Merge pull request #588 from dartsim/package_reorganizing_osgKido_rename

Change namespace and directory of osgKido

CMakeLists.txt

@@ -69,7 +69,7 @@ if(MSVC)
 else()
   option(BUILD_SHARED_LIBS "Build shared libraries" ON)
 endif()
-option(KIDO_BUILD_OSGKIDO "Build osgKido library" ON)
+option(KIDO_BUILD_OSGKIDO "Build osgKido library" ON) # TODO(JS): Rename the option name to more relevant name to osg GUI and add more options for other extensions (#590).
 option(KIDO_BUILD_EXAMPLES "Build examples" ON)
 option(KIDO_BUILD_TUTORIALS "Build tutorials" ON)
 option(KIDO_BUILD_UNITTESTS "Build unit tests" ON)
@@ -255,6 +255,31 @@ else()
   endif()
 endif()
 
+# OpenSceneGraph
+find_package(OpenSceneGraph 3.0 QUIET
+  COMPONENTS osg osgViewer osgManipulator osgGA osgDB)
+if(OPENSCENEGRAPH_FOUND)
+  message(STATUS "Looking for OpenSceneGraph -- ${OPENSCENEGRAPH_VERSION} found")
+  set(HAVE_OPENSCENEGRAPH TRUE)
+else(OPENSCENEGRAPH_FOUND)
+  # kido-gui-osg requires both OSG and OpenThreads. This section attempts to
+  # identify which of those are missing from the building machine and offer
+  # advice to the user for getting osgKido to build.
+  find_package(OpenThreads QUIET)
+  if(OPENTHREADS_FOUND)
+    set(warning_msg "Could NOT find OpenSceneGraph")
+  else(OPENTHREADS_FOUND)
+    if(OSG_LIBRARY)
+      set(warning_msg "Could NOT find OpenThreads")
+    else(OSG_LIBRARY)
+      set(warning_msg "Could NOT find OpenSceneGraph nor OpenThreads")
+    endif(OSG_LIBRARY)
+  endif(OPENTHREADS_FOUND)
+  message(WARNING "${warning_msg} -- we will skip kido-gui-osg\n"
+          "If you believe you do have both OSG and OpenThreads installed, try setting OSG_DIR")
+  set(HAVE_OPENSCENEGRAPH FALSE)
+endif(OPENSCENEGRAPH_FOUND)
+
 # FLANN
 find_package(FLANN 1.8.4 QUIET)
 if(FLANN_FOUND)
@@ -567,10 +592,6 @@ install(FILES package.xml DESTINATION share/${PROJECT_NAME})
 #===============================================================================
 add_subdirectory(kido)
 
-if(KIDO_BUILD_OSGKIDO)
-  add_subdirectory(osgKido)
-endif(KIDO_BUILD_OSGKIDO)
-
 # Unit tests
 if(KIDO_BUILD_UNITTESTS)
   enable_testing()

ci/before_install_osx.sh

@@ -20,7 +20,7 @@ ipopt
 ros/deps/urdfdom
 ros/deps/urdfdom_headers
 ros/deps/console_bridge
-ros/deps/gtest
+open-scene-graph
 '
 
 brew install $PACKAGES | grep -v '%$'

debian/control

@@ -283,14 +283,15 @@ Description: Kinematics Dynamics and Optimization Library for Animation and Robo
  Multibody dynamic simulation in KIDO is an extension of RTQL8, an open source
  software created by the Georgia Tech Graphics Lab.
 
-Package: libkido-optimizer-nlopt0-dev
+Package: libkido-gui-osg0-dev
 Section: libdevel
 Architecture: any
 Pre-Depends: ${misc:Pre-Depends}
 Depends: ${misc:Depends},
-         libkido0-dev,
-         libkido-optimizer-nlopt0.1 (= ${binary:Version}),
-         libnlopt-dev
+         libkido-gui0-dev,
+         libkido-gui-osg0.1 (= ${binary:Version}),
+         libopenthreads-dev,
+         libopenscenegraph-dev
 Description: Kinematics Dynamics and Optimization Library for Animation and Robotics, development component files
  KIDO is a collaborative, cross-platform, open source library created by the
  Georgia Tech Graphics Lab and Humanoid Robotics Lab. The library provides data
@@ -315,7 +316,7 @@ Description: Kinematics Dynamics and Optimization Library for Animation and Robo
  Multibody dynamic simulation in KIDO is an extension of RTQL8, an open source
  software created by the Georgia Tech Graphics Lab.
 
