Drop supporting FCL < 0.5 (#1647)

CHANGELOG.md

@@ -2,6 +2,10 @@
 
 ### [DART 6.13.0 (TBD)](https://github.com/dartsim/dart/milestone/69?closed=1)
 
+* Build
+
+  * Dropped supporting FCL < 0.5: [#1647](https://github.com/dartsim/dart/pull/1647)
+
 * Common
 
   * Added Castable class: [#1634](https://github.com/dartsim/dart/pull/1634)

cmake/DARTFindBoost.cmake

@@ -6,7 +6,7 @@
 #
 # This file is provided under the "BSD-style" License
 
-set(DART_MIN_BOOST_VERSION 1.58.0 CACHE INTERNAL "Boost min version requirement" FORCE)
+set(DART_MIN_BOOST_VERSION 1.65.1 CACHE INTERNAL "Boost min version requirement" FORCE)
 if(MSVC)
   add_definitions(-DBOOST_ALL_NO_LIB)
 endif()

cmake/DARTFindassimp.cmake

@@ -10,10 +10,11 @@ find_package(assimp REQUIRED MODULE)
 
 # Manually check version because the upstream version compatibility policy
 # doesn't allow different major number while DART is compatible any version
-# greater than or equal to 3.2.
-if(ASSIMP_VERSION AND ASSIMP_VERSION VERSION_LESS 3.2)
-  message(SEND_ERROR "Found Assimp ${ASSIMP_VERSION}, but Assimp >= 3.2 is "
-    "required"
+# greater than or equal to 4.1.
+set(DART_ASSIMP_VERSION 4.1)
+if(ASSIMP_VERSION AND ASSIMP_VERSION VERSION_LESS ${DART_ASSIMP_VERSION})
+  message(SEND_ERROR "Found Assimp ${ASSIMP_VERSION}, but Assimp >= ${DART_ASSIMP_VERSION}
+    is required"
   )
 endif()
 

cmake/DARTFindoctomap.cmake

@@ -6,7 +6,7 @@
 #
 # This file is provided under the "BSD-style" License
 
-find_package(octomap 1.6.8 QUIET CONFIG)
+find_package(octomap 1.8.1 QUIET CONFIG)
 
 if(octomap_FOUND AND NOT TARGET octomap)
   add_library(octomap INTERFACE IMPORTED)

dart/collision/fcl/BackwardCompatibility.hpp

@@ -35,6 +35,7 @@
 
 #include <Eigen/Dense>
 
+#include "dart/common/Deprecated.hpp"
 #include "dart/config.hpp"
 
 // clang-format off
@@ -88,30 +89,23 @@
   #endif // FCL_VERSION_AT_LEAST(0,6,0)
 #endif   // HAVE_OCTOMAP && FCL_HAVE_OCTOMAP
 
-#if FCL_VERSION_AT_LEAST(0, 5, 0)
-  #include <memory>
+#include <memory>
+
+/// \deprecated Use std::shared_ptr() instead
 template <class T>
 using fcl_shared_ptr = std::shared_ptr<T>;
+
+/// \deprecated Use std::weak_ptr() instead
 template <class T>
 using fcl_weak_ptr = std::weak_ptr<T>;
+
+/// \deprecated Use std::make_shared() instead
 template <class T, class... Args>
-fcl_shared_ptr<T> fcl_make_shared(Args&&... args)
+DART_DEPRECATED(6.13)
+std::shared_ptr<T> fcl_make_shared(Args&&... args)
 {
   return std::make_shared<T>(std::forward<Args>(args)...);
 }
-#else
-  #include <boost/make_shared.hpp>
-  #include <boost/weak_ptr.hpp>
-template <class T>
-using fcl_shared_ptr = boost::shared_ptr<T>;
-template <class T>
-using fcl_weak_ptr = boost::weak_ptr<T>;
-template <class T, class... Args>
-fcl_shared_ptr<T> fcl_make_shared(Args&&... args)
-{
-  return boost::make_shared<T>(std::forward<Args>(args)...);
-}
-#endif // FCL_VERSION_AT_LEAST(0,5,0)
 
 namespace dart {
 namespace collision {
@@ -169,7 +163,7 @@ using DistanceResult = ::fcl::DistanceResult;
 using Contact = ::fcl::Contact;
 #endif
 
