[misc] Update all c++ dependencies. (#631)

* [gym_jiminy/envs] Use Mahony exact init by default.
* [gym_jiminy/rllib] Fix custom config handling.
* [misc] Update all c++ dependencies.
* [misc] Move Eigen to C++17.

---------

Co-authored-by: Alexis Duburcq <alexis.duburcq@wandercraft.eu>

.github/workflows/linux.yml

@@ -28,7 +28,7 @@ jobs:
 
     env:
       TORCH_VERSION: "2.0.1+cpu"
-      CMAKE_CXX_FLAGS: "-DEIGEN_MAX_CPP_VER=11 -march=x86-64-v3 -mtune=generic"
+      CMAKE_CXX_FLAGS: "-march=x86-64-v3 -mtune=generic"
 
     #####################################################################################
 

.github/workflows/macos.yml

@@ -23,7 +23,7 @@ jobs:
 
     env:
       TORCH_VERSION: "2.0.1"
-      CMAKE_CXX_FLAGS: "-DEIGEN_MPL2_ONLY -DEIGEN_MAX_CPP_VER=11"
+      CMAKE_CXX_FLAGS: "-DEIGEN_MPL2_ONLY"
       BUILD_TYPE: "Release"
       MACOSX_DEPLOYMENT_TARGET: "10.15"
       OSX_ARCHITECTURES: "x86_64;arm64"

.github/workflows/manylinux.yml

@@ -25,7 +25,7 @@ jobs:
 
     env:
       BUILD_TYPE: "Release"
-      CMAKE_CXX_FLAGS: "-DEIGEN_MPL2_ONLY -DEIGEN_MAX_CPP_VER=11"
+      CMAKE_CXX_FLAGS: "-DEIGEN_MPL2_ONLY"
 
     #####################################################################################
 

.github/workflows/win.yml

@@ -22,7 +22,7 @@ jobs:
       TORCH_VERSION: "2.0.1+cpu"
       BUILD_TYPE: "Release"
       GENERATOR: "Visual Studio 17 2022"
-      CMAKE_CXX_FLAGS: "-DEIGEN_MPL2_ONLY -DEIGEN_MAX_CPP_VER=11 /d2ReducedOptimizeHugeFunctions /fp:contract /arch:AVX2"
+      CMAKE_CXX_FLAGS: "-DEIGEN_MPL2_ONLY /d2ReducedOptimizeHugeFunctions /fp:contract /arch:AVX2"
 
     strategy:
       matrix:

build_tools/build_install_deps_unix.sh

@@ -100,7 +100,7 @@ fi
 cd "$RootDir/eigenpy"
 git reset --hard
 git fetch --all || true
-git checkout --force "v2.9.2"
+git checkout --force "v3.1.1"
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --jobs 8
 git apply --reject --whitespace=fix "$RootDir/build_tools/patch_deps_unix/eigenpy.patch"
@@ -160,7 +160,7 @@ fi
 cd "$RootDir/hpp-fcl"
 git reset --hard
 git fetch --all || true
-git checkout --force "v2.3.0"
+git checkout --force "v2.3.5"
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --jobs 8
 git apply --reject --whitespace=fix "$RootDir/build_tools/patch_deps_unix/hppfcl.patch"
@@ -175,7 +175,7 @@ fi
 cd "$RootDir/pinocchio"
 git reset --hard
 git fetch --all || true
-git checkout --force "v2.6.17"
+git checkout --force "v2.6.20"
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --jobs 8
 git apply --reject --whitespace=fix "$RootDir/build_tools/patch_deps_unix/pinocchio.patch"

