Merge pull request #654 from dartsim/deprecate_draw_from_dynamics

Deprecate draw functions of classes in dynamics namespace
dartsim · Apr 3, 2016 · 896a678 · 896a678
2 parents 836d16f + deffdcd
commit 896a678
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Showing 67 changed files with 483 additions and 898 deletions.
diff --git a/apps/addDeleteSkels/MyWindow.cpp b/apps/addDeleteSkels/MyWindow.cpp
@@ -45,11 +45,11 @@ MyWindow::~MyWindow() {
 }
 
 
-void MyWindow::drawSkels() {
+void MyWindow::drawWorld() const {
   glEnable(GL_LIGHTING);
   glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
 
-  SimWindow::drawSkels();
+  SimWindow::drawWorld();
 }
 
 void MyWindow::keyboard(unsigned char _key, int _x, int _y) {

diff --git a/apps/addDeleteSkels/MyWindow.h b/apps/addDeleteSkels/MyWindow.h
@@ -50,7 +50,7 @@ class MyWindow : public dart::gui::SimWindow {
   virtual ~MyWindow();
 
   /// \brief
-  virtual void drawSkels();
+  virtual void drawWorld() const override;
 
   /// \brief
   virtual void keyboard(unsigned char _key, int _x, int _y);

diff --git a/apps/atlasSimbicon/MyWindow.cpp b/apps/atlasSimbicon/MyWindow.cpp
@@ -81,7 +81,7 @@ void MyWindow::drawSkels()
 //  glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
 
   for (unsigned int i = 0; i < mWorld->getNumSkeletons(); i++)
-    mWorld->getSkeleton(i)->draw(mRI);
+    drawSkeleton(mWorld->getSkeleton(i).get());
 
   // draw arrow
   if (mImpulseDuration > 0)

diff --git a/apps/bipedStand/MyWindow.cpp b/apps/bipedStand/MyWindow.cpp
@@ -62,9 +62,9 @@ void MyWindow::timeStepping() {
   }
 }
 
-void MyWindow::drawSkels() {
-  for (unsigned int i = 0; i < mWorld->getNumSkeletons(); i++)
-    mWorld->getSkeleton(i)->draw(mRI);
+void MyWindow::drawWorld() const {
+
+  SimWindow::drawWorld();
 
   // draw arrow
   if (mImpulseDuration > 0) {

diff --git a/apps/bipedStand/MyWindow.h b/apps/bipedStand/MyWindow.h
@@ -52,7 +52,7 @@ class MyWindow : public dart::gui::SimWindow {
   virtual ~MyWindow();
 
   virtual void timeStepping();
-  virtual void drawSkels();
+  virtual void drawWorld() const override;
   virtual void keyboard(unsigned char _key, int _x, int _y);
 
   void setController(Controller* _controller);

diff --git a/apps/hardcodedDesign/MyWindow.cpp b/apps/hardcodedDesign/MyWindow.cpp
@@ -47,7 +47,7 @@ void MyWindow::draw() {
   glDisable(GL_LIGHTING);
   glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
   glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
-  skel->draw(mRI);
+  drawSkeleton(skel.get());
 }
 
 void MyWindow::keyboard(unsigned char _key, int _x, int _y) {

diff --git a/apps/hardcodedDesign/MyWindow.h b/apps/hardcodedDesign/MyWindow.h
@@ -49,10 +49,10 @@
 
 #include "dart/dart.h"
 
-class MyWindow : public dart::gui::Win3D {
+class MyWindow : public dart::gui::SimWindow {
 public:
   /// \brief The constructor - set the position of the skeleton
-  explicit MyWindow(dart::dynamics::SkeletonPtr _skel): Win3D(), skel(_skel) {
+  explicit MyWindow(dart::dynamics::SkeletonPtr _skel): SimWindow(), skel(_skel) {
     mTrans[1] = 200.f;
     mZoom = 0.3;
   }

diff --git a/apps/hybridDynamics/MyWindow.cpp b/apps/hybridDynamics/MyWindow.cpp
@@ -73,12 +73,12 @@ void MyWindow::timeStepping()
 }
 
