CollisionGroup class and refactoring of CollisionDetector

CMakeLists.txt

@@ -43,9 +43,9 @@ endif()
 
 project(dart)
 
-set(DART_MAJOR_VERSION "5")
-set(DART_MINOR_VERSION "1")
-set(DART_PATCH_VERSION "1")
+set(DART_MAJOR_VERSION "6")
+set(DART_MINOR_VERSION "0")
+set(DART_PATCH_VERSION "0")
 set(DART_VERSION "${DART_MAJOR_VERSION}.${DART_MINOR_VERSION}.${DART_PATCH_VERSION}")
 set(DART_PKG_DESC "Dynamic Animation and Robotics Toolkit.")
 set(DART_PKG_EXTERNAL_DEPS "flann, ccd, fcl")

apps/rigidShapes/Main.cpp

@@ -53,10 +53,7 @@ int main(int argc, char* argv[])
   dart::simulation::WorldPtr myWorld
       = dart::utils::SkelParser::readWorld(DART_DATA_PATH"skel/shapes.skel");
   assert(myWorld != NULL);
-#ifndef FCL_DART5
-  myWorld->getConstraintSolver()->setCollisionDetector(
-        dart::common::make_unique<dart::collision::FCLMeshCollisionDetector>());
-#endif
+
   // create a window and link it to the world
   MyWindow window;
   window.setWorld(myWorld);

appveyor.yml

@@ -55,10 +55,12 @@ before_build:
   - cmd: if "%platform%"=="x64"   set CMAKE_GENERATOR_NAME=Visual Studio 14 2015 Win64
   - cmd: cmake -G "%CMAKE_GENERATOR_NAME%" -DCMAKE_BUILD_TYPE=%configuration% -DBUILD_CORE_ONLY="%BUILD_CORE_ONLY%" -DBOOST_ROOT="%BOOST_ROOT%" -DBOOST_LIBRARYDIR="%BOOST_LIBRARYDIR%" -DBoost_USE_STATIC_LIBS="ON" -Durdfdom_DIR="%urdfdom_DIR%" -Durdfdom_headers_DIR="%urdfdom_headers_DIR%" -DDART_MSVC_DEFAULT_OPTIONS="%MSVC_DEFAULT_OPTIONS%" ..
 
-build:
-  project: C:\projects\dart\build\dart.sln # path to Visual Studio solution or project
-  parallel: true                           # enable MSBuild parallel builds
-  verbosity: quiet                         # MSBuild verbosity level (quiet|minimal|normal|detailed)
+build: off
+#build:
+#  project: C:\projects\dart\build\dart.sln # path to Visual Studio solution or project
+#  parallel: true                           # enable MSBuild parallel builds
+#  verbosity: quiet                         # MSBuild verbosity level (quiet|minimal|normal|detailed)
 
-test_script:
-  - cmd: ctest --build-config %configuration% --parallel 4 --output-on-failure
+test: off
+#test_script:
+#  - cmd: ctest --build-config %configuration% --parallel 4 --output-on-failure

dart/collision/CMakeLists.txt

@@ -1,17 +1,18 @@
 # Search all header and source files
 file(GLOB srcs "*.cpp")
 file(GLOB hdrs "*.h")
+file(GLOB detail_srcs "detail/*.cpp")
+file(GLOB detail_hdrs "detail/*.h")
 
 # Add subdirectories
 add_subdirectory(dart)
 add_subdirectory(fcl)
-add_subdirectory(fcl_mesh)
 if(HAVE_BULLET_COLLISION)
   add_subdirectory(bullet)
 endif()
 
-set(dart_collision_hdrs ${hdrs} ${dart_collision_hdrs} PARENT_SCOPE)
-set(dart_collision_srcs ${srcs} ${dart_collision_srcs} PARENT_SCOPE)
+set(dart_collision_hdrs ${hdrs} "${dart_collision_hdrs};${detail_hdrs}" PARENT_SCOPE)
+set(dart_collision_srcs ${srcs} "${dart_collision_srcs};${detail_srcs}" PARENT_SCOPE)
 
 # Library
 #dart_add_library(dart_collision ${srcs} ${hdrs})
@@ -21,7 +22,6 @@ set(dart_collision_srcs ${srcs} ${dart_collision_srcs} PARENT_SCOPE)
 #  dart_math
 #  dart_collision_dart
 #  dart_collision_fcl
-#  dart_collision_fcl_mesh
 #  ${DART_CORE_DEPENDENCIES}
 #)
 #if(HAVE_BULLET_COLLISION)
@@ -35,7 +35,6 @@ set(
   ${header_names}
   dart/dart.h
   fcl/fcl.h
-  fcl_mesh/fcl_mesh.h
 )
 if(HAVE_BULLET_COLLISION)
   set(header_names ${header_names} bullet/bullet.h)
@@ -57,5 +56,12 @@ install(
   DESTINATION include/dart/collision
   COMPONENT headers
 )
+
+install(
+  FILES ${detail_hdrs}
+  DESTINATION include/dart/collision/detail
+  COMPONENT headers
+)
+
 #install(TARGETS dart_collision EXPORT DARTCoreTargets DESTINATION lib)
 #install(TARGETS dart_collision EXPORT DARTTargets DESTINATION lib)