build_tools/build_install_deps_windows.ps1

@@ -83,7 +83,7 @@ if (-not (Test-Path -PathType Container "$RootDir/eigenpy")) {
 Set-Location -Path "$RootDir/eigenpy"
 git reset --hard
 git fetch --all
-git checkout --force "v2.9.2"
+git checkout --force "v3.1.1"
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --jobs 8
 dos2unix "$RootDir/build_tools/patch_deps_windows/eigenpy.patch"
@@ -144,7 +144,7 @@ if (-not (Test-Path -PathType Container "$RootDir/hpp-fcl")) {
 Set-Location -Path "$RootDir/hpp-fcl"
 git reset --hard
 git fetch --all
-git checkout --force "v2.3.0"
+git checkout --force "v2.3.5"
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --jobs 8
 dos2unix "$RootDir/build_tools/patch_deps_windows/hppfcl.patch"
@@ -160,7 +160,7 @@ if (-not (Test-Path -PathType Container "$RootDir/pinocchio")) {
 Set-Location -Path "$RootDir/pinocchio"
 git reset --hard
 git fetch --all
-git checkout --force "v2.6.17"
+git checkout --force "v2.6.20"
 git submodule --quiet foreach --recursive git reset --quiet --hard
 git submodule --quiet update --init --recursive --jobs 8
 dos2unix "$RootDir/build_tools/patch_deps_windows/pinocchio.patch"

build_tools/easy_install_deps_ubuntu.sh

@@ -81,8 +81,8 @@ fi
 # Note that `apt-get` is used instead of `apt` because it supports wildcard in package names
 apt-mark unhold "robotpkg-py3*-eigenpy" "robotpkg-py3*-hpp-fcl" "robotpkg-py3*-pinocchio"
 apt-get install -y --allow-downgrades --allow-unauthenticated \
-    robotpkg-urdfdom-headers=1.0.4 robotpkg-hpp-fcl=2.3.0 robotpkg-pinocchio=2.6.17 \
-    robotpkg-py3*-eigenpy=2.9.2 robotpkg-py3*-hpp-fcl=2.3.0 robotpkg-py3*-pinocchio=2.6.17
+    robotpkg-urdfdom-headers=1.0.4 robotpkg-hpp-fcl=2.3.5 robotpkg-pinocchio=2.6.20 \
+    robotpkg-py3*-eigenpy=3.1.1 robotpkg-py3*-hpp-fcl=2.3.5 robotpkg-py3*-pinocchio=2.6.20
 apt-mark hold "robotpkg-py3*-eigenpy" "robotpkg-py3*-hpp-fcl" "robotpkg-py3*-pinocchio"
 
 # Add openrobots libraries to python packages search path

build_tools/patch_deps_unix/eigenpy.patch

@@ -1,18 +1,16 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -202,7 +202,10 @@
-     src/std-vector.cpp
-     src/version.cpp)
+@@ -210,6 +210,9 @@
 
--add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
-+add_library(${PROJECT_NAME} ${${PROJECT_NAME}_SOURCES}
+ add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES}
                                     ${${PROJECT_NAME}_HEADERS})
 +if(APPLE)
 +  set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup")
 +endif(APPLE)
  target_include_directories(
    ${PROJECT_NAME} SYSTEM
+   PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
 diff --git a/cmake/boost.cmake b/cmake/boost.cmake
 --- a/cmake/boost.cmake
 +++ b/cmake/boost.cmake

build_tools/patch_deps_unix/hppfcl.patch

@@ -1,7 +1,7 @@
 diff --git a/CMakeLists.txt b/CMakeLists.txt
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
-@@ -94,40 +94,31 @@
+@@ -107,48 +107,39 @@
  #ENDIF(WIN32)
 
  ADD_PROJECT_DEPENDENCY(Eigen3 REQUIRED PKG_CONFIG_REQUIRES "eigen3 >= 3.0.0")
@@ -28,6 +28,14 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt
 +  ADD_PROJECT_DEPENDENCY(Boost REQUIRED chrono serialization)
 +ENDIF(WIN32)
 