-#if FCL_VERSION_AT_LEAST(0, 4, 0) && !FCL_VERSION_AT_LEAST(0, 6, 0)
+#if !FCL_VERSION_AT_LEAST(0, 6, 0)
 using Ellipsoid = ::fcl::Ellipsoid;
 #endif
 

dart/collision/fcl/FCLCollisionDetector.cpp

@@ -857,7 +857,7 @@ void FCLCollisionDetector::refreshCollisionObject(CollisionObject* const object)
 }
 
 //==============================================================================
-fcl_shared_ptr<fcl::CollisionGeometry>
+std::shared_ptr<fcl::CollisionGeometry>
 FCLCollisionDetector::claimFCLCollisionGeometry(
     const dynamics::ConstShapePtr& shape)
 {
@@ -885,7 +885,7 @@ FCLCollisionDetector::claimFCLCollisionGeometry(
 }
 
 //==============================================================================
-fcl_shared_ptr<fcl::CollisionGeometry>
+std::shared_ptr<fcl::CollisionGeometry>
 FCLCollisionDetector::createFCLCollisionGeometry(
     const dynamics::ConstShapePtr& shape,
     FCLCollisionDetector::PrimitiveShape type,
@@ -942,12 +942,7 @@ FCLCollisionDetector::createFCLCollisionGeometry(
 
     if (FCLCollisionDetector::PRIMITIVE == type)
     {
-#if FCL_VERSION_AT_LEAST(0, 4, 0)
       geom = new fcl::Ellipsoid(FCLTypes::convertVector3(radii));
-#else
-      geom = createEllipsoid<fcl::OBBRSS>(
-          radii[0] * 2.0, radii[1] * 2.0, radii[2] * 2.0);
-#endif
     }
     else
     {
@@ -1079,7 +1074,7 @@ FCLCollisionDetector::createFCLCollisionGeometry(
     geom = createEllipsoid<fcl::OBBRSS>(0.1, 0.1, 0.1);
   }
 
-  return fcl_shared_ptr<fcl::CollisionGeometry>(geom, deleter);
+  return std::shared_ptr<fcl::CollisionGeometry>(geom, deleter);
 }
 
 //==============================================================================
@@ -1657,9 +1652,7 @@ void convertOption(
 {
   request.num_max_contacts = option.maxNumContacts;
   request.enable_contact = option.enableContact;
-#if FCL_VERSION_AT_LEAST(0, 3, 0)
   request.gjk_solver_type = ::fcl::GST_LIBCCD;
-#endif
 }
 
 //==============================================================================

dart/collision/fcl/FCLCollisionDetector.hpp

@@ -147,7 +147,7 @@ class FCLCollisionDetector : public CollisionDetector
 
   /// Return fcl::CollisionGeometry associated with give Shape. New
   /// fcl::CollisionGeome will be created if it hasn't created yet.
-  fcl_shared_ptr<dart::collision::fcl::CollisionGeometry>
+  std::shared_ptr<dart::collision::fcl::CollisionGeometry>
   claimFCLCollisionGeometry(const dynamics::ConstShapePtr& shape);
 
 protected:
@@ -176,15 +176,15 @@ class FCLCollisionDetector : public CollisionDetector
   struct ShapeInfo final
   {
     /// A weak reference to the shape
-    fcl_weak_ptr<dart::collision::fcl::CollisionGeometry> mShape;
+    std::weak_ptr<dart::collision::fcl::CollisionGeometry> mShape;
 