-Package: libkido-optimizer-nlopt0.1
+Package: libkido-gui-osg0.1
 Section: libs
 Architecture: any
 Pre-Depends: ${misc:Pre-Depends}
@@ -345,14 +346,14 @@ Description: Kinematics Dynamics and Optimization Library for Animation and Robo
  Multibody dynamic simulation in KIDO is an extension of RTQL8, an open source
  software created by the Georgia Tech Graphics Lab.
 
-Package: libkido-optimizer-ipopt0-dev
+Package: libkido-optimizer-nlopt0-dev
 Section: libdevel
 Architecture: any
 Pre-Depends: ${misc:Pre-Depends}
 Depends: ${misc:Depends},
          libkido0-dev,
-         libkido-optimizer-ipopt0.1 (= ${binary:Version}),
-         coinor-libipopt-dev
+         libkido-optimizer-nlopt0.1 (= ${binary:Version}),
+         libnlopt-dev
 Description: Kinematics Dynamics and Optimization Library for Animation and Robotics, development component files
  KIDO is a collaborative, cross-platform, open source library created by the
  Georgia Tech Graphics Lab and Humanoid Robotics Lab. The library provides data
@@ -377,7 +378,7 @@ Description: Kinematics Dynamics and Optimization Library for Animation and Robo
  Multibody dynamic simulation in KIDO is an extension of RTQL8, an open source
  software created by the Georgia Tech Graphics Lab.
 
-Package: libkido-optimizer-ipopt0.1
+Package: libkido-optimizer-nlopt0.1
 Section: libs
 Architecture: any
 Pre-Depends: ${misc:Pre-Depends}
@@ -407,17 +408,14 @@ Description: Kinematics Dynamics and Optimization Library for Animation and Robo
  Multibody dynamic simulation in KIDO is an extension of RTQL8, an open source
  software created by the Georgia Tech Graphics Lab.
 
-Package: libosgKido0-dev
+Package: libkido-optimizer-ipopt0-dev
 Section: libdevel
 Architecture: any
 Pre-Depends: ${misc:Pre-Depends}
 Depends: ${misc:Depends},
          libkido0-dev,
-         libkido-planning0-dev,
-         libkido-utils0-dev,
-         libosgKido0.1 (= ${binary:Version}),
-         libopenthreads-dev,
-         libopenscenegraph-dev
+         libkido-optimizer-ipopt0.1 (= ${binary:Version}),
+         coinor-libipopt-dev
 Description: Kinematics Dynamics and Optimization Library for Animation and Robotics, development component files
  KIDO is a collaborative, cross-platform, open source library created by the
  Georgia Tech Graphics Lab and Humanoid Robotics Lab. The library provides data
@@ -442,7 +440,7 @@ Description: Kinematics Dynamics and Optimization Library for Animation and Robo
  Multibody dynamic simulation in KIDO is an extension of RTQL8, an open source
  software created by the Georgia Tech Graphics Lab.
 
-Package: libosgKido0.1
+Package: libkido-optimizer-ipopt0.1
 Section: libs
 Architecture: any
 Pre-Depends: ${misc:Pre-Depends}
@@ -470,4 +468,4 @@ Description: Kinematics Dynamics and Optimization Library for Animation and Robo
  KIDO has applications in robotics and computer animation because it features a
  multibody dynamic simulator and tools for control and motion planning.
  Multibody dynamic simulation in KIDO is an extension of RTQL8, an open source
- software created by the Georgia Tech Graphics Lab.
+ software created by the Georgia Tech Graphics Lab.

debian/libkido-gui-osg0-dev.install

@@ -0,0 +1,2 @@
+usr/include/kido/gui/osg/*
+usr/lib/libkido-gui-osg.so

debian/libkido-gui-osg0.1.install

@@ -0,0 +1 @@
+usr/lib/libkido-gui-osg.so.*

kido/config.hpp.in

@@ -46,6 +46,7 @@
 #cmakedefine HAVE_IPOPT 1
 #cmakedefine HAVE_SNOPT 1
 #cmakedefine HAVE_BULLET_COLLISION 1
+#cmakedefine HAVE_OPENSCENEGRAPH 1
 