 //==============================================================================
-void MyWindow::drawSkels()
+void MyWindow::drawWorld() const
 {
   glEnable(GL_LIGHTING);
   glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
 
-  SimWindow::drawSkels();
+  SimWindow::drawWorld();
 }
 
 //==============================================================================

diff --git a/apps/hybridDynamics/MyWindow.h b/apps/hybridDynamics/MyWindow.h
@@ -53,7 +53,7 @@ class MyWindow : public dart::gui::SimWindow
   virtual void timeStepping();
 
   /// \brief
-  virtual void drawSkels();
+  virtual void drawWorld() const override;
 
   /// \brief
   virtual void keyboard(unsigned char _key, int _x, int _y);

diff --git a/apps/jointConstraints/MyWindow.cpp b/apps/jointConstraints/MyWindow.cpp
@@ -65,7 +65,7 @@ void MyWindow::timeStepping()
 void MyWindow::drawSkels()
 {
   for (unsigned int i = 0; i < mWorld->getNumSkeletons(); i++)
-    mWorld->getSkeleton(i)->draw(mRI);
+    drawSkeleton(mWorld->getSkeleton(i).get());
 
   // draw arrow
   if (mImpulseDuration > 0)

diff --git a/apps/mixedChain/MyWindow.cpp b/apps/mixedChain/MyWindow.cpp
@@ -77,7 +77,7 @@ void MyWindow::timeStepping()
   mForceOnVertex /= 2.0;
 }
 
-void MyWindow::drawSkels()
+void MyWindow::drawWorld() const
 {
   glEnable(GL_LIGHTING);
   glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
@@ -99,7 +99,7 @@ void MyWindow::drawSkels()
     dart::gui::drawArrow3D(start, mForceOnRigidBody, len, 0.025, 0.05);
   }
 
-  SimWindow::drawSkels();
+  SimWindow::drawWorld();
 }
 
 void MyWindow::keyboard(unsigned char key, int x, int y)

diff --git a/apps/mixedChain/MyWindow.h b/apps/mixedChain/MyWindow.h
@@ -62,7 +62,7 @@ class MyWindow : public dart::gui::SoftSimWindow
   virtual void keyboard(unsigned char key, int x, int y);
 
   /// \brief
-  virtual void drawSkels();
+  virtual void drawWorld() const override;
 
 private:
   /// \brief

diff --git a/apps/operationalSpaceControl/MyWindow.cpp b/apps/operationalSpaceControl/MyWindow.cpp
@@ -81,7 +81,7 @@ void MyWindow::timeStepping()
 }
 
 //==============================================================================
-void MyWindow::drawSkels()
+void MyWindow::drawWorld() const
 {
   // Draw the target position
   if (mRI)
@@ -93,8 +93,8 @@ void MyWindow::drawSkels()
     mRI->popMatrix();
   }
 
-  // Draw skeletons
-  SimWindow::drawSkels();
+  // Draw world
+  SimWindow::drawWorld();
 }
 
 //==============================================================================

diff --git a/apps/operationalSpaceControl/MyWindow.h b/apps/operationalSpaceControl/MyWindow.h
@@ -55,7 +55,7 @@ class MyWindow : public dart::gui::SimWindow
   virtual void timeStepping();
 
   // Documentation inherited
-  virtual void drawSkels();
+  virtual void drawWorld() const override;
 
   // Documentation inherited
   virtual void keyboard(unsigned char _key, int _x, int _y);

diff --git a/apps/rigidCubes/MyWindow.cpp b/apps/rigidCubes/MyWindow.cpp
@@ -51,11 +51,11 @@ void MyWindow::timeStepping() {
   mForce /= 2.0;
 }
 
-void MyWindow::drawSkels() {
+void MyWindow::drawWorld() const {
   glEnable(GL_LIGHTING);
   glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
 