     /// The last version of the shape, as known by this collision detector
     std::size_t mLastKnownVersion;
   };
 
   /// Create fcl::CollisionGeometry with the custom deleter
   /// FCLCollisionGeometryDeleter
-  fcl_shared_ptr<dart::collision::fcl::CollisionGeometry>
+  std::shared_ptr<dart::collision::fcl::CollisionGeometry>
   createFCLCollisionGeometry(
       const dynamics::ConstShapePtr& shape,
       FCLCollisionDetector::PrimitiveShape type,

dart/collision/fcl/FCLCollisionObject.cpp

@@ -57,7 +57,7 @@ FCLCollisionObject::getFCLCollisionObject() const
 FCLCollisionObject::FCLCollisionObject(
     CollisionDetector* collisionDetector,
     const dynamics::ShapeFrame* shapeFrame,
-    const fcl_shared_ptr<dart::collision::fcl::CollisionGeometry>& fclCollGeom)
+    const std::shared_ptr<dart::collision::fcl::CollisionGeometry>& fclCollGeom)
   : CollisionObject(collisionDetector, shapeFrame),
     mFCLCollisionObject(new dart::collision::fcl::CollisionObject(fclCollGeom))
 {
@@ -83,14 +83,8 @@ void FCLCollisionObject::updateEngineData()
     const_cast<SoftMeshShape*>(softMeshShape)->update();
     // TODO(JS): update function be called by somewhere out of here.
 
-#if FCL_VERSION_AT_LEAST(0, 3, 0)
     auto collGeom = const_cast<dart::collision::fcl::CollisionGeometry*>(
         mFCLCollisionObject->collisionGeometry().get());
-#else
-    dart::collision::fcl::CollisionGeometry* collGeom
-        = const_cast<dart::collision::fcl::CollisionGeometry*>(
-            mFCLCollisionObject->getCollisionGeometry());
-#endif
     assert(
         dynamic_cast<::fcl::BVHModel<dart::collision::fcl::OBBRSS>*>(collGeom));
     auto bvhModel

dart/collision/fcl/FCLCollisionObject.hpp

@@ -55,7 +55,7 @@ class FCLCollisionObject : public CollisionObject
   FCLCollisionObject(
       CollisionDetector* collisionDetector,
       const dynamics::ShapeFrame* shapeFrame,
-      const fcl_shared_ptr<dart::collision::fcl::CollisionGeometry>&
+      const std::shared_ptr<dart::collision::fcl::CollisionGeometry>&
           fclCollGeom);
 
   // Documentation inherited

dart/constraint/ConstraintSolver.cpp

@@ -757,7 +757,7 @@ void ConstraintSolver::addContactSurfaceHandler(
   if (handler == mContactSurfaceHandler)
   {
     dterr << "Adding the same contact surface handler for the second time, "
-             "ignoring." << std::endl;
+          << "ignoring.\n";
     return;
   }
   handler->setParent(mContactSurfaceHandler);

dart/constraint/ContactSurface.hpp

@@ -113,7 +113,7 @@ class ContactSurfaceHandler
   ///                   when adding a new one. It is suggested to keep this
   ///                   paradigm if used elsewhere.
   explicit ContactSurfaceHandler(ContactSurfaceHandlerPtr parent = nullptr);
-  
+
   virtual ~ContactSurfaceHandler() = default;
 
