[ci] Add github ci workflow to compile plugin using SOFA master

.github/workflows/ci.yml

@@ -0,0 +1,135 @@
+name: CI
+
+on:
+  push:
+
+jobs:
+  build-and-test:
+    name: Run on ${{ matrix.os }} with SOFA ${{ matrix.sofa_branch }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-22.04, macos-14, windows-2022]
+        sofa_branch: [master]
+
+    steps:
+      - name: Setup SOFA and environment
+        id: sofa
+        uses: sofa-framework/sofa-setup-action@v5
+        with:
+          sofa_root: ${{ github.workspace }}/sofa
+          sofa_version: ${{ matrix.sofa_branch }}
+          sofa_scope: 'standard'
+      - name: Checkout source code
+        uses: actions/checkout@v2
+        with:
+          path: ${{ env.WORKSPACE_SRC_PATH }}        
+
+      - name: Build and install
+        id: build-install
+        shell: bash
+        run: |
+          if [[ "$RUNNER_OS" == "Windows" ]]; then
+            cmd //c "${{ steps.sofa.outputs.vs_vsdevcmd }} \
+              && cd /d $WORKSPACE_BUILD_PATH \
+              && cmake \
+                  -GNinja \
+                  -DCMAKE_PREFIX_PATH="$SOFA_ROOT/lib/cmake" \
+                  -DCMAKE_BUILD_TYPE=Release \
+                  -DCMAKE_INSTALL_PREFIX="$WORKSPACE_INSTALL_PATH" \
+                  ../src \
+              && ninja install"
+          else
+            cd "$WORKSPACE_BUILD_PATH"
+            ccache -z
+            cmake \
+              -GNinja \
+              -DCMAKE_C_COMPILER_LAUNCHER=ccache \
+              -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
+              -DCMAKE_PREFIX_PATH=$SOFA_ROOT/lib/cmake \
+              -DCMAKE_BUILD_TYPE=Release \
+              -DCMAKE_INSTALL_PREFIX="$WORKSPACE_INSTALL_PATH" \
+              ../src
+            ninja install
+            echo ${CCACHE_BASEDIR}
+            ccache -s
+          fi
+
+      - name: Sanitize artifact name
+        id: sanitize
+        # This step removes special characters from the artifact name to ensure compatibility with upload-artifact
+        # Characters removed: " : < > | * ? \r \n \ /
+        # Spaces are replaced with underscores
+        # This sanitization prevents errors in artifact creation and retrieval
+        shell: pwsh
+        run: |
+          $originalName = "CollisionAlgorithm_${{ steps.sofa.outputs.run_branch }}_for-SOFA-${{ steps.sofa.outputs.sofa_version }}_${{ runner.os }}"
+          $artifact_name = $originalName -replace '[":;<>|*?\r\n\\/]', '' -replace ' ', '_'
+          echo "artifact_name=$artifact_name" >> $env:GITHUB_OUTPUT
+
+      - name: Create artifact
+        id: create-artifact
+        uses: actions/upload-artifact@v4.4.0
+        with:
+          name: ${{ steps.sanitize.outputs.artifact_name }}
+          path: ${{ env.WORKSPACE_INSTALL_PATH }}
+
+      - name: Install artifact
+        id: install-artifact
+        uses: actions/download-artifact@v4.1.7
+        with:
+          name: ${{ steps.sanitize.outputs.artifact_name }}
+          path: ${{ env.WORKSPACE_ARTIFACT_PATH }}
+
+      - name: Set env vars for tests
+        shell: bash
+        run: |
+          # Set env vars for tests
+          if [[ "$RUNNER_OS" == "Windows" ]]; then
+            echo "$WORKSPACE_ARTIFACT_PATH/lib" >> $GITHUB_PATH
+            echo "$WORKSPACE_ARTIFACT_PATH/bin" >> $GITHUB_PATH
+            echo "$SOFA_ROOT/plugins/SofaPython3/bin" >> $GITHUB_PATH
+            echo "SOFA_PLUGIN_PATH=$WORKSPACE_ARTIFACT_PATH/bin" | tee -a $GITHUB_ENV
+          else
+            echo "SOFA_PLUGIN_PATH=$WORKSPACE_ARTIFACT_PATH/lib" | tee -a $GITHUB_ENV
+          fi
+
+          if [[ "$RUNNER_OS" == "macOS" ]]; then
+            echo "DYLD_LIBRARY_PATH=$WORKSPACE_ARTIFACT_PATH/lib:$SOFA_ROOT/lib:$SOFA_ROOT/plugins/SofaPython3/lib:$DYLD_LIBRARY_PATH" | tee -a $GITHUB_ENV
+          fi
+
+          if [[ "$RUNNER_OS" == "Linux" ]]; then
+            echo "LD_LIBRARY_PATH=$WORKSPACE_ARTIFACT_PATH/lib:$SOFA_ROOT/lib:$SOFA_ROOT/plugins/SofaPython3/lib:$LD_LIBRARY_PATH" | tee -a $GITHUB_ENV
+          fi
+
+  deploy:
+    name: Deploy artifacts
+    if: always() && startsWith(github.ref, 'refs/heads/main') # we are on a branch (not a PR)
+    needs: [build-and-test]
+    runs-on: ubuntu-latest
+    continue-on-error: true
+    steps:
+      - name: Get artifacts
+        uses: actions/download-artifact@v4.1.7
+        with:
+          path: artifacts
+
+      - name: Zip artifacts
+        shell: bash
+        run: |
+          cd $GITHUB_WORKSPACE/artifacts
+          for artifact in *; do
+            zip $artifact.zip -r $artifact/*
+          done
+      - name: Upload release
+        uses: softprops/action-gh-release@v1
+        with:
+          name: ${{ github.ref_name }}
+          tag_name: release-${{ github.ref_name }}
+          fail_on_unmatched_files: true
+          files: |
+            artifacts/CollisionAlgorithm_*_Linux.zip
+            artifacts/CollisionAlgorithm_*_Windows.zip
+            artifacts/CollisionAlgorithm_*_macOS.zip
+

