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): we probably should remove this option or add another build options for other extensions as well for consistency.
 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/libosgKido0-dev.install

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

debian/libosgKido0.1.install

@@ -1 +1 @@
-usr/lib/libosgKido.so.*
+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 +36,20 @@
 
 #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 {
 
 DefaultEventHandler::DefaultEventHandler(Viewer* _viewer)
   : mViewer(_viewer),
@@ -442,4 +442,5 @@ void DefaultEventHandler::handleDestructionNotification(
     mMouseEventHandlers.erase(it);
 }
 
-} // namespace osgKido
+} // namespace gui
+} // namespace kido

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

@@ -49,13 +49,13 @@
 #include "kido/common/Observer.hpp"
 
 namespace kido {
+
 namespace dynamics {
 class Entity;
 class Shape;
 } // dynamics
-} // kido
 
-namespace osgKido
+namespace gui
 {
 
 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::Viewer that this event handler is tied to
   Viewer* mViewer;
 
   /// Set of MouseEventHandlers that are tied to this DefaultEventHandler
@@ -231,6 +231,7 @@ class DefaultEventHandler : public osgGA::GUIEventHandler,
 
 };
 
-} // namespace osgKido
+} // namespace gui
+} // namespace kido
 
 #endif // OSGKIDO_DEFAULTEVENTHANDLER_HPP

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

@@ -34,11 +34,11 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "osgKido/DragAndDrop.hpp"
-#include "osgKido/DefaultEventHandler.hpp"
-#include "osgKido/Viewer.hpp"
-#include "osgKido/InteractiveFrame.hpp"
-#include "osgKido/MouseEventHandler.hpp"
+#include "kido/gui/osg/DragAndDrop.hpp"
+#include "kido/gui/osg/DefaultEventHandler.hpp"
+#include "kido/gui/osg/Viewer.hpp"
+#include "kido/gui/osg/InteractiveFrame.hpp"
+#include "kido/gui/osg/MouseEventHandler.hpp"
 
 #include "kido/dynamics/SimpleFrame.hpp"
 #include "kido/dynamics/MeshShape.hpp"
@@ -49,7 +49,8 @@
 
 #include "kido/math/Helpers.hpp"
 
-namespace osgKido {
+namespace kido {
+namespace gui {
 
 DragAndDrop::DragAndDrop(Viewer* viewer, kido::dynamics::Entity* entity)
   : mViewer(viewer),
@@ -83,12 +84,12 @@ void DragAndDrop::update()
   if(nullptr == mEntity)
     return;
 
-  osgKido::MouseButtonEvent event =
+  kido::gui::MouseButtonEvent event =
       mViewer->getDefaultEventHandler()->getButtonEvent(LEFT_MOUSE);
 
   if(mAmMoving)
   {
-    if(osgKido::BUTTON_RELEASE == event)
+    if(kido::gui::BUTTON_RELEASE == event)
     {
       mAmMoving = false;
       release();
@@ -98,13 +99,13 @@ void DragAndDrop::update()
   }
   else // not moving
   {
-    if(osgKido::BUTTON_PUSH == event)
+    if(kido::gui::BUTTON_PUSH == event)
     {
-      const std::vector<osgKido::PickInfo>& picks =
+      const std::vector<kido::gui::PickInfo>& picks =
           mViewer->getDefaultEventHandler()->getButtonPicks(
-            osgKido::LEFT_MOUSE, osgKido::BUTTON_PUSH);
+            kido::gui::LEFT_MOUSE, kido::gui::BUTTON_PUSH);
 
-      for(const osgKido::PickInfo& pick : picks)
+      for(const kido::gui::PickInfo& pick : picks)
       {
         if(pick.entity == mEntity)
         {
@@ -332,25 +333,25 @@ void SimpleFrameShapeDnD::update()
   if(nullptr == mEntity || nullptr == mShape)
     return;
 
-  osgKido::MouseButtonEvent event =
+  kido::gui::MouseButtonEvent event =
       mViewer->getDefaultEventHandler()->getButtonEvent(LEFT_MOUSE);
 
   if(mAmMoving)
   {
-    if(osgKido::BUTTON_RELEASE == event)
+    if(kido::gui::BUTTON_RELEASE == event)
       mAmMoving = false;
 
     move();
   }
   else
   {
-    if(osgKido::BUTTON_PUSH == event)
+    if(kido::gui::BUTTON_PUSH == event)
     {
-      const std::vector<osgKido::PickInfo>& picks =
+      const std::vector<kido::gui::PickInfo>& picks =
           mViewer->getDefaultEventHandler()->getButtonPicks(
-            osgKido::LEFT_MOUSE, osgKido::BUTTON_PUSH);
+            kido::gui::LEFT_MOUSE, kido::gui::BUTTON_PUSH);
 
-      for(const osgKido::PickInfo& pick : picks)
+      for(const kido::gui::PickInfo& pick : picks)
       {
         if(pick.entity == mEntity && pick.shape.get() == mShape)
         {
@@ -801,5 +802,5 @@ osgGA::GUIEventAdapter::ModKeyMask BodyNodeDnD::getJointRestrictionModKey() cons
   return mJointRestrictionModKey;
 }
 
-
-} // namespace osgKido
+} // namespace gui
+} // namespace kido

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

@@ -47,19 +47,18 @@
 #include "DefaultEventHandler.hpp"
 
 namespace kido {
+
 namespace dynamics {
 class SimpleFrame;
 } // namespace dynamics
-} // namespace kido
 
-namespace osgKido
-{
+namespace gui {
 
 class Viewer;
 class InteractiveFrame;
 
 /// DragAndDrop is a class that facilitates enabling various kinds of kido
-/// Entities to be dragged and dropped in an osgKido environment
+/// Entities to be dragged and dropped in an kido-gui-osg environment
 class DragAndDrop : public kido::common::Subject,
                     public kido::common::Observer
 {
@@ -245,7 +244,7 @@ class InteractiveFrameDnD : public DragAndDrop
 public:
 
   /// Constructor
-  InteractiveFrameDnD(Viewer* viewer, osgKido::InteractiveFrame* frame);
+  InteractiveFrameDnD(Viewer* viewer, kido::gui::InteractiveFrame* frame);
 
   /// Virtual destructor
   virtual ~InteractiveFrameDnD() = default;
@@ -357,7 +356,7 @@ class BodyNodeDnD : public DragAndDrop
   size_t mAdditionalBodyNodes;
 };
 
-} // namespace osgKido
-
+} // namespace gui
+} // namespace kido
 
 #endif // OSGKIDO_DRAGANDDROP_HPP