl05/files/patch-CMakeLists.txt
@@ -0,0 +1,44 @@
+--- CMakeLists.txt.orig	2016-07-20 03:11:04 UTC
++++ CMakeLists.txt
+@@ -7,7 +7,7 @@ if(POLICY CMP0042)
+   cmake_policy(SET CMP0042 NEW)
+ endif()
+ 
+-project(fcl CXX C)
++project(fcl05 CXX C)
+ 
+ # set the default build type
+ if (NOT CMAKE_BUILD_TYPE)
+@@ -33,12 +33,14 @@ if(MSVC OR MSVC90 OR MSVC10)
+     set(MSVC ON)
+ endif (MSVC OR MSVC90 OR MSVC10)
+ 
+-set(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/lib)
++set(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/fcl/lib)
+ set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules")
+ include(CompilerSettings)
+ include(FCLVersion)
+ include(GNUInstallDirs)
+ 
++set(CMAKE_INSTALL_INCLUDEDIR "include/fcl05")
++
+ if(MSVC OR IS_ICPC)
+   option(FCL_STATIC_LIBRARY "Whether the FCL library should be static rather than shared" ON)
+ else()
+@@ -143,7 +145,7 @@ add_subdirectory(include/fcl)
+ add_subdirectory(src)
+ 
+ set(pkg_conf_file_in "${CMAKE_CURRENT_SOURCE_DIR}/fcl.pc.in")
+-set(pkg_conf_file_out "${CMAKE_CURRENT_BINARY_DIR}/fcl.pc")
++set(pkg_conf_file_out "${CMAKE_CURRENT_BINARY_DIR}/fcl05.pc")
+ if(NOT MSVC)
+     set(PKG_CFLAGS "-std=c++11")
+ endif()
+@@ -154,6 +156,7 @@ install(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL
+   PATTERN ".DS_Store" EXCLUDE
+ )
+ 
++SET(CMAKE_INSTALL_LIBDIR "libdata")
+ install(FILES "${pkg_conf_file_out}" DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig/ COMPONENT pkgconfig)
+ 
+ # Add uninstall target
diff --git a/math/fcl05/files/patch-fcl.pc.in b/math/fcl05/files/patch-fcl.pc.in
new file mode 100644
index 000000000000..2b30b83cc5ed
--- /dev/null
+++ b/math/fcl05/files/patch-fcl.pc.in
@@ -0,0 +1,16 @@
+--- fcl.pc.in.orig	2016-07-20 03:11:04 UTC
++++ fcl.pc.in
+@@ -2,11 +2,11 @@
+ prefix=@CMAKE_INSTALL_PREFIX@
+ exec_prefix=${prefix}
+ libdir=@CMAKE_INSTALL_FULL_LIBDIR@
+-includedir=@CMAKE_INSTALL_FULL_INCLUDEDIR@
++includedir=@CMAKE_INSTALL_FULL_INCLUDEDIR@/fcl05
+ 
+ Name: @PROJECT_NAME@
+ Description: @PKG_DESC@
+ Version: @FCL_VERSION@
+ Requires: @PKG_EXTERNAL_DEPS@
+-Libs: -L${libdir} -lfcl
++Libs: -L${libdir} -lfcl05
+ Cflags: @PKG_CFLAGS@ -I${includedir}
diff --git a/math/fcl05/pkg-descr b/math/fcl05/pkg-descr
new file mode 100644
index 000000000000..387b18509011
--- /dev/null
+++ b/math/fcl05/pkg-descr
@@ -0,0 +1,21 @@
+This is a snapshot version of FCL at 0.5.0 mainly to support
+python-fcl otherwise please use the fcl port.
+N.B. python-fcl also needs octomap
+
+FCL is a library for performing three types of proximity queries on a pair of
+geometric models composed of triangles.
+
+It performs:
+* Collision detection: detecting whether the two models overlap, and optionally,
+  all of the triangles that overlap.
+* Distance computation: computing the minimum distance between a pair of models,
+  i.e., the distance between the closest pair of points.
+* Tolerance verification: determining whether two models are closer or farther
+  than a tolerance distance.
+* Continuous collision detection: detecting whether the two moving models
+  overlap during the movement, and optionally, the time of contact.
+* Contact information: for collision detection and continuous collision
+  detection, the contact information (including contact normals and contact
+  points) can be returned optionally.
