Reorganizing DART library composition #652

jslee02 · 2016-03-29T15:02:16Z

Similarly to #587, this RP changes the library composition of DART from {dart-core, dart} to {dart, optional components depending on the 3rd party library dependencies).

This pull request includes #651. See this to see only the changes made after #651.

Componentizing collision is saved for later until we figure out how to handle dynamic library linking of dart to the components. For example, dart should be compiled without dart-collision-bullet, but also dart should be able to load dart-collision-bullet in runtime to use the bullet collision detection in the constraint solver.

…nt libraries depending on dependency 3rd party library requirements

Conflicts: CMakeLists.txt appveyor.yml ci/script_linux.sh ci/script_osx.sh dart/gui/osg/examples/CMakeLists.txt tutorials/CMakeLists.txt

…g/components # Conflicts: # .travis.yml # ci/script_linux.sh # ci/script_osx.sh

…g/components Conflicts: CMakeLists.txt dart/collision/CMakeLists.txt

costashatz · 2016-04-14T11:03:13Z

How far are you from merging this branch?

Also, you should remove the opengl dependency since as far as I have seen you removed the draw functions from dynamics..

Thanks for all the work..

Removing OpenGL dep from main lib

jslee02 · 2016-04-14T12:57:24Z

How far are you from merging this branch?

Probably this PR will be merged today.

costashatz · 2016-04-14T13:55:12Z

dart/gui/CMakeLists.txt

-set(dart_gui_hdrs ${dart_gui_hdrs} ${hdrs})
-set(dart_gui_srcs ${dart_gui_srcs} ${srcs})
+set(dart_gui_hdrs ${dart_gui_hdrs} ${hdrs} ${dart_renderer_hdrs})
+set(dart_gui_srcs ${dart_gui_srcs} ${srcs} ${dart_renderer_srcs})

 # Library
 dart_add_library(dart-gui ${srcs} ${hdrs})


The errors come from the fact that we need to add the dart_renderer_hdrs and dart_renderer_srcs in the dart_add_library command too..

You're correct. This was resolved as renderer was merged into gui as planned.

Here is a quick summary of the dependencies. - mandatories for core library: eigen, ccd, fcl, assimp, boost - optional for component libraries: - dart-optimizer: nlopt, ipopt - dart-collision: bullet - dart-planning: flann - dart-utils: tinyxml, tinyxml2, urdfdom - dart-gui: opengl, glut, openscenegraph

…n 0.4) still returns incorrect contact points for primitive shapes

jslee02 · 2016-04-14T17:42:20Z

In the recent commits:

All the dependencies except for the core library (dart) were changed to optional so that cmake doesn't spit errors when they're missing.
renderer namespace was merged into gui (see Merge renderer namespace into gui namespace #589)
The changes of Use FCLCollisionDetector by default if version >= 0.4 is available #635 was reverted since FCL is not fully functional for primitive shapes yet.
The debian files were updated -- need tests

~~I believe this PR is ready to merge once all the ci tests are passed and if no one has an objection.~~

Fixes collision problem

jslee02 · 2016-04-14T19:23:21Z

@mxgrey Could you take a look at this and merge if it looks good to you?

I merged @costashatz's pull request and added more changes for setting PointMass's collision status.

…solver

mxgrey · 2016-04-15T22:26:15Z

~~Can we make planning a component and make flann an optional dependency? I'll attempt to do this myself and make a pull request targeted at this branch to make it easy to review my changes.~~

After looking more closely, it seems that this is already the case. I was thrown off by this line which seems to imply that flann is a dependency of DART itself. I don't know if that variable is important or not, but perhaps it should be updated.

Adding collision sets to CollisionResult

jslee02 · 2016-04-16T00:34:36Z

I don't know if that variable is important or not, but perhaps it should be updated.

It's used for generating dart.pc, which is a pkg-config file. In most case, DART will be found by DARTConfig.cmake so it wouldn't be used that much. But, yeah, it should be updated. However, I honestly don't know how to set it up for DART components.

jslee02 · 2016-04-16T02:10:47Z

dart/dynamics/BodyNode.h

@@ -1035,7 +1035,7 @@ class BodyNode :
  UniqueProperties mBodyP;

  /// Whether the node is currently in collision with another node.
-  DEPRECATED(6.0)
+  /// \deprecated DEPRECATED(6.0) See #670 for more detail.