 #define KIDO_ROOT_PATH "@CMAKE_SOURCE_DIR@/"
 #define KIDO_DATA_PATH "@CMAKE_SOURCE_DIR@/data/"

kido/gui/CMakeLists.txt

@@ -4,12 +4,18 @@ file(GLOB hdrs "*.hpp")
 
 include_directories(SYSTEM ${GLUT_INCLUDE_DIR})
 
+# Add subdirectories
+if(HAVE_OPENSCENEGRAPH)
+  add_subdirectory(osg)
+endif(HAVE_OPENSCENEGRAPH)
+
 # Library
 kido_add_library(kido-gui ${srcs} ${hdrs})
 target_link_libraries(kido-gui kido kido-utils ${GLUT_LIBRARY})
 
 # Generate header for this namespace
 kido_get_filename_components(header_names "gui headers" ${hdrs})
+list(APPEND header_names "osg/osg.hpp")
 kido_generate_include_header_list(
   gui_headers
   "kido/gui/"

kido/gui/osg/CMakeLists.txt

@@ -0,0 +1,40 @@
+include_directories(SYSTEM ${OPENSCENEGRAPH_INCLUDE_DIRS})
+
+# Search all header and source files
+file(GLOB srcs "*.cpp")
+file(GLOB hdrs "*.hpp")
+
+set(kido_gui_osg_srcs ${srcs})
+set(kido_gui_osg_hdrs ${hdrs})
+
+add_subdirectory(render)
+
+# Library
+kido_add_library(kido-gui-osg ${kido_gui_osg_srcs} ${kido_gui_osg_hdrs})
+target_link_libraries(kido-gui-osg kido kido-utils ${OPENSCENEGRAPH_LIBRARIES})
+
+# Generate header for this namespace
+kido_get_filename_components(header_names "gui osg headers" ${hdrs})
+list(APPEND header_names "render/render.hpp")
+kido_generate_include_header_list(
+  gui_osg_headers
+  "kido/gui/osg/"
+  "gui osg headers"
+  ${header_names}
+)
+configure_file(
+  ${CMAKE_CURRENT_SOURCE_DIR}/osg.hpp.in
+  ${CMAKE_CURRENT_BINARY_DIR}/osg.hpp
+)
+
+if(${KIDO_BUILD_EXAMPLES})
+  add_subdirectory(examples)
+endif(${KIDO_BUILD_EXAMPLES})
+
+# Install
+install(
+  FILES ${hdrs} ${CMAKE_CURRENT_BINARY_DIR}/osg.hpp
+  DESTINATION include/kido/gui/osg
+  COMPONENT headers
+)
+install(TARGETS kido-gui-osg EXPORT KIDOTargets DESTINATION lib)

osgKido/DefaultEventHandler.cpp → kido/gui/osg/DefaultEventHandler.cpp

@@ -36,20 +36,21 @@
 
 #include <osgGA/GUIEventAdapter>
 
-#include "osgKido/DefaultEventHandler.hpp"
-#include "osgKido/MouseEventHandler.hpp"
-#include "osgKido/Viewer.hpp"
-#include "osgKido/render/ShapeNode.hpp"
-#include "osgKido/EntityNode.hpp"
-#include "osgKido/Utils.hpp"
+#include "kido/gui/osg/DefaultEventHandler.hpp"
+#include "kido/gui/osg/MouseEventHandler.hpp"
+#include "kido/gui/osg/Viewer.hpp"
+#include "kido/gui/osg/render/ShapeNode.hpp"
+#include "kido/gui/osg/EntityNode.hpp"
+#include "kido/gui/osg/Utils.hpp"
 
 #include "kido/dynamics/Entity.hpp"
 