+ if(Boost_VERSION_STRING VERSION_LESS 1.81)
+   # Default C++ version should be C++11
+   CHECK_MINIMAL_CXX_STANDARD(11 ENFORCE)
+ else()
+   # Boost.Math will be C++14 starting in July 2023 (Boost 1.82 release)
+   CHECK_MINIMAL_CXX_STANDARD(14 ENFORCE)
+ endif()
+
  # Optional dependencies
 -ADD_PROJECT_DEPENDENCY(octomap PKG_CONFIG_REQUIRES "octomap >= 1.6")
 -if(octomap_FOUND)
@@ -51,7 +59,7 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt
    if(Qhull_FOUND)
      set(HPP_FCL_USE_SYSTEM_QHULL TRUE)
    else()
-@@ -262,7 +253,6 @@
+@@ -283,7 +274,6 @@
    include/hpp/fcl/timings.h
    )
 
@@ -62,23 +70,15 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt
 diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
 --- a/src/CMakeLists.txt
 +++ b/src/CMakeLists.txt
-@@ -168,7 +168,6 @@
- LIST(APPEND PROJECT_HEADERS_FULL_PATH ${PROJECT_BINARY_DIR}/include/hpp/fcl/deprecated.hh)
- LIST(APPEND PROJECT_HEADERS_FULL_PATH ${PROJECT_BINARY_DIR}/include/hpp/fcl/warning.hh)
- add_library(${LIBRARY_NAME}
--  SHARED
-   ${PROJECT_HEADERS_FULL_PATH}
-   ${${LIBRARY_NAME}_SOURCES}
-   )
-@@ -179,6 +178,7 @@
+@@ -179,6 +179,7 @@
  ADD_SOURCE_GROUP(${LIBRARY_NAME}_SOURCES)
  ADD_HEADER_GROUP(PROJECT_HEADERS_FULL_PATH)
 
 +ADD_PROJECT_DEPENDENCY(assimp REQUIRED)
  MODERNIZE_TARGET_LINK_LIBRARIES(${LIBRARY_NAME} SCOPE PRIVATE
    TARGETS assimp::assimp
    LIBRARIES ${assimp_LIBRARIES}
-@@ -201,7 +201,7 @@
+@@ -202,7 +202,7 @@
  if(HPP_FCL_HAS_QHULL)
    target_compile_definitions(${LIBRARY_NAME} PRIVATE -DHPP_FCL_HAS_QHULL)
    if (HPP_FCL_USE_SYSTEM_QHULL)
@@ -101,24 +101,6 @@ diff --git a/cmake/boost.cmake b/cmake/boost.cmake
    string(TOUPPER ${BOOST_PYTHON_NAME} UPPERCOMPONENT)
 
    list(APPEND LOGGING_WATCHED_VARIABLES Boost_${UPPERCOMPONENT}_FOUND
-@@ -192,7 +195,6 @@
-   string(REPLACE "_" "." Boost_SHORT_VERSION ${Boost_LIB_VERSION})
-   if("${Boost_SHORT_VERSION}" VERSION_GREATER "1.70" OR "${Boost_SHORT_VERSION}"
-                                                         VERSION_EQUAL "1.70")
--    set(BUILD_SHARED_LIBS ON)
-     set(Boost_NO_BOOST_CMAKE ON)
-   endif("${Boost_SHORT_VERSION}" VERSION_GREATER "1.70"
-         OR "${Boost_SHORT_VERSION}" VERSION_EQUAL "1.70")
-@@ -289,6 +288,9 @@
-       ${target} ${PUBLIC_KEYWORD}
-       Boost::python${PYTHON_VERSION_MAJOR}${PYTHON_VERSION_MINOR})
-
-+    if(APPLE)
-+      target_link_options(${target} INTERFACE -undefined dynamic_lookup)
-+    endif(APPLE)
-   else()
-
-     if(APPLE)
 diff --git a/cmake/python.cmake b/cmake/python.cmake
 --- a/cmake/python.cmake
 +++ b/cmake/python.cmake