-  SimWindow::drawSkels();
+  SimWindow::drawWorld();
 }
 
 void MyWindow::keyboard(unsigned char _key, int _x, int _y) {

diff --git a/apps/rigidCubes/MyWindow.h b/apps/rigidCubes/MyWindow.h
@@ -53,7 +53,7 @@ class MyWindow : public dart::gui::SimWindow {
   virtual void timeStepping();
 
   /// \brief
-  virtual void drawSkels();
+  virtual void drawWorld() const override;
 
   /// \brief
   virtual void keyboard(unsigned char _key, int _x, int _y);

diff --git a/apps/rigidShapes/MyWindow.cpp b/apps/rigidShapes/MyWindow.cpp
@@ -64,12 +64,12 @@ void MyWindow::timeStepping()
 }
 
 //==============================================================================
-void MyWindow::drawSkels()
+void MyWindow::drawWorld() const
 {
   glEnable(GL_LIGHTING);
   glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
 
-  SimWindow::drawSkels();
+  SimWindow::drawWorld();
 }
 
 //==============================================================================

diff --git a/apps/rigidShapes/MyWindow.h b/apps/rigidShapes/MyWindow.h
@@ -62,7 +62,7 @@ class MyWindow : public dart::gui::SimWindow
   virtual void keyboard(unsigned char key, int x, int y) override;
 
   // Documentation inherited
-  virtual void drawSkels() override;
+  virtual void drawWorld() const override;
 
   /// Spawn a box into the world
   void spawnBox(

diff --git a/apps/softBodies/MyWindow.cpp b/apps/softBodies/MyWindow.cpp
@@ -76,13 +76,13 @@ void MyWindow::timeStepping()
   mForceOnVertex /= 2.0;
 }
 
-void MyWindow::drawSkels()
+void MyWindow::drawWorld() const
 {
   glEnable(GL_LIGHTING);
   glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
   Eigen::Vector4d color;
   color << 0.5, 0.8, 0.6, 1.0;
-  mWorld->getSkeleton(0)->draw(mRI, color, false);
+  drawSkeleton(mWorld->getSkeleton(0).get(), color, false);
 
   // draw arrow
   if (mImpulseDuration > 0)
@@ -98,7 +98,7 @@ void MyWindow::drawSkels()
     dart::gui::drawArrow3D(start, mForceOnRigidBody, len, 0.025, 0.05);
   }
 
-  SimWindow::drawSkels();
+  SimWindow::drawWorld();
 }
 
 void MyWindow::keyboard(unsigned char key, int x, int y)

diff --git a/apps/softBodies/MyWindow.h b/apps/softBodies/MyWindow.h
@@ -62,7 +62,7 @@ class MyWindow : public dart::gui::SoftSimWindow
   virtual void keyboard(unsigned char key, int x, int y);
 
   /// \brief
-  virtual void drawSkels();
+  virtual void drawWorld() const override;
 
 private:
   /// \brief

diff --git a/apps/vehicle/MyWindow.cpp b/apps/vehicle/MyWindow.cpp
@@ -69,11 +69,11 @@ void MyWindow::timeStepping() {
   mWorld->step();
 }
 
-void MyWindow::drawSkels() {
+void MyWindow::drawWorld() const {
   glEnable(GL_LIGHTING);
   glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
 
-  SimWindow::drawSkels();
+  SimWindow::drawWorld();
 }
 
 void MyWindow::keyboard(unsigned char _key, int _x, int _y) {

diff --git a/apps/vehicle/MyWindow.h b/apps/vehicle/MyWindow.h
@@ -53,7 +53,7 @@ class MyWindow : public dart::gui::SimWindow {
   virtual void timeStepping();
 
   /// \brief
-  virtual void drawSkels();
+  virtual void drawWorld() const override;
 
   /// \brief
   virtual void keyboard(unsigned char _key, int _x, int _y);

diff --git a/dart/collision/fcl_mesh/FCLMeshCollisionDetector.cpp b/dart/collision/fcl_mesh/FCLMeshCollisionDetector.cpp
@@ -42,7 +42,6 @@
 
