Tutorials

.gitignore

@@ -5,7 +5,6 @@ syntax: glob
 CPack*
 CTest*
 Testing/
-docs/
 TAGS
 .DS_Store
 .cproject
@@ -23,3 +22,4 @@ TAGS
 *~
 /nbproject/
 /doxygen/html/
+docs/readthedocs/site

CMakeLists.txt

@@ -66,6 +66,7 @@ else()
   option(BUILD_SHARED_LIBS "Build shared libraries" ON)
 endif()
 option(DART_BUILD_EXAMPLES "Build examples" ON)
+option(DART_BUILD_TUTORIALS "Build tutorials" ON)
 option(DART_BUILD_UNITTESTS "Build unit tests" ON)
 
 #===============================================================================
@@ -315,6 +316,7 @@ endif()
 if(BULLET_FOUND)
   message(STATUS "Looking for BulletCollision - ${BULLET_VERSION} found")
   set(HAVE_BULLET_COLLISION TRUE)
+  add_definitions(-DHAVE_BULLET_COLLISION)
 else()
   message(STATUS "Looking for BulletCollision - NOT found, please install libbullet-dev")
   set(HAVE_BULLET_COLLISION FALSE)
@@ -482,6 +484,7 @@ message(STATUS "BUILD_SHARED_LIBS: ${BUILD_SHARED_LIBS}")
 message(STATUS "ENABLE_OPENMP    : ${ENABLE_OPENMP}")
 message(STATUS "Build core only  : ${BUILD_CORE_ONLY}")
 message(STATUS "Build examples   : ${DART_BUILD_EXAMPLES}")
+message(STATUS "Build tutorials  : ${DART_BUILD_TUTORIALS}")
 message(STATUS "Build unit tests : ${DART_BUILD_UNITTESTS}")
 message(STATUS "Install path     : ${CMAKE_INSTALL_PREFIX}")
 message(STATUS "CXX_FLAGS        : ${CMAKE_CXX_FLAGS}")
@@ -558,6 +561,10 @@ if(NOT BUILD_CORE_ONLY)
     add_subdirectory(apps)
   endif()
 
+  if(DART_BUILD_TUTORIALS)
+    add_subdirectory(tutorials)
+  endif()
+
 endif()
 
 #===============================================================================

README.md

@@ -1,2 +1,3 @@
 [![Build Status](https://travis-ci.org/dartsim/dart.png?branch=master)](https://travis-ci.org/dartsim/dart)
 [![Build status](https://ci.appveyor.com/api/projects/status/6rta8olo95bpu84r?svg=true)](https://ci.appveyor.com/project/jslee02/dart)
+[![Documentation Status](https://readthedocs.org/projects/dart/badge/?version=latest)](https://readthedocs.org/projects/dart/?badge=latest)

apps/softBodies/Main.cpp

@@ -61,10 +61,11 @@ int main(int argc, char* argv[])
     for(size_t j=0; j<skel->getNumBodyNodes(); ++j)
     {
       dart::dynamics::BodyNode* bn = skel->getBodyNode(j);
+      Eigen::Vector3d color = dart::Color::Random();
       for(size_t k=0; k<bn->getNumVisualizationShapes(); ++k)
       {
         dart::dynamics::ShapePtr vs = bn->getVisualizationShape(k);
-        vs->setColor(dart::Color::Random());
+        vs->setColor(color);
       }
     }
   }

dart/collision/CollisionDetector.cpp

@@ -300,6 +300,9 @@ bool CollisionDetector::getPairCollidable(const CollisionNode* _node1,
   if (!isValidIndex(mCollidablePairs, index1, index2))
     return false;
 
+  if (index1 == index2)
+    return false;
+
   return mCollidablePairs[index1][index2];
 }
 

dart/constraint/JointConstraint.cpp

@@ -173,5 +173,17 @@ double JointConstraint::getConstraintForceMixing()
   return mConstraintForceMixing;
 }
 
+//==============================================================================
+dynamics::BodyNode* JointConstraint::getBodyNode1() const
+{
+  return mBodyNode1;
+}
+
+//==============================================================================
+dynamics::BodyNode* JointConstraint::getBodyNode2() const
+{
+  return mBodyNode2;
+}
+
 }  // namespace constraint
 }  // namespace dart

dart/constraint/JointConstraint.h

@@ -88,6 +88,12 @@ class JointConstraint : public ConstraintBase
   /// Get global constraint force mixing parameter
   static double getConstraintForceMixing();
 
