Merge master branch into #531

.travis.yml

@@ -2,6 +2,8 @@ language: cpp
 os:
   - linux
   - osx
+sudo: required
+dist: trusty
 compiler:
   - gcc
   - clang
@@ -27,3 +29,4 @@ script:
 after_failure:
   - if [ "$TRAVIS_OS_NAME" = "linux" ]; then '../ci/after_failure_linux.sh' ; fi
   - if [ "$TRAVIS_OS_NAME" = "osx"   ]; then '../ci/after_failure_osx.sh'   ; fi
+

CMakeLists.txt

@@ -1,7 +1,11 @@
 #===============================================================================
 # CMake settings
 #===============================================================================
-cmake_minimum_required(VERSION 2.8.6 FATAL_ERROR)
+if(MSVC)
+  cmake_minimum_required(VERSION 3.1.3)
+else()
+  cmake_minimum_required(VERSION 2.8.6)
+endif()
 
 # Use MACOSX_RPATH by default on OS X. This was added in CMake 2.8.12 and
 # became default in CMake 3.0. Explicitly setting this policy is necessary to
@@ -41,7 +45,7 @@ project(dart)
 
 set(DART_MAJOR_VERSION "5")
 set(DART_MINOR_VERSION "1")
-set(DART_PATCH_VERSION "0")
+set(DART_PATCH_VERSION "1")
 set(DART_VERSION "${DART_MAJOR_VERSION}.${DART_MINOR_VERSION}.${DART_PATCH_VERSION}")
 set(DART_PKG_DESC "Dynamic Animation and Robotics Toolkit.")
 set(DART_PKG_EXTERNAL_DEPS "flann, ccd, fcl")
@@ -62,6 +66,7 @@ option(BUILD_CORE_ONLY "Build only the core of DART" OFF)
 if(MSVC)
   set(DART_RUNTIME_LIBRARY "/MD" CACHE STRING "BaseName chosen by the user at CMake configure time")
   set_property(CACHE DART_RUNTIME_LIBRARY PROPERTY STRINGS /MD /MT)
+  option(DART_MSVC_DEFAULT_OPTIONS "Build DART with default Visual Studio options" OFF)
 else()
   option(BUILD_SHARED_LIBS "Build shared libraries" ON)
 endif()
@@ -150,6 +155,55 @@ endif()
 find_package(ASSIMP 3.0.0 QUIET)
 if(ASSIMP_FOUND)
   message(STATUS "Looking for ASSIMP - ${ASSIMP_VERSION} found")
+
+  # Check for missing symbols in ASSIMP (see #451)
+  include(CheckCXXSourceCompiles)
+  set(CMAKE_REQUIRED_INCLUDES ${ASSIMP_INCLUDE_DIRS})
+  set(CMAKE_REQUIRED_LIBRARIES ${ASSIMP_LIBRARIES})
+
+  check_cxx_source_compiles(
+  "
+  #include <assimp/scene.h>
+  int main()
+  {
+    aiScene* scene = new aiScene;
+    delete scene;
+    return 1;
+  }
+  "
+  ASSIMP_AISCENE_CTOR_DTOR_DEFINED)
+
+  if(NOT ASSIMP_AISCENE_CTOR_DTOR_DEFINED)
+    message(WARNING "The installed version of ASSIMP (${ASSIMP_VERSION}) is "
+                    "missing symbols for the constructor and/or destructor of "
+                    "aiScene. DART will use its own implementations of these "
+                    "functions. We recommend using a version of ASSIMP that "
+                    "does not have this issue, once one becomes available.")
+  endif(NOT ASSIMP_AISCENE_CTOR_DTOR_DEFINED)
+
+  check_cxx_source_compiles(
+  "
+  #include <assimp/material.h>
+  int main()
+  {
+    aiMaterial* material = new aiMaterial;
+    delete material;
+    return 1;
+  }
+  "
+  ASSIMP_AIMATERIAL_CTOR_DTOR_DEFINED)
+
+  if(NOT ASSIMP_AIMATERIAL_CTOR_DTOR_DEFINED)
+    message(WARNING "The installed version of ASSIMP (${ASSIMP_VERSION}) is "
+                    "missing symbols for the constructor and/or destructor of "
+                    "aiMaterial. DART will use its own implementations of "
+                    "these functions. We recommend using a version of ASSIMP "
+                    "that does not have this issue, once one becomes available.")
+  endif(NOT ASSIMP_AIMATERIAL_CTOR_DTOR_DEFINED)
+
+  unset(CMAKE_REQUIRED_INCLUDES)
+  unset(CMAKE_REQUIRED_LIBRARIES)
+
 else()
   if(ASSIMP_VERSION)
     message(SEND_ERROR "Looking for ASSIMP - ${ASSIMP_VERSION} found, ${PROJECT_NAME} requires 3.0.0 or greater.")
@@ -168,7 +222,7 @@ endif()
 