.github/workflows/delete-workflow-runs.yml

@@ -0,0 +1,66 @@
+name: Delete old workflow runs
+on:
+  workflow_dispatch:
+    inputs:
+      days:
+        description: 'Days-worth of runs to keep for each workflow'
+        required: true
+        default: '30'
+      minimum_runs:
+        description: 'Minimum runs to keep for each workflow'
+        required: true
+        default: '6'
+      delete_workflow_pattern:
+        description: 'Name or filename of the workflow (if not set, all workflows are targeted)'
+        required: false
+      delete_workflow_by_state_pattern:
+        description: 'Filter workflows by state: active, deleted, disabled_fork, disabled_inactivity, disabled_manually'
+        required: true
+        default: "ALL"
+        type: choice
+        options:
+          - "ALL"
+          - active
+          - deleted
+          - disabled_inactivity
+          - disabled_manually
+      delete_run_by_conclusion_pattern:
+        description: 'Remove runs based on conclusion: action_required, cancelled, failure, skipped, success'
+        required: true
+        default: "ALL"
+        type: choice
+        options:
+          - "ALL"
+          - "Unsuccessful: action_required,cancelled,failure,skipped"
+          - action_required
+          - cancelled
+          - failure
+          - skipped
+          - success
+      dry_run:
+        description: 'Logs simulated changes, no deletions are performed'
+        required: false
+
+jobs:
+  del_runs:
+    runs-on: ubuntu-latest
+    permissions:
+      actions: write
+      contents: read
+    steps:
+      - name: Delete workflow runs
+        uses: Mattraks/delete-workflow-runs@v2
+        with:
+          token: ${{ github.token }}
+          repository: ${{ github.repository }}
+          retain_days: ${{ github.event.inputs.days }}
+          keep_minimum_runs: ${{ github.event.inputs.minimum_runs }}
+          delete_workflow_pattern: ${{ github.event.inputs.delete_workflow_pattern }}
+          delete_workflow_by_state_pattern: ${{ github.event.inputs.delete_workflow_by_state_pattern }}
+          delete_run_by_conclusion_pattern: >-
+            ${{
+              startsWith(github.event.inputs.delete_run_by_conclusion_pattern, 'Unsuccessful:')
+              && 'action_required,cancelled,failure,skipped'
+              || github.event.inputs.delete_run_by_conclusion_pattern
+            }}
+          dry_run: ${{ github.event.inputs.dry_run }}