Removed the used of DEPRECATED(6.0) for member variable because there is no way to suppress warnings for this. Instead, I put DEPRECATED(6.0) into comment so that we can't miss this when searching deprecated API using this keyword.

mxgrey · 2016-04-16T04:27:59Z

I'm no build system expert, but everything here looks reasonable to me. If @jslee02 is finished with this, I see no problem with merging. 👍

jslee02 added 4 commits March 28, 2016 22:18

Execute assimp symbol tests quietly without messages in cmake time

26497a0

Remove dart-core library and split dart library into multiple compone…

b259145

…nt libraries depending on dependency 3rd party library requirements

Merge branch 'packaging/osgdart' into packaging/components

63a697c

Conflicts: CMakeLists.txt appveyor.yml ci/script_linux.sh ci/script_osx.sh dart/gui/osg/examples/CMakeLists.txt tutorials/CMakeLists.txt

Include DART component files to coverage test

30ca7fe

jslee02 added this to the DART 6.0.0 milestone Mar 29, 2016

This was referenced Mar 29, 2016

Changing header extension from .h to .hpp #653

Closed

Consider using sdformat parser #264

Open

jslee02 and others added 7 commits April 6, 2016 23:09

Merge remote-tracking branch 'origin/packaging/osgdart' into packagin…

eb00773

…g/components # Conflicts: # .travis.yml # ci/script_linux.sh # ci/script_osx.sh

Quote list of files to pass it as a single list parameter

bb31f96

Remove BUILD_CORE_ONLY option from .travis.yml

75ab087

Build using multicore by adding '-j4' option to make command

ecb5aff

Merge remote-tracking branch 'origin/packaging/osgdart' into packagin…

1c4e747

…g/components Conflicts: CMakeLists.txt dart/collision/CMakeLists.txt

correct IPOPT_INCLUDE_DIRS --> NLOPT_INCLUDE_DIRS

9d00105

Merge remote-tracking branch 'origin/master' into packaging/components

f767a9b

Removing OpenGL dep from main lib and fixes for installation

19d71b5

jslee02 mentioned this pull request Apr 14, 2016

Removing OpenGL dep from main lib #667

Merged

Merge pull request #667 from resibots/packaging/components

cb1a272

Removing OpenGL dep from main lib

costashatz and others added 2 commits April 14, 2016 15:05

Fixes #666 - quick n dirty

fcb3fba

Merge renderer namespace into gui namespace

05846ae

costashatz reviewed Apr 14, 2016
View reviewed changes

jslee02 added 6 commits April 14, 2016 10:03

Remove unnecessary cmake script lines

c4ae877

Reverting #635: Keep using mesh for primitive shapes because FCL (eve…

4309abe

…n 0.4) still returns incorrect contact points for primitive shapes

Add OPENGL_FOUND to the condition of adding gui directory to build

f084f49

Update debian files for DART 6.0 -- not tested

eeaebb7

Reduce number of travis ci builds

3d26c2a

Merge pull request #668 from resibots/collision_fix

7513040

Fixes collision problem

Let ConstraintSolver set the colliding status of PointMass

46e9c03

jslee02 assigned mxgrey Apr 14, 2016

jslee02 and others added 7 commits April 14, 2016 17:06

Add simple regression test for #666

d22b556

Made changes according to the discussion in PR #668

5d0d9ff

Function to access the last collision result of a World's constraint …

88dadaa

…solver

created test for new CollisionResult function

8b27d82

removed unnecessary printout

0cf7037

Return a const reference instead of a const value

7cfbb56

Add a comment to motivate asShapeNode()

2eafa54

Merge pull request #670 from dartsim/grey/CollisionResult

bb5ef56

Adding collision sets to CollisionResult

jslee02 added 2 commits April 15, 2016 22:05

Suppress warnings

aeedcbf

Update DART_PKG_EXTERNAL_DEPS

9499a5a

jslee02 reviewed Apr 16, 2016
View reviewed changes

jslee02 merged commit 830b321 into master Apr 16, 2016

jslee02 deleted the packaging/components branch April 16, 2016 04:38

jslee02 mentioned this pull request Apr 16, 2016

Merge renderer namespace into gui namespace #589

Closed

jslee02 mentioned this pull request May 17, 2016

Discussion: namespace vs prefix #728

Closed

jslee02 mentioned this pull request Oct 9, 2016

Export each CMake component/target as a separate file #786

Merged

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Reorganizing DART library composition #652

Reorganizing DART library composition #652

jslee02 commented Mar 29, 2016

costashatz commented Apr 14, 2016

jslee02 commented Apr 14, 2016

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mxgrey commented Apr 16, 2016

Reorganizing DART library composition #652

Reorganizing DART library composition #652

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jslee02 commented Mar 29, 2016

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