 # Boost
 set(DART_MIN_BOOST_VERSION 1.46.0 CACHE INTERNAL "Boost min version requirement" FORCE)
-if(MSVC OR MSVC90 OR MSVC10)
+if(MSVC)
   add_definitions(-DBOOST_ALL_NO_LIB)
 endif()
 add_definitions(-DBOOST_TEST_DYN_LINK)
@@ -410,7 +464,7 @@ endif()
 #===============================================================================
 execute_process(COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/tools/case_sensitive_filesystem
                 RESULT_VARIABLE FILESYSTEM_CASE_SENSITIVE_RETURN)
-if (${FILESYSTEM_CASE_SENSITIVE_RETURN} EQUAL 0)
+if(${FILESYSTEM_CASE_SENSITIVE_RETURN} EQUAL 0)
   set(FILESYSTEM_CASE_SENSITIVE TRUE)
 else()
   set(FILESYSTEM_CASE_SENSITIVE FALSE)
@@ -420,14 +474,16 @@ endif()
 # Compiler flags
 #===============================================================================
 if(MSVC)
-  message(STATUS "Setup Visual Studio Specific Flags")
   # Visual Studio enables c++11 support by default
-  if(NOT MSVC12)
-    message(FATAL_ERROR "${PROJECT_NAME} requires VS 2013 or greater.")
+  if(NOT MSVC14)
+    message(FATAL_ERROR "${PROJECT_NAME} requires VS 2015 or greater.")
   endif()
-  set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} ${DART_RUNTIME_LIBRARY}d /Zi /Gy /W1 /EHsc")
-  set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${DART_RUNTIME_LIBRARY} /Zi /GL /Gy /W1 /EHsc /arch:SSE2")
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /MP4")
   set(CMAKE_EXE_LINKER_FLAGS_RELEASE "/LTCG /INCREMENTAL:NO")
+  if(NOT DART_MSVC_DEFAULT_OPTIONS)
+    set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} ${DART_RUNTIME_LIBRARY}d /Zi /Gy /W1 /EHsc")
+    set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} ${DART_RUNTIME_LIBRARY} /Zi /GL /Gy /W1 /EHsc /arch:SSE2")
+  endif(NOT DART_MSVC_DEFAULT_OPTIONS)
 elseif(CMAKE_COMPILER_IS_GNUCXX)
   set(CMAKE_CXX_FLAGS "-Wall -msse2 -fPIC")
   execute_process(

Changelog.md

@@ -1,3 +1,37 @@
+### Version 6.0.0 (2015-12-19)
+
+1. Added missing `liburdfdom-dev` dependency in Ubuntu package
+    * [Pull request #574](https://github.com/dartsim/dart/pull/574)
+
+### Version 5.1.1 (2015-11-06)
+
+1. Add bullet dependency to package.xml
+    * [Pull request #523](https://github.com/dartsim/dart/pull/523)
+
+1. Improved handling of missing symbols of Assimp package
+    * [Pull request #542](https://github.com/dartsim/dart/pull/542)
+
+1. Improved travis-ci build log for Mac
+    * [Pull request #529](https://github.com/dartsim/dart/pull/529)
+
+1. Fixed warnings in Function.cpp
+    * [Pull request #550](https://github.com/dartsim/dart/pull/550)
+
+1. Fixed build failures on AppVeyor
+    * [Pull request #543](https://github.com/dartsim/dart/pull/543)
+
+1. Fixed const qualification of ResourceRetriever
+    * [Pull request #534](https://github.com/dartsim/dart/pull/534)
+    * [Issue #532](https://github.com/dartsim/dart/issues/532)
+
+1. Fixed aligned memory allocation with Eigen objects
+    * [Pull request #527](https://github.com/dartsim/dart/pull/527)
+
+1. Fixed copy safety for various classes
+    * [Pull request #526](https://github.com/dartsim/dart/pull/526)
+    * [Pull request #539](https://github.com/dartsim/dart/pull/539)
+    * [Issue #524](https://github.com/dartsim/dart/issues/524)
+
 ### Version 5.1.0 (2015-10-15)
 