+  /// Get the first BodyNode that this constraint is associated with
+  dynamics::BodyNode* getBodyNode1() const;
+
+  /// Get the second BodyNode that this constraint is associated with
+  dynamics::BodyNode* getBodyNode2() const;
+
 protected:
   /// First body node
   dynamics::BodyNode* mBodyNode1;

dart/dynamics/BodyNode.cpp

@@ -461,7 +461,7 @@ double BodyNode::getRestitutionCoeff() const
 }
 
 //==============================================================================
-void BodyNode::addCollisionShape(ShapePtr _shape)
+void BodyNode::addCollisionShape(const ShapePtr& _shape)
 {
   if(nullptr == _shape)
   {
@@ -491,7 +491,7 @@ void BodyNode::addCollisionShape(ShapePtr _shape)
 }
 
 //==============================================================================
-void BodyNode::removeCollisionShape(ShapePtr _shape)
+void BodyNode::removeCollisionShape(const ShapePtr& _shape)
 {
   if (nullptr == _shape)
     return;

dart/dynamics/BodyNode.h

@@ -274,10 +274,10 @@ class BodyNode : public Frame, public SkeletonRefCountingBase
   //--------------------------------------------------------------------------
 
   /// Add a collision Shape into the BodyNode
-  void addCollisionShape(ShapePtr _shape);
+  void addCollisionShape(const ShapePtr& _shape);
 
   /// Remove a collision Shape from this BodyNode
-  void removeCollisionShape(ShapePtr _shape);
+  void removeCollisionShape(const ShapePtr& _shape);
 
   /// Remove all collision Shapes from this BodyNode
   void removeAllCollisionShapes();

dart/dynamics/Entity.cpp

@@ -160,7 +160,7 @@ const std::string& Entity::getName() const
 }
 
 //==============================================================================
-void Entity::addVisualizationShape(ShapePtr _shape)
+void Entity::addVisualizationShape(const ShapePtr& _shape)
 {
   if (nullptr == _shape)
     return;
@@ -179,7 +179,7 @@ void Entity::addVisualizationShape(ShapePtr _shape)
 }
 
 //==============================================================================
-void Entity::removeVisualizationShape(ShapePtr _shape)
+void Entity::removeVisualizationShape(const ShapePtr& _shape)
 {
   if (nullptr == _shape)
     return;

dart/dynamics/Entity.h

@@ -44,6 +44,7 @@
 #include "dart/common/Subject.h"
 #include "dart/common/Signal.h"
 #include "dart/dynamics/Shape.h"
+#include "dart/dynamics/SmartPointer.h"
 
 namespace dart {
 namespace renderer {
@@ -129,10 +130,10 @@ class Entity : public virtual common::Subject
   virtual const std::string& getName() const;
 
   /// Add a visualization Shape for this Entity
-  virtual void addVisualizationShape(ShapePtr _shape);
+  virtual void addVisualizationShape(const ShapePtr& _shape);
 
   /// Remove a visualization Shape from this Entity
-  virtual void removeVisualizationShape(ShapePtr _shape);
+  virtual void removeVisualizationShape(const ShapePtr& _shape);
 
   /// Remove all visualization Shapes from this Entity
   virtual void removeAllVisualizationShapes();

dart/dynamics/Shape.h

@@ -44,6 +44,7 @@
 
 #include "dart/math/Geometry.h"
 #include "dart/common/Subject.h"
+#include "dart/dynamics/SmartPointer.h"
 
 namespace dart {
 namespace renderer {
@@ -176,9 +177,6 @@ class Shape : public virtual common::Subject
   EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 };
 
-typedef std::shared_ptr<Shape> ShapePtr;
-typedef std::shared_ptr<const Shape> ConstShapePtr;
-
 }  // namespace dynamics
 }  // namespace dart
 

dart/dynamics/SoftBodyNode.cpp

@@ -131,23 +131,32 @@ SoftBodyNode::~SoftBodyNode()
 }
 
 //==============================================================================
-void SoftBodyNode::removeSoftBodyShapes()
+ShapePtr SoftBodyNode::removeSoftBodyShapes()
 {
-  for(size_t i=0; i<mEntityP.mVizShapes.size(); )
+  ShapePtr oldShape;
+  for(size_t i=0; i<mBodyP.mColShapes.size(); )
   {
-    if(dynamic_cast<dynamics::SoftMeshShape*>(mEntityP.mVizShapes[i].get()))
-      removeVisualizationShape(mEntityP.mVizShapes[i]);
+    if(dynamic_cast<dynamics::SoftMeshShape*>(mBodyP.mColShapes[i].get()))
+    {
+      oldShape = mBodyP.mColShapes[i];
+      removeCollisionShape(oldShape);
+    }
     else
       ++i;
   }
 