+
+WWW: https://github.com/flexible-collision-library/fcl
diff --git a/math/fcl05/pkg-plist b/math/fcl05/pkg-plist
new file mode 100644
index 000000000000..a8e58afb88e2
--- /dev/null
+++ b/math/fcl05/pkg-plist
@@ -0,0 +1,91 @@
+include/fcl05/fcl/BV/AABB.h
+include/fcl05/fcl/BV/BV.h
+include/fcl05/fcl/BV/BV_node.h
+include/fcl05/fcl/BV/OBB.h
+include/fcl05/fcl/BV/OBBRSS.h
+include/fcl05/fcl/BV/RSS.h
+include/fcl05/fcl/BV/kDOP.h
+include/fcl05/fcl/BV/kIOS.h
+include/fcl05/fcl/BVH/BVH_front.h
+include/fcl05/fcl/BVH/BVH_internal.h
+include/fcl05/fcl/BVH/BVH_model.h
+include/fcl05/fcl/BVH/BVH_utility.h
+include/fcl05/fcl/BVH/BV_fitter.h
+include/fcl05/fcl/BVH/BV_splitter.h
+include/fcl05/fcl/articulated_model/joint.h
+include/fcl05/fcl/articulated_model/joint_config.h
+include/fcl05/fcl/articulated_model/link.h
+include/fcl05/fcl/articulated_model/model.h
+include/fcl05/fcl/articulated_model/model_config.h
+include/fcl05/fcl/broadphase/broadphase.h
+include/fcl05/fcl/broadphase/broadphase_SSaP.h
+include/fcl05/fcl/broadphase/broadphase_SaP.h
+include/fcl05/fcl/broadphase/broadphase_bruteforce.h
+include/fcl05/fcl/broadphase/broadphase_dynamic_AABB_tree.h
+include/fcl05/fcl/broadphase/broadphase_dynamic_AABB_tree_array.h
+include/fcl05/fcl/broadphase/broadphase_interval_tree.h
+include/fcl05/fcl/broadphase/broadphase_spatialhash.h
+include/fcl05/fcl/broadphase/broadphase_spatialhash.hxx
+include/fcl05/fcl/broadphase/hash.h
+include/fcl05/fcl/broadphase/hierarchy_tree.h
+include/fcl05/fcl/broadphase/hierarchy_tree.hxx
+include/fcl05/fcl/broadphase/interval_tree.h
+include/fcl05/fcl/broadphase/morton.h
+include/fcl05/fcl/ccd/conservative_advancement.h
+include/fcl05/fcl/ccd/interpolation/interpolation.h
+include/fcl05/fcl/ccd/interpolation/interpolation_factory.h
+include/fcl05/fcl/ccd/interpolation/interpolation_linear.h
+include/fcl05/fcl/ccd/interval.h
+include/fcl05/fcl/ccd/interval_matrix.h
+include/fcl05/fcl/ccd/interval_vector.h
+include/fcl05/fcl/ccd/motion.h
+include/fcl05/fcl/ccd/motion_base.h
+include/fcl05/fcl/ccd/simplex.h
+include/fcl05/fcl/ccd/support.h
+include/fcl05/fcl/ccd/taylor_matrix.h
+include/fcl05/fcl/ccd/taylor_model.h
+include/fcl05/fcl/ccd/taylor_vector.h
+include/fcl05/fcl/collision.h
+include/fcl05/fcl/collision_data.h
+include/fcl05/fcl/collision_func_matrix.h
+include/fcl05/fcl/collision_node.h
+include/fcl05/fcl/collision_object.h
+include/fcl05/fcl/config.h
+include/fcl05/fcl/continuous_collision.h
+include/fcl05/fcl/data_types.h
+include/fcl05/fcl/deprecated.h
+include/fcl05/fcl/distance.h
+include/fcl05/fcl/distance_func_matrix.h
+include/fcl05/fcl/exception.h
+include/fcl05/fcl/intersect.h
+include/fcl05/fcl/learning/classifier.h
+include/fcl05/fcl/math/constants.h
+include/fcl05/fcl/math/math_details.h
+include/fcl05/fcl/math/matrix_3f.h
+include/fcl05/fcl/math/sampling.h
+include/fcl05/fcl/math/transform.h
+include/fcl05/fcl/math/vec_3f.h
+include/fcl05/fcl/math/vec_nf.h
+include/fcl05/fcl/narrowphase/gjk.h
+include/fcl05/fcl/narrowphase/gjk_libccd.h
+include/fcl05/fcl/narrowphase/narrowphase.h
+include/fcl05/fcl/octree.h
+include/fcl05/fcl/profile.h
+include/fcl05/fcl/shape/geometric_shape_to_BVH_model.h
+include/fcl05/fcl/shape/geometric_shapes.h
+include/fcl05/fcl/shape/geometric_shapes_utility.h
+include/fcl05/fcl/simd/math_simd_details.h
+include/fcl05/fcl/simd/simd_intersect.h
+include/fcl05/fcl/traversal/traversal_node_base.h
+include/fcl05/fcl/traversal/traversal_node_bvh_shape.h
+include/fcl05/fcl/traversal/traversal_node_bvhs.h
+include/fcl05/fcl/traversal/traversal_node_octree.h
+include/fcl05/fcl/traversal/traversal_node_setup.h
+include/fcl05/fcl/traversal/traversal_node_shapes.h
+include/fcl05/fcl/traversal/traversal_recurse.h
+lib/cmake/fcl05/fcl05Config-%%CMAKE_BUILD_TYPE%%.cmake
+lib/cmake/fcl05/fcl05Config.cmake
+lib/libfcl05.so
+lib/libfcl05.so.0.5.0
+lib/libfcl05.so.7
+libdata/pkgconfig/fcl05.pc