how to compile python-fcl wheel from source?

[jacky-ch93]

@mikedh Hi, I want to compile python-fcl on windows, but failed. I do not know how to compile this wheel successfully? Thanks! and It also failed by using the dockerfile or compiling on linux step as blew：

1. powershell .\build_dependencies\install_windows.ps1
2. cd python-fcl
3. pip wheel ./ --no-deps -w wheelhouse/

get the errro

Processing d:\works\basic_lib\python-fcl
  Installing build dependencies ... done
  Getting requirements to build wheel ... error
  error: subprocess-exited-with-error

  × Getting requirements to build wheel did not run successfully.
  │ exit code: 1
  ╰─> [105 lines of output]

      Error compiling Cython file:
      ------------------------------------------------------------
      ...
              return list(self.objs)

          def collide(self, *args):
              if len(args) == 2 and inspect.isroutine(args[1]):
                  fn = CollisionFunction(args[1], args[0])
                  self.thisptr.collide(<void*> fn, CollisionCallBack)
                                                   ^
      ------------------------------------------------------------

      src\fcl\fcl.pyx:529:45: Cannot assign type 'bool (CollisionObjectd *, CollisionObjectd *, void *) except? -1' to 'CollisionCallBack'

      Error compiling Cython file:
      ------------------------------------------------------------
      ...
              if len(args) == 2 and inspect.isroutine(args[1]):
                  fn = CollisionFunction(args[1], args[0])
                  self.thisptr.collide(<void*> fn, CollisionCallBack)
              elif len(args) == 3 and isinstance(args[0], DynamicAABBTreeCollisionManager):
                  fn = CollisionFunction(args[2], args[1])
                  self.thisptr.collide((<DynamicAABBTreeCollisionManager?> args[0]).thisptr, <void*> fn, CollisionCallBack)
                                      ^
      ------------------------------------------------------------

      src\fcl\fcl.pyx:532:32: no suitable method found

      Error compiling Cython file:
      ------------------------------------------------------------
      ...
              elif len(args) == 3 and isinstance(args[0], DynamicAABBTreeCollisionManager):
                  fn = CollisionFunction(args[2], args[1])
                  self.thisptr.collide((<DynamicAABBTreeCollisionManager?> args[0]).thisptr, <void*> fn, CollisionCallBack)
              elif len(args) == 3 and inspect.isroutine(args[2]):
                  fn = CollisionFunction(args[2], args[1])
                  self.thisptr.collide((<CollisionObject?> args[0]).thisptr, <void*> fn, CollisionCallBack)
                                      ^
      ------------------------------------------------------------

      src\fcl\fcl.pyx:535:32: no suitable method found

      Error compiling Cython file:
      ------------------------------------------------------------
      ...
                  raise ValueError

          def distance(self, *args):
              if len(args) == 2 and inspect.isroutine(args[1]):
                  fn = DistanceFunction(args[1], args[0])
                  self.thisptr.distance(<void*> fn, DistanceCallBack)
                                                    ^
      ------------------------------------------------------------

      src\fcl\fcl.pyx:542:46: Cannot assign type 'bool (CollisionObjectd *, CollisionObjectd *, void *, double &) except? -1' to 'DistanceCallBack'

      Error compiling Cython file:
      ------------------------------------------------------------
      ...
              if len(args) == 2 and inspect.isroutine(args[1]):
                  fn = DistanceFunction(args[1], args[0])
                  self.thisptr.distance(<void*> fn, DistanceCallBack)
              elif len(args) == 3 and isinstance(args[0], DynamicAABBTreeCollisionManager):
                  fn = DistanceFunction(args[2], args[1])
                  self.thisptr.distance((<DynamicAABBTreeCollisionManager?> args[0]).thisptr, <void*> fn, DistanceCallBack)
                                       ^
      ------------------------------------------------------------

      src\fcl\fcl.pyx:545:33: no suitable method found

      Error compiling Cython file:
      ------------------------------------------------------------
      ...
              elif len(args) == 3 and isinstance(args[0], DynamicAABBTreeCollisionManager):
                  fn = DistanceFunction(args[2], args[1])
                  self.thisptr.distance((<DynamicAABBTreeCollisionManager?> args[0]).thisptr, <void*> fn, DistanceCallBack)
              elif len(args) == 3 and inspect.isroutine(args[2]):
                  fn = DistanceFunction(args[2], args[1])
                  self.thisptr.distance((<CollisionObject?> args[0]).thisptr, <void*> fn, DistanceCallBack)
                                       ^
      ------------------------------------------------------------

      src\fcl\fcl.pyx:548:33: no suitable method found

[HiroIshida]

I'm not 100% sure, but recent relase of cython version 3 seem to be the cause. Try pip3 install "cython<3.0" and compile again. At lease in my environment (aarch64, ubuntu20.04), the compilation fail with cython>=3.0 but successes with cython<3.0