From b9a36209f1b16551c3319207ee0d11c159523b8d Mon Sep 17 00:00:00 2001
From: Pierre Gergondet <pierre.gergondet@gmail.com>
Date: Mon, 10 Jul 2023 14:30:23 +0900
Subject: [PATCH] Fix for geos >= 3.12.0

---
 src/mc_rbdyn/Contact.cpp             | 13 ++++++++++++-
 src/mc_rbdyn/PolygonInterpolator.cpp | 14 +++++++++++++-
 2 files changed, 25 insertions(+), 2 deletions(-)

diff --git a/src/mc_rbdyn/Contact.cpp b/src/mc_rbdyn/Contact.cpp
index a01acbdad2..7f486cf6d7 100644
--- a/src/mc_rbdyn/Contact.cpp
+++ b/src/mc_rbdyn/Contact.cpp
@@ -11,11 +11,14 @@
 
 #include <geos/version.h>
 
-#include <geos/geom/CoordinateSequenceFactory.h>
 #include <geos/geom/GeometryFactory.h>
 #include <geos/geom/LinearRing.h>
 #include <geos/geom/Polygon.h>
 
+#if GEOS_VERSION_MAJOR >= 3 && GEOS_VERSION_MINOR < 12
+#  include <geos/geom/CoordinateSequenceFactory.h>
+#endif
+
 namespace mc_rbdyn
 {
 
@@ -66,7 +69,11 @@ std::vector<sva::PTransformd> computePoints(const mc_rbdyn::Surface & robotSurfa
     const geos::geom::GeometryFactory & factory = *factory_ptr;
 
     // Create robot surf polygon
+#if GEOS_VERSION_MAJOR >= 3 && GEOS_VERSION_MINOR >= 12
+    auto robotPoints2dseq = std::make_unique<geos::geom::CoordinateSequence>(static_cast<size_t>(0), 0);
+#else
     auto robotPoints2dseq = factory.getCoordinateSequenceFactory()->create(static_cast<size_t>(0), 0);
+#endif
     std::vector<geos::geom::Coordinate> points;
     for(const std::pair<double, double> & p : robotPoints2d)
     {
@@ -82,7 +89,11 @@ std::vector<sva::PTransformd> computePoints(const mc_rbdyn::Surface & robotSurfa
 #endif
 
     // Create env surf polygon
+#if GEOS_VERSION_MAJOR >= 3 && GEOS_VERSION_MINOR >= 12
+    auto envPoints2dseq = std::make_unique<geos::geom::CoordinateSequence>(static_cast<size_t>(0), 0);
+#else
     auto envPoints2dseq = factory.getCoordinateSequenceFactory()->create(static_cast<size_t>(0), 0);
+#endif
     points.clear();
     for(const std::pair<double, double> & p : envPoints2d)
     {
diff --git a/src/mc_rbdyn/PolygonInterpolator.cpp b/src/mc_rbdyn/PolygonInterpolator.cpp
index 51906148d8..e121f275de 100644
--- a/src/mc_rbdyn/PolygonInterpolator.cpp
+++ b/src/mc_rbdyn/PolygonInterpolator.cpp
@@ -7,11 +7,14 @@
 #include <geos/version.h>
 
 #include <geos/geom/CoordinateSequence.h>
-#include <geos/geom/CoordinateSequenceFactory.h>
 #include <geos/geom/GeometryFactory.h>
 #include <geos/geom/LinearRing.h>
 #include <geos/geom/Polygon.h>
 
+#if GEOS_VERSION_MAJOR >= 3 && GEOS_VERSION_MINOR < 12
+#  include <geos/geom/CoordinateSequenceFactory.h>
+#endif
+
 namespace mc_rbdyn
 {
 
@@ -42,7 +45,11 @@ std::shared_ptr<geos::geom::Geometry> PolygonInterpolator::fast_interpolate(doub
   double perc = std::max(std::min(percent, 1.), -1.);
   if(perc < 0) { perc = 1 + perc; }
   std::vector<tuple_t> points;
+#if GEOS_VERSION_MAJOR >= 3 && GEOS_VERSION_MINOR >= 12
+  auto seq = std::make_unique<geos::geom::CoordinateSequence>(static_cast<size_t>(0), 0);
+#else
   auto seq = geom_factory.getCoordinateSequenceFactory()->create(static_cast<size_t>(0), 0);
+#endif
   std::vector<geos::geom::Coordinate> seq_points;
   for(const auto & p : tuple_pairs_)
   {
@@ -77,8 +84,13 @@ std::vector<PolygonInterpolator::tuple_t> PolygonInterpolator::midpoint_derivati
 std::vector<PolygonInterpolator::tuple_t> PolygonInterpolator::normal_derivative(double epsilon_derivative)
 {
   std::vector<tuple_t> res;
+#if GEOS_VERSION_MAJOR >= 3 && GEOS_VERSION_MINOR >= 12
+  auto seq_s = std::make_unique<geos::geom::CoordinateSequence>(static_cast<size_t>(0), 2);
+  auto seq_d = std::make_unique<geos::geom::CoordinateSequence>(static_cast<size_t>(0), 2);
+#else
   auto seq_s = geom_factory.getCoordinateSequenceFactory()->create(static_cast<size_t>(0), 2);
   auto seq_d = geom_factory.getCoordinateSequenceFactory()->create(static_cast<size_t>(0), 2);
+#endif
   std::vector<geos::geom::Coordinate> points_s;
   std::vector<geos::geom::Coordinate> points_d;
   for(const auto & p : tuple_pairs_)