Merge pull request #2288 from jorisv/topic/simplify_hpp_fcl_bindings

Always suppose hpp-fcl Python binding are present when hpp-fcl C++ library is found

CHANGELOG.md

@@ -11,6 +11,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - Fix compilation issue for Boost 1.85 ([#2255](https://github.com/stack-of-tasks/pinocchio/pull/2255))
 - Fix python bindings of `contactInverseDynamics` ([#2263](https://github.com/stack-of-tasks/pinocchio/pull/2263))
 - Deactivate `BUILD_WITH_LIBPYTHON` when building with PyPy ([#2274](https://github.com/stack-of-tasks/pinocchio/pull/2274))
+- Fix Python bindings cross building with `hpp-fcl` ([#2288](https://github.com/stack-of-tasks/pinocchio/pull/2288))
 
 ### Added
 

CMakeLists.txt

@@ -296,22 +296,7 @@ if(BUILD_WITH_HPP_FCL_SUPPORT)
   list(APPEND CFLAGS_DEPENDENCIES "-DPINOCCHIO_WITH_HPP_FCL")
   list(APPEND LIBRARIES_DEPENDENCIES "hpp-fcl")
   add_project_dependency(hpp-fcl 2.1.2 REQUIRED PKG_CONFIG_REQUIRES "hpp-fcl >= 2.1.2")
-  # Check whether hpp-fcl python bindings are available.
-  set(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS FALSE)
-  if(BUILD_PYTHON_INTERFACE)
-    execute_process(
-      COMMAND ${PYTHON_EXECUTABLE} -c "import hppfcl"
-      RESULT_VARIABLE _hpp_fcl_python_bindings_not_found
-      OUTPUT_QUIET ERROR_QUIET)
-    if(_hpp_fcl_python_bindings_not_found EQUAL 0)
-      set(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS TRUE)
-      message(STATUS "Found hpp-fcl Python bindings.")
-    else()
-      message(STATUS "hpp-fcl Python bindings NOT found.")
-    endif()
-    unset(_hpp_fcl_python_bindings_not_found)
-  endif(BUILD_PYTHON_INTERFACE)
-endif(BUILD_WITH_HPP_FCL_SUPPORT)
+endif()
 
 if(BUILD_WITH_ACCELERATE_SUPPORT)
   if(NOT ${Eigen3_VERSION} VERSION_GREATER_EQUAL "3.4.90")

bindings/python/CMakeLists.txt

@@ -83,13 +83,13 @@ function(PINOCCHIO_PYTHON_BINDINGS_SPECIFIC_TYPE scalar_name)
     # console_bridge::setLogLevel function.
     target_link_libraries(${PYTHON_LIB_NAME} PUBLIC console_bridge::console_bridge)
   endif()
-  if(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
+  if(BUILD_WITH_HPP_FCL_SUPPORT)
     target_compile_definitions(${PYTHON_LIB_NAME}
                                PRIVATE -DPINOCCHIO_PYTHON_INTERFACE_WITH_HPP_FCL_PYTHON_BINDINGS)
-  endif(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
+  endif()
   if(WIN32)
     target_link_libraries(${PYTHON_LIB_NAME} PUBLIC ${PYTHON_LIBRARY})
-  endif(WIN32)
+  endif()
 
   set(${PYWRAP}_INSTALL_DIR ${ABSOLUTE_PYTHON_SITELIB}/${PROJECT_NAME})
 

unittest/python/CMakeLists.txt

@@ -45,12 +45,10 @@ set(${PROJECT_NAME}_PYTHON_TESTS
     bindings_std_vector
     bindings_std_map)
 
-if(hpp-fcl_FOUND)
+if(BUILD_WITH_HPP_FCL_SUPPORT)
   set(${PROJECT_NAME}_PYTHON_TESTS ${${PROJECT_NAME}_PYTHON_TESTS} bindings_geometry_object)
-  if(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
-    set(${PROJECT_NAME}_PYTHON_TESTS ${${PROJECT_NAME}_PYTHON_TESTS} bindings_fcl_transform)
-  endif(BUILD_WITH_HPP_FCL_PYTHON_BINDINGS)
-endif(hpp-fcl_FOUND)
+  set(${PROJECT_NAME}_PYTHON_TESTS ${${PROJECT_NAME}_PYTHON_TESTS} bindings_fcl_transform)
+endif()
 
 if(urdfdom_FOUND)
   set(${PROJECT_NAME}_PYTHON_TESTS ${${PROJECT_NAME}_PYTHON_TESTS} bindings_urdf