-  for(size_t i=0; i<mBodyP.mColShapes.size(); )
+  for(size_t i=0; i<mEntityP.mVizShapes.size(); )
   {
-    if(dynamic_cast<dynamics::SoftMeshShape*>(mBodyP.mColShapes[i].get()))
-      removeCollisionShape(mBodyP.mColShapes[i]);
+    if(dynamic_cast<dynamics::SoftMeshShape*>(mEntityP.mVizShapes[i].get()))
+    {
+      oldShape = mEntityP.mVizShapes[i];
+      removeVisualizationShape(oldShape);
+    }
     else
       ++i;
   }
+
+  return oldShape;
 }
 
 //==============================================================================
@@ -163,7 +172,7 @@ void SoftBodyNode::setProperties(const Properties& _properties)
 void SoftBodyNode::setProperties(const UniqueProperties& _properties)
 {
   // SoftMeshShape pointers should not be copied between bodies
-  removeSoftBodyShapes();
+  ShapePtr oldShape = removeSoftBodyShapes();
 
   size_t newCount = _properties.mPointProps.size();
   size_t oldCount = mPointMasses.size();
@@ -207,6 +216,12 @@ void SoftBodyNode::setProperties(const UniqueProperties& _properties)
   mSoftShape = std::shared_ptr<SoftMeshShape>(new SoftMeshShape(this));
   addVisualizationShape(mSoftShape);
   addCollisionShape(mSoftShape);
+
+  if(oldShape) // Copy the properties of the previous soft shape, if it exists
+  {
+    mSoftShape->setColor(oldShape->getRGBA());
+    mSoftShape->setLocalTransform(oldShape->getLocalTransform());
+  }
 }
 
 //==============================================================================
@@ -1175,6 +1190,10 @@ void SoftBodyNode::draw(renderer::RenderInterface* _ri,
 //  _ri->setPenColor(fleshColor);
 //  if (_showMeshs)
   {
+    _ri->setPenColor(mSoftShape->getRGBA());
+    glEnable(GL_LIGHTING);
+    glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
+
     Eigen::Vector3d pos;
     Eigen::Vector3d pos_normalized;
     for (size_t i = 0; i < mSoftP.mFaces.size(); ++i)

dart/dynamics/SoftBodyNode.h

@@ -127,10 +127,10 @@ class SoftBodyNode : public BodyNode
   /// Set the Properties of this SoftBodyNode
   void setProperties(const UniqueProperties& _properties);
 
-  /// Remove any unwarranted SoftBodyShapes
+  /// Remove all SoftBodyShapes and return the last one that was encountered
   /// Note: This will be deprecated once VisualizationNodes and CollisionNodes
   /// are implemented. Please see #394.
-  void removeSoftBodyShapes();
+  ShapePtr removeSoftBodyShapes();
 
 
   /// Get the Properties of this SoftBodyNode

dart/math/Helpers.h

@@ -268,6 +268,26 @@ inline Eigen::Vector3d Red()
   return Eigen::Vector3d(0.9, 0.1, 0.1);
 }
 
+inline Eigen::Vector3d Fuschia()
+{
+  return Eigen::Vector3d(1.0, 0.0, 0.5);
+}
+
+inline Eigen::Vector4d Fuschia(double alpha)
+{
+  return Eigen::Vector4d(1.0, 0.0, 0.5, alpha);
+}
+
+inline Eigen::Vector4d Orange(double alpha)
+{
+  return Eigen::Vector4d(1.0, 0.63, 0.0, alpha);
+}
+
+inline Eigen::Vector3d Orange()
+{
+  return Eigen::Vector3d(1.0, 0.63, 0.0);
+}
+
 inline Eigen::Vector4d Green(double alpha)
 {
   return Eigen::Vector4d(0.1, 0.9, 0.1, alpha);