 #include <fcl/collision.h>
 
-#include "dart/renderer/LoadOpengl.h"
 #include "dart/math/Helpers.h"
 #include "dart/dynamics/BodyNode.h"
 #include "dart/dynamics/SoftBodyNode.h"
@@ -140,15 +139,5 @@ bool FCLMeshCollisionDetector::detectCollision(CollisionNode* _node1,
         mNumMaxContacts);
 }
 
-//==============================================================================
-void FCLMeshCollisionDetector::draw()
-{
-  for (size_t i = 0; i < mCollisionNodes.size(); i++)
-  {
-    static_cast<FCLMeshCollisionNode*>(
-        mCollisionNodes[i])->drawCollisionSkeletonNode();
-  }
-}
-
 }  // namespace collision
 }  // namespace dart
diff --git a/dart/collision/fcl_mesh/FCLMeshCollisionDetector.h b/dart/collision/fcl_mesh/FCLMeshCollisionDetector.h
@@ -69,9 +69,6 @@ class FCLMeshCollisionDetector : public CollisionDetector
   // Documentation inherited
   virtual bool detectCollision(CollisionNode* _node1, CollisionNode* _node2,
                                bool _calculateContactPoints);
-
-  ///
-  void draw();
 };
 
 }  // namespace collision

diff --git a/dart/collision/fcl_mesh/FCLMeshCollisionNode.cpp b/dart/collision/fcl_mesh/FCLMeshCollisionNode.cpp
@@ -51,7 +51,6 @@
 #include "dart/dynamics/EllipsoidShape.h"
 #include "dart/dynamics/CylinderShape.h"
 #include "dart/dynamics/SoftMeshShape.h"
-#include "dart/renderer/LoadOpengl.h"
 #include "dart/collision/fcl_mesh/CollisionShapes.h"
 #include "dart/collision/fcl_mesh/FCLMeshCollisionDetector.h"
 
@@ -432,41 +431,6 @@ int FCLMeshCollisionNode::evalContactPosition(
   return testRes;
 }
 
-//==============================================================================
-void FCLMeshCollisionNode::drawCollisionSkeletonNode(bool _bTrans)
-{
-  evalRT();
-  double M[16];
-  for (int i = 0; i < 4; i++)
-    for (int j = 0; j < 4; j++)
-      M[j * 4 + i] = mWorldTrans(i, j);
-//  fcl::Vec3f v1, v2, v3;
-  glPushMatrix();
-  if (_bTrans)
-    glMultMatrixd(M);
-  glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
-  glBegin(GL_TRIANGLES);
-  for (size_t i = 0; i < mMeshes.size(); i++)
-  {
-    for (int j = 0; j < mMeshes[i]->num_tris; j++)
-    {
-      fcl::Triangle tri = mMeshes[i]->tri_indices[j];
-      glVertex3f(mMeshes[i]->vertices[tri[0]][0],
-                 mMeshes[i]->vertices[tri[0]][1],
-                 mMeshes[i]->vertices[tri[0]][2]);
-      glVertex3f(mMeshes[i]->vertices[tri[1]][0],
-                 mMeshes[i]->vertices[tri[1]][1],
-                 mMeshes[i]->vertices[tri[1]][2]);
-      glVertex3f(mMeshes[i]->vertices[tri[2]][0],
-                 mMeshes[i]->vertices[tri[2]][1],
-                 mMeshes[i]->vertices[tri[2]][2]);
-    }
-  }
-  glEnd();
-  glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
-  glPopMatrix();
-}
-
 //==============================================================================
 template<class BV>
 fcl::BVHModel<BV>* createSoftMesh(const aiMesh* _mesh,

diff --git a/dart/collision/fcl_mesh/FCLMeshCollisionNode.h b/dart/collision/fcl_mesh/FCLMeshCollisionNode.h
@@ -102,9 +102,6 @@ class FCLMeshCollisionNode : public CollisionNode
                                  Eigen::Vector3d* _contactPosition1,
                                  Eigen::Vector3d* _contactPosition2);
 
-  ///
-  void drawCollisionSkeletonNode(bool _bTrans = true);
-
 private:
   ///
   static int FFtest(