[dartpy] Allow WorldNode classes to overload virtual functions (#1322)

CHANGELOG.md

@@ -37,6 +37,7 @@
   * Switched to pybind11: [#1307](https://github.com/dartsim/dart/pull/1307)
   * Added grid visual: [#1318](https://github.com/dartsim/dart/pull/1318)
   * Added ReferentialSkeleton, Linkage, and Chain: [#1321](https://github.com/dartsim/dart/pull/1321)
+  * Enabled WorldNode classes to overload virtual functions in Python: [#1322](https://github.com/dartsim/dart/pull/1322)
 
 ### [DART 6.8.4 (2019-05-03)](https://github.com/dartsim/dart/milestone/56?closed=1)
 

dart/gui/osg/RealTimeWorldNode.hpp

@@ -93,9 +93,6 @@ class RealTimeWorldNode : public WorldNode
   /// Get the highest real time factor that has been hit during the simulation.
   double getHighestRealTimeFactor() const;
 
-  /// Turn the text displaying the real time factor on or off
-  void setRealTimeFactorDisplay(bool on);
-
   // Documentation inherited
   void refresh() override;
 

dart/gui/osg/WorldNode.hpp

@@ -146,11 +146,11 @@ class WorldNode : public ::osg::Group
   /// the default ShadowTechnique is ShadowMap
   static ::osg::ref_ptr<osgShadow::ShadowTechnique> createDefaultShadowTechnique(const Viewer* viewer);
 
-protected:
-
   /// Destructor
   virtual ~WorldNode();
 
+protected:
+
   /// Called when this world gets added to an dart::gui::osg::Viewer. Override
   /// this function to customize the way your WorldNode starts up in an
   /// dart::gui::osg::Viewer. Default behavior does nothing.

data/urdf/KR5/ground.urdf

@@ -13,12 +13,12 @@
                 <box size="2.0 0.05 2.0" />
             </geometry>
         </visual>
-        <!--collision group="default">
+        <collision group="default">
             <origin xyz="0 -0.525 0" rpy="0 -0 0" />
             <geometry>
                 <box size="2.0 0.05 2.0" />
             </geometry>
-        </collision-->
+        </collision>
     </link>
     <joint name="ground_joint" type="fixed">
         <origin xyz="0 0 0" rpy="0 0 0" />

python/dartpy/dynamics/Chain.cpp

@@ -130,7 +130,7 @@ void Chain(pybind11::module& m)
   ::pybind11::enum_<dart::dynamics::Chain::IncludeUpstreamParentJointTag>(
       attr, "IncludeUpstreamParentJointTag")
       .value(
-          "IncludeBoth",
+          "IncludeUpstreamParentJoint",
           dart::dynamics::Chain::IncludeUpstreamParentJointTag::
               IncludeUpstreamParentJoint)
       .export_values();

python/dartpy/dynamics/Skeleton.cpp

@@ -31,8 +31,8 @@
  */
 
 #include <dart/dart.hpp>
-#include <pybind11/stl.h>
 #include <pybind11/pybind11.h>
+#include <pybind11/stl.h>
 #include "eigen_geometry_pybind.h"
 #include "eigen_pybind.h"
 

python/dartpy/gui/osg/GridVisual.cpp

@@ -45,6 +45,7 @@ void GridVisual(pybind11::module& m)
 {
   ::pybind11::class_<
       dart::gui::osg::GridVisual,
+      dart::gui::osg::ViewerAttachment,
       ::osg::ref_ptr<dart::gui::osg::GridVisual>>(m, "GridVisual")
       .def(py::init<>())
       .def(

python/dartpy/gui/osg/RealTimeWorldNode.cpp

@@ -41,15 +41,138 @@ namespace py = pybind11;
 namespace dart {
 namespace python {
 