   /// Create parameters of the contact constraint. This method should combine
@@ -152,7 +152,7 @@ class DefaultContactSurfaceHandler : public ContactSurfaceHandler
 {
 public:
   virtual ~DefaultContactSurfaceHandler() = default;
-  
+
   // Documentation inherited
   ContactSurfaceParams createParams(
       const collision::Contact& contact,

dart/dynamics/VoxelGridShape.cpp

@@ -79,19 +79,20 @@ octomap::pose6d toPose6d(const Eigen::Isometry3d& frame)
 //==============================================================================
 VoxelGridShape::VoxelGridShape(double resolution) : Shape()
 {
-  setOctree(fcl_make_shared<octomap::OcTree>(resolution));
+  setOctree(std::make_shared<octomap::OcTree>(resolution));
 
   mVariance = DYNAMIC_ELEMENTS;
 }
 
 //==============================================================================
-VoxelGridShape::VoxelGridShape(fcl_shared_ptr<octomap::OcTree> octree) : Shape()
+VoxelGridShape::VoxelGridShape(std::shared_ptr<octomap::OcTree> octree)
+  : Shape()
 {
   if (!octree)
   {
     dtwarn << "[VoxelGridShape] Attempting to assign null octree. Creating an "
            << "empty octree with resolution 0.01 instead.\n";
-    setOctree(fcl_make_shared<octomap::OcTree>(0.01));
+    setOctree(std::make_shared<octomap::OcTree>(0.01));
     return;
   }
 
@@ -112,7 +113,7 @@ const std::string& VoxelGridShape::getStaticType()
 }
 
 //==============================================================================
-void VoxelGridShape::setOctree(fcl_shared_ptr<octomap::OcTree> octree)
+void VoxelGridShape::setOctree(std::shared_ptr<octomap::OcTree> octree)
 {
   if (!octree)
   {
@@ -134,13 +135,13 @@ void VoxelGridShape::setOctree(fcl_shared_ptr<octomap::OcTree> octree)
 }
 
 //==============================================================================
-fcl_shared_ptr<octomap::OcTree> VoxelGridShape::getOctree()
+std::shared_ptr<octomap::OcTree> VoxelGridShape::getOctree()
 {
   return mOctree;
 }
 
 //==============================================================================
-fcl_shared_ptr<const octomap::OcTree> VoxelGridShape::getOctree() const
+std::shared_ptr<const octomap::OcTree> VoxelGridShape::getOctree() const
 {
   return mOctree;
 }
@@ -220,7 +221,7 @@ void VoxelGridShape::notifyColorUpdated(const Eigen::Vector4d& /*color*/)
 ShapePtr VoxelGridShape::clone() const
 {
   return std::make_shared<VoxelGridShape>(
-      fcl_make_shared<octomap::OcTree>(*mOctree));
+      std::make_shared<octomap::OcTree>(*mOctree));
 }
 
 //==============================================================================

dart/dynamics/VoxelGridShape.hpp

@@ -56,7 +56,7 @@ class VoxelGridShape : public Shape
 
   /// Constructs from a octomap::OcTree.
   /// \param[in] octree Octree.
-  explicit VoxelGridShape(fcl_shared_ptr<octomap::OcTree> octree);
+  explicit VoxelGridShape(std::shared_ptr<octomap::OcTree> octree);
 
   /// Destructor.
   ~VoxelGridShape() override = default;
@@ -68,13 +68,13 @@ class VoxelGridShape : public Shape
   static const std::string& getStaticType();
 
   /// Sets octree.
-  void setOctree(fcl_shared_ptr<octomap::OcTree> octree);
+  void setOctree(std::shared_ptr<octomap::OcTree> octree);
 
   /// Returns octree.
-  fcl_shared_ptr<octomap::OcTree> getOctree();
+  std::shared_ptr<octomap::OcTree> getOctree();
 
   /// Returns octree.
-  fcl_shared_ptr<const octomap::OcTree> getOctree() const;
+  std::shared_ptr<const octomap::OcTree> getOctree() const;
 
   /// Updates the occupancy probability of the voxels where \c point is located.
   ///
@@ -158,7 +158,7 @@ class VoxelGridShape : public Shape
   void updateVolume() const override;
 
   /// Octree.
-  fcl_shared_ptr<octomap::OcTree> mOctree;
+  std::shared_ptr<octomap::OcTree> mOctree;
   // TODO(JS): Use std::shared_ptr once we drop supporting FCL (< 0.5)
 };