CMakeLists.txt

@@ -50,7 +50,7 @@ target_link_libraries(${PROJECT_NAME}
 )
 
 ## Install rules for the library and headers; CMake package configurations files
-set(${PROJECT_NAME}_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/src")
-target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${${PROJECT_NAME}_INCLUDE_DIRS}>")
-target_include_directories(${PROJECT_NAME} PUBLIC "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+set(${PROJECT_NAME}_INCLUDE_DIRS "include/${PROJECT_NAME}")
+target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>")
+target_include_directories(${PROJECT_NAME} PUBLIC "$<INSTALL_INTERFACE:${${PROJECT_NAME}_INCLUDE_DIRS}>")
 sofa_create_package_with_targets(PACKAGE_NAME ${PROJECT_NAME} PACKAGE_VERSION 0.1 TARGETS ${PROJECT_NAME} INCLUDE_INSTALL_DIR ${${PROJECT_NAME}_INCLUDE_DIRS})

src/sofa/collisionAlgorithm/algorithm/InsertionAlgorithm.h

@@ -136,9 +136,9 @@ class InsertionAlgorithm : public BaseAlgorithm
 
             const bool isProjective = d_projective.getValue();
             const SReal punctureForceThreshold = d_punctureForceThreshold.getValue();
-            for (const auto& itTip : *l_tipGeom)
+            for (auto itTip = l_tipGeom->begin(); itTip != l_tipGeom->end(); itTip++)
             {
-                BaseProximity::SPtr tipProx = createTipProximity(itTip.element());
+                BaseProximity::SPtr tipProx = createTipProximity(itTip->element());
                 if (!tipProx) continue;
                 const BaseProximity::SPtr surfProx = findClosestProxOnSurf(
                     tipProx, l_surfGeom.get(), projectOnSurf, getFilterFunc());
@@ -167,7 +167,7 @@ class InsertionAlgorithm : public BaseAlgorithm
                     // 1.2 If not, create a proximity pair for the tip-surface collision
                     if (isProjective)
                     {
-                        tipProx = projectOnTip(surfProx->getPosition(), itTip.element()).prox;
+                        tipProx = projectOnTip(surfProx->getPosition(), itTip->element()).prox;
                         if (!tipProx) continue;
                         tipProx->normalize();
                     }
@@ -181,9 +181,9 @@ class InsertionAlgorithm : public BaseAlgorithm
             auto createShaftProximity =
                 Operations::CreateCenterProximity::Operation::get(l_shaftGeom->getTypeInfo());
             auto projectOnShaft = Operations::Project::Operation::get(l_shaftGeom);
-                for (const auto& itShaft : *l_shaftGeom)
+                for (auto itShaft = l_shaftGeom->begin(); itShaft != l_shaftGeom->end(); itShaft++)
                 {
-                    BaseProximity::SPtr shaftProx = createShaftProximity(itShaft.element());
+                    BaseProximity::SPtr shaftProx = createShaftProximity(itShaft->element());
                     if (!shaftProx) continue;
                     const BaseProximity::SPtr surfProx = findClosestProxOnSurf(
                         shaftProx, l_surfGeom.get(), projectOnSurf, getFilterFunc());
@@ -194,7 +194,7 @@ class InsertionAlgorithm : public BaseAlgorithm
                         // 1.2 If not, create a proximity pair for the tip-surface collision
                         if (d_projective.getValue())
                         {
-                            shaftProx = projectOnShaft(surfProx->getPosition(), itShaft.element()).prox;
+                            shaftProx = projectOnShaft(surfProx->getPosition(), itShaft->element()).prox;
                             if (!shaftProx) continue;
                             shaftProx->normalize();
                         }