+class PyPyRealTimeWorldNodeNode : public dart::gui::osg::RealTimeWorldNode
+{
+public:
+  // Inherit the constructors
+  using RealTimeWorldNode::RealTimeWorldNode;
+
+  // Trampoline for virtual function
+  void refresh() override
+  {
+    PYBIND11_OVERLOAD(
+        void,              // Return type
+        RealTimeWorldNode, // Parent class
+        refresh,           // Name of function in C++ (must match Python name)
+    );
+  }
+
+  // Trampoline for virtual function
+  void customPreRefresh() override
+  {
+    PYBIND11_OVERLOAD(
+        void,              // Return type
+        RealTimeWorldNode, // Parent class
+        customPreRefresh,  // Name of function in C++ (must match Python name)
+    );
+  }
+
+  // Trampoline for virtual function
+  void customPostRefresh() override
+  {
+    PYBIND11_OVERLOAD(
+        void,              // Return type
+        RealTimeWorldNode, // Parent class
+        customPostRefresh, // Name of function in C++ (must match Python name)
+    );
+  }
+
+  // Trampoline for virtual function
+  void customPreStep() override
+  {
+    PYBIND11_OVERLOAD(
+        void,              // Return type
+        RealTimeWorldNode, // Parent class
+        customPreStep,     // Name of function in C++ (must match Python name)
+    );
+  }
+
+  // Trampoline for virtual function
+  void customPostStep() override
+  {
+    PYBIND11_OVERLOAD(
+        void,              // Return type
+        RealTimeWorldNode, // Parent class
+        customPostStep,    // Name of function in C++ (must match Python name)
+    );
+  }
+};
+
 void RealTimeWorldNode(pybind11::module& m)
 {
   ::pybind11::class_<
       dart::gui::osg::RealTimeWorldNode,
+      dart::gui::osg::WorldNode,
+      PyPyRealTimeWorldNodeNode,
       ::osg::ref_ptr<dart::gui::osg::RealTimeWorldNode>>(m, "RealTimeWorldNode")
-      .def(py::init<>())
+      .def(::pybind11::init<>())
       .def(
           ::pybind11::init<const std::shared_ptr<dart::simulation::World>&>(),
-          ::pybind11::arg("world"));
+          ::pybind11::arg("world"))
+      .def(
+          ::pybind11::init<
+              const std::shared_ptr<dart::simulation::World>&,
+              const osg::ref_ptr<osgShadow::ShadowTechnique>&>(),
+          ::pybind11::arg("world"),
+          ::pybind11::arg("shadower"))
+      .def(
+          ::pybind11::init<
+              const std::shared_ptr<dart::simulation::World>&,
+              const osg::ref_ptr<osgShadow::ShadowTechnique>&,
+              double>(),
+          ::pybind11::arg("world"),
+          ::pybind11::arg("shadower"),
+          ::pybind11::arg("targetFrequency"))
+      .def(
+          ::pybind11::init<
+              const std::shared_ptr<dart::simulation::World>&,
+              const osg::ref_ptr<osgShadow::ShadowTechnique>&,
+              double,
+              double>(),
+          ::pybind11::arg("world"),
+          ::pybind11::arg("shadower"),
+          ::pybind11::arg("targetFrequency"),
+          ::pybind11::arg("targetRealTimeFactor"))
+      .def(
+          "setTargetFrequency",
+          +[](dart::gui::osg::RealTimeWorldNode* self, double targetFrequency) {
+            self->setTargetFrequency(targetFrequency);
+          },
+          ::pybind11::arg("targetFrequency"))
+      .def(
+          "getTargetFrequency",
+          +[](const dart::gui::osg::RealTimeWorldNode* self) -> double {
+            return self->getTargetFrequency();
+          })
+      .def(
+          "setTargetRealTimeFactor",
+          +[](dart::gui::osg::RealTimeWorldNode* self, double targetRTF) {
+            self->setTargetRealTimeFactor(targetRTF);
+          },
+          ::pybind11::arg("targetRTF"))
+      .def(
+          "getTargetRealTimeFactor",
+          +[](const dart::gui::osg::RealTimeWorldNode* self) -> double {
+            return self->getTargetRealTimeFactor();
+          })
+      .def(
+          "getLastRealTimeFactor",
+          +[](const dart::gui::osg::RealTimeWorldNode* self) -> double {
+            return self->getLastRealTimeFactor();
+          })
+      .def(
+          "getLowestRealTimeFactor",
+          +[](const dart::gui::osg::RealTimeWorldNode* self) -> double {
+            return self->getLowestRealTimeFactor();
+          })
+      .def(
+          "getHighestRealTimeFactor",
+          +[](const dart::gui::osg::RealTimeWorldNode* self) -> double {
+            return self->getHighestRealTimeFactor();
+          })
+      .def("refresh", +[](dart::gui::osg::RealTimeWorldNode* self) {
+        self->refresh();
+      });
 }
 
 } // namespace python