 
 #include <iostream>
 
-namespace osgKido
-{
+namespace kido {
+namespace gui {
+namespace osg {
 
 DefaultEventHandler::DefaultEventHandler(Viewer* _viewer)
   : mViewer(_viewer),
@@ -103,7 +104,7 @@ Eigen::Vector3d DefaultEventHandler::getDeltaCursor(
     ConstraintType _constraint,
     const Eigen::Vector3d& _constraintVector) const
 {
-  osg::Vec3d eye, center, up;
+  ::osg::Vec3d eye, center, up;
   mViewer->getCamera()->getViewMatrixAsLookAt(eye, center, up);
 
   Eigen::Vector3d near, far;
@@ -150,15 +151,15 @@ void DefaultEventHandler::getNearAndFarPointUnderCursor(Eigen::Vector3d& near,
                                                         Eigen::Vector3d& far,
                                                         double distance) const
 {
-  osg::Camera* C = mViewer->getCamera();
-  osg::Matrix VPW = C->getViewMatrix() * C->getProjectionMatrix()
+  ::osg::Camera* C = mViewer->getCamera();
+  ::osg::Matrix VPW = C->getViewMatrix() * C->getProjectionMatrix()
       * C->getViewport()->computeWindowMatrix();
-  osg::Matrix invVPW;
+  ::osg::Matrix invVPW;
   invVPW.invert(VPW);
 
   double x = getWindowCursorX(), y = getWindowCursorY();
-  osg::Vec3 osgNear = osg::Vec3(x,y,0.0) * invVPW;
-  osg::Vec3 osgFar = osg::Vec3(x,y,distance) * invVPW;
+  ::osg::Vec3 osgNear = ::osg::Vec3(x,y,0.0) * invVPW;
+  ::osg::Vec3 osgFar = ::osg::Vec3(x,y,distance) * invVPW;
 
   near = osgToEigVec3(osgNear);
   far = osgToEigVec3(osgFar);
@@ -224,7 +225,7 @@ void DefaultEventHandler::pick(std::vector<PickInfo>& infoVector,
     infoVector.reserve(hlist.size());
     for(const osgUtil::LineSegmentIntersector::Intersection& intersect : hlist)
     {
-      osg::Drawable* drawable = intersect.drawable;
+      ::osg::Drawable* drawable = intersect.drawable;
       render::ShapeNode* shape =
           dynamic_cast<render::ShapeNode*>(drawable->getParent(0));
       if(shape)
@@ -442,4 +443,6 @@ void DefaultEventHandler::handleDestructionNotification(
     mMouseEventHandlers.erase(it);
 }
 
-} // namespace osgKido
+} // namespace osg
+} // namespace gui
+} // namespace kido

osgKido/DefaultEventHandler.hpp → kido/gui/osg/DefaultEventHandler.hpp

@@ -34,8 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef OSGKIDO_DEFAULTEVENTHANDLER_HPP
-#define OSGKIDO_DEFAULTEVENTHANDLER_HPP
+#ifndef KIDO_GUI_OSG_DEFAULTEVENTHANDLER_HPP
+#define KIDO_GUI_OSG_DEFAULTEVENTHANDLER_HPP
 
 #include <vector>
 #include <array>
@@ -49,14 +49,14 @@
 #include "kido/common/Observer.hpp"
 
 namespace kido {
+
 namespace dynamics {
 class Entity;
 class Shape;
 } // dynamics
-} // kido
 
-namespace osgKido
-{
+namespace gui {
+namespace osg {
 
 struct PickInfo
 {
@@ -198,7 +198,7 @@ class DefaultEventHandler : public osgGA::GUIEventHandler,
   virtual void handleDestructionNotification(
       const kido::common::Subject* _subject) override;
 
-  /// osgKido::Viewer that this event handler is tied to
+  /// kido::gui::osg::Viewer that this event handler is tied to
   Viewer* mViewer;
 
   /// Set of MouseEventHandlers that are tied to this DefaultEventHandler
@@ -231,6 +231,8 @@ class DefaultEventHandler : public osgGA::GUIEventHandler,
 
 };
 
-} // namespace osgKido
+} // namespace osg
+} // namespace gui
+} // namespace kido
 
-#endif // OSGKIDO_DEFAULTEVENTHANDLER_HPP
+#endif // KIDO_GUI_OSG_DEFAULTEVENTHANDLER_HPP