 1. Fixed incorrect rotational motion of BallJoint and FreeJoint
@@ -292,7 +326,7 @@
     * [Pull request #277](https://github.com/dartsim/dart/pull/277)
 1. Added all-inclusive header and namespace headers
     * [Pull request #278](https://github.com/dartsim/dart/pull/278)
-1. Added DegreeOfFreedom class for getting/setting data of individual generalized coordinates 
+1. Added DegreeOfFreedom class for getting/setting data of individual generalized coordinates
     * [Pull request #288](https://github.com/dartsim/dart/pull/288)
 1. Added hybrid dynamics
     * [Pull request #298](https://github.com/dartsim/dart/pull/298)
@@ -445,4 +479,3 @@
 1. Clean-up of the Robot class
 1. Removed Object class
 1. More robust build and installation process on Linux
-

apps/atlasSimbicon/Controller.cpp

@@ -231,7 +231,7 @@ void Controller::harnessPelvis()
     return;
 
   BodyNode* bd = mAtlasRobot->getBodyNode("pelvis");
-  mWeldJointConstraintPelvis = new WeldJointConstraint(bd);
+  mWeldJointConstraintPelvis = std::make_shared<WeldJointConstraint>(bd);
   mConstratinSolver->addConstraint(mWeldJointConstraintPelvis);
   mPelvisHarnessOn = true;
 
@@ -257,7 +257,7 @@ void Controller::harnessLeftFoot()
     return;
 
   BodyNode* bd = mAtlasRobot->getBodyNode("l_foot");
-  mWeldJointConstraintLeftFoot = new WeldJointConstraint(bd);
+  mWeldJointConstraintLeftFoot = std::make_shared<WeldJointConstraint>(bd);
   mLeftFootHarnessOn = true;
 
   dtmsg << "Left foot is harnessed." << std::endl;
@@ -282,7 +282,7 @@ void Controller::harnessRightFoot()
     return;
 
   BodyNode* bd = mAtlasRobot->getBodyNode("r_foot");
-  mWeldJointConstraintRightFoot = new WeldJointConstraint(bd);
+  mWeldJointConstraintRightFoot = std::make_shared<WeldJointConstraint>(bd);
   mRightFootHarnessOn = true;
 
   dtmsg << "Right foot is harnessed." << std::endl;

apps/atlasSimbicon/Controller.h

@@ -172,13 +172,13 @@ class Controller
   dart::dynamics::BodyNode* _getRightFoot() const;
 
   /// \brief Weld joint constraint for pelvis harnessing
-  dart::constraint::WeldJointConstraint* mWeldJointConstraintPelvis;
+  dart::constraint::WeldJointConstraintPtr mWeldJointConstraintPelvis;
 
   /// \brief Weld joint constraint for left foot harnessing
-  dart::constraint::WeldJointConstraint* mWeldJointConstraintLeftFoot;
+  dart::constraint::WeldJointConstraintPtr mWeldJointConstraintLeftFoot;
 
   /// \brief Weld joint constraint for right foot harnessing
-  dart::constraint::WeldJointConstraint* mWeldJointConstraintRightFoot;
+  dart::constraint::WeldJointConstraintPtr mWeldJointConstraintRightFoot;
 
   /// \brief Initial state of the robot
   Eigen::VectorXd mInitialState;

apps/jointConstraints/MyWindow.cpp

@@ -142,7 +142,7 @@ void MyWindow::keyboard(unsigned char key, int x, int y)
       if (mHarnessOn)
       {
         BodyNode* bd = mWorld->getSkeleton(1)->getBodyNode("h_pelvis");
-        mWeldJoint = new WeldJointConstraint(bd);
+        mWeldJoint = std::make_shared<WeldJointConstraint>(bd);
         mWorld->getConstraintSolver()->addConstraint(mWeldJoint);
       }
       else

apps/jointConstraints/MyWindow.h

@@ -72,7 +72,7 @@ class MyWindow : public dart::gui::SimWindow
 private:
   Eigen::Vector3d mForce;
   Controller* mController;
-  dart::constraint::WeldJointConstraint* mWeldJoint;
+  dart::constraint::WeldJointConstraintPtr mWeldJoint;
   int mImpulseDuration;
   bool mHarnessOn;
 

