Update examples directory to make dart::gui::osg more accessible

.ci/script.sh

@@ -100,7 +100,7 @@ fi
 $SUDO make -j$num_threads install
 
 # Build an example using installed DART
-cd $BUILD_DIR/examples/rigidCubes
+cd $BUILD_DIR/examples/hello_world
 mkdir build && cd build
 cmake ..
 make -j$num_threads

CHANGELOG.md

@@ -12,6 +12,10 @@
   * Improved voxel grid and point cloud rendering performance: [#1294](https://github.com/dartsim/dart/pull/1294)
   * Fixed incorrect alpha value update of InteractiveFrame: [#1297](https://github.com/dartsim/dart/pull/1297)
 
+* Examples and Tutorials
+
+  * Updated examples directory to make dart::gui::osg more accessible: [#1305](https://github.com/dartsim/dart/pull/1305)
+
 ### [DART 6.8.4 (2019-05-03)](https://github.com/dartsim/dart/milestone/56?closed=1)
 
 #### Changes

cmake/DARTMacros.cmake

@@ -195,3 +195,79 @@ function(dart_format_add)
     endif()
   endforeach()
 endfunction()
+
+#===============================================================================
+# dart_build_target_in_source(target
+#   [LINK_LIBRARIES library1 ...])
+#   [COMPILE_FEATURES feature1 ...]
+#   [COMPILE_OPTIONS option1 ...]
+# )
+function(dart_build_target_in_source target)
+  set(prefix example)
+  set(options )
+  set(oneValueArgs )
+  set(multiValueArgs LINK_LIBRARIES COMPILE_FEATURES COMPILE_OPTIONS)
+  cmake_parse_arguments("${prefix}" "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
+
+  if(example_LINK_LIBRARIES)
+    foreach(dep_target ${example_LINK_LIBRARIES})
+      if(NOT TARGET ${dep_target})
+        if(DART_VERBOSE)
+          message(WARNING "Skipping ${target} because required target '${dep_target}' not found")
+        endif()
+        return()
+      endif()
+    endforeach()
+  endif()
+
+  file(GLOB srcs "*.cpp" "*.hpp")
+
+  add_executable(${target} ${srcs})
+
+  if(example_LINK_LIBRARIES)
+    foreach(dep_target ${example_LINK_LIBRARIES})
+      target_link_libraries(${target} ${dep_target})
+    endforeach()
+  endif()
+
+  if(example_COMPILE_FEATURES)
+    foreach(comple_feature ${example_COMPILE_FEATURES})
+      target_compile_features(${target} PUBLIC ${comple_feature})
+    endforeach()
+  endif()
+
+  if(example_COMPILE_OPTIONS)
+    foreach(comple_option ${example_COMPILE_OPTIONS})
+      target_compile_options(${target} PUBLIC ${comple_option})
+    endforeach()
+  endif()
+
+  set_target_properties(${target}
+    PROPERTIES
+      RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin"
+  )
+
+  dart_format_add(${srcs})
+endfunction()
+
+#===============================================================================
+# dart_build_example_in_source(target
+#   [LINK_LIBRARIES library1 ...])
+#   [COMPILE_FEATURES feature1 ...]
+#   [COMPILE_OPTIONS option1 ...]
+# )
+function(dart_build_example_in_source target)
+  dart_build_target_in_source(${target} ${ARGN})
+  dart_add_example(${target})
+endfunction()
+
+#===============================================================================
+# dart_build_tutorial_in_source(target
+#   [LINK_LIBRARIES library1 ...])
+#   [COMPILE_FEATURES feature1 ...]
+#   [COMPILE_OPTIONS option1 ...]
+# )
+function(dart_build_tutorial_in_source target)
+  dart_build_target_in_source(${target} ${ARGN})
+  dart_add_tutorial(${target})
+endfunction()

examples/CMakeLists.txt

@@ -2,22 +2,26 @@ cmake_minimum_required(VERSION 3.5.1)
 
 project(dart-examples)
 
-add_subdirectory(addDeleteSkels)
-add_subdirectory(atlasSimbicon)
-add_subdirectory(bipedStand)
-add_subdirectory(hardcodedDesign)
-add_subdirectory(hybridDynamics)
-add_subdirectory(jointConstraints)
-add_subdirectory(mixedChain)
-add_subdirectory(operationalSpaceControl)
-add_subdirectory(rigidChain)
-add_subdirectory(rigidCubes)
-add_subdirectory(rigidLoop)
-add_subdirectory(rigidShapes)
-add_subdirectory(simpleFrames)
-add_subdirectory(softBodies)
-add_subdirectory(speedTest)
-add_subdirectory(vehicle)
-add_subdirectory(humanJointLimits)
+# None GUI examples
+add_subdirectory(hello_world)
+add_subdirectory(speed_test)
 
-add_subdirectory(osgExamples)
+# OSG renderer examples
+add_subdirectory(atlas_puppet)
+add_subdirectory(atlas_simbicon)
+add_subdirectory(box_stacking)
+add_subdirectory(drag_and_drop)
+add_subdirectory(empty)
+add_subdirectory(heightmap)
+add_subdirectory(hubo_puppet)
+add_subdirectory(imgui)
+add_subdirectory(operational_space_control)
+if(HAVE_OCTOMAP)
+  add_subdirectory(point_cloud)
+endif()
+add_subdirectory(soft_bodies)
+add_subdirectory(tinkertoy)
+add_subdirectory(wam_ikfast)
+
+# Deprecated examples
+add_subdirectory(deprecated_examples)

examples/README.md

@@ -2,14 +2,14 @@
 
 ## Build Each Example
 
-Copy the subdirectory to your workspace and follow the instruction of README.md 
+Copy the subdirectory to your workspace and follow the instruction of README.md
 in the subdirectory.
 
 ## Build Examples as One Project
 
 ### Build Instructions
 
-This project is dependent on DART. Please make sure a proper version of DART is 
+This project is dependent on DART. Please make sure a proper version of DART is
 installed before building this project.
 
 Copy this directory to your workspace (e.g., in Linux):
@@ -28,8 +28,6 @@ From the workspace directory:
 
 Launch the each executable from the build directory above (e.g.,):
 
-    $ ./rigidCubes/rigidCubes
+    $ ./hello_world
 
 Follow the instructions detailed in the console.
-
-

examples/atlas_puppet/CMakeLists.txt

@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.5.1)
+
+get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
+
+project(${example_name})
+
+set(required_components utils-urdf gui-osg)
+set(required_libraries dart dart-utils-urdf dart-gui-osg)
+
+if(DART_IN_SOURCE_BUILD)
+  dart_build_example_in_source(${example_name} LINK_LIBRARIES ${required_libraries})
+  return()
+endif()
+
+find_package(DART 6.6.0 REQUIRED COMPONENTS ${required_components} CONFIG)
+
+file(GLOB srcs "*.cpp" "*.hpp")
+add_executable(${example_name} ${srcs})
+target_link_libraries(${example_name} PUBLIC ${required_libraries})