apps/rigidLoop/Main.cpp

@@ -74,7 +74,8 @@ int main(int argc, char* argv[])
   bd2->getVisualizationShape(0)->setColor(Eigen::Vector3d(1.0, 0.0, 0.0));
   Eigen::Vector3d offset(0.0, 0.025, 0.0);
   Eigen::Vector3d jointPos = bd1->getTransform() * offset;
-  BallJointConstraint *cl = new BallJointConstraint( bd1, bd2, jointPos);
+  BallJointConstraintPtr cl =
+      std::make_shared<BallJointConstraint>( bd1, bd2, jointPos);
   //WeldJointConstraint *cl = new WeldJointConstraint(bd1, bd2);
   myWorld->getConstraintSolver()->addConstraint(cl);
 

appveyor.yml

@@ -11,8 +11,9 @@ platform:
 
 # specify custom environment variables
 environment:
+  MSVC_DEFAULT_OPTIONS: ON
   BOOST_ROOT: C:\Libraries\boost
-  BOOST_LIBRARYDIR: C:\Libraries\boost\stage\lib
+  BOOST_LIBRARYDIR: C:\Libraries\boost\lib32-msvc-12.0
   BUILD_EXAMPLES: OFF  # don't build examples to not exceed allowed build time (40 min)
   BUILD_TUTORIALS: OFF  # don't build tutorials to not exceed allowed build time (40 min)
   matrix:
@@ -43,7 +44,7 @@ branches:
 
 # scripts that run after cloning repository
 install:
-  - ps: cd "C:\projects\dart\ci"
+  - ps: cd C:\projects\dart\ci
   - ps: .\appveyor_install.ps1
 
 # scripts to run before build
@@ -54,7 +55,7 @@ before_build:
   # We generate project files for Visual Studio 12 because the boost binaries installed on the test server are for Visual Studio 12.
   - cmd: if "%platform%"=="Win32" set CMAKE_GENERATOR_NAME=Visual Studio 12
   - cmd: if "%platform%"=="x64"   set CMAKE_GENERATOR_NAME=Visual Studio 12 Win64
-  - cmd: cmake -G "%CMAKE_GENERATOR_NAME%" -DCMAKE_BUILD_TYPE=%configuration% -DBUILD_CORE_ONLY="%BUILD_CORE_ONLY%" -DDART_BUILD_EXAMPLES="%BUILD_EXAMPLES%" -DDART_BUILD_TUTORIALS="%BUILD_TUTORIALS%" -DBOOST_ROOT="%BOOST_ROOT%" -DBOOST_LIBRARYDIR="%BOOST_LIBRARYDIR%" -DBoost_USE_STATIC_LIBS="ON" -Durdfdom_DIR="%urdfdom_DIR%" -Durdfdom_headers_DIR="%urdfdom_headers_DIR%" ..
+  - cmd: cmake -G "%CMAKE_GENERATOR_NAME%" -DCMAKE_BUILD_TYPE=%configuration% -DBUILD_CORE_ONLY="%BUILD_CORE_ONLY%" -DDART_BUILD_EXAMPLES="%BUILD_EXAMPLES%" -DDART_BUILD_TUTORIALS="%BUILD_TUTORIALS%" -DBOOST_ROOT="%BOOST_ROOT%" -DBOOST_LIBRARYDIR="%BOOST_LIBRARYDIR%" -DBoost_USE_STATIC_LIBS="ON" -Durdfdom_DIR="%urdfdom_DIR%" -Durdfdom_headers_DIR="%urdfdom_headers_DIR%" -DDART_MSVC_DEFAULT_OPTIONS="%MSVC_DEFAULT_OPTIONS%" ..
 
 build:
   project: C:\projects\dart\build\dart.sln # path to Visual Studio solution or project

ci/before_install_linux.sh

@@ -1,61 +1,29 @@
-before_install() {
-  cd /tmp
-
-  # Install nlopt from source since Ubuntu 12.04 does not provide debian package for nlopt
-  curl -o nlopt-2.4.1.tar.gz http://ab-initio.mit.edu/nlopt/nlopt-2.4.1.tar.gz
-  tar -xf nlopt-2.4.1.tar.gz
-  cd nlopt-2.4.1/
-  sh autogen.sh &>/dev/null  # mute the output
-  make CPPFLAGS='-fPIC' && sudo make install &>/dev/null  # mute the output
-}
-
-# Install gcc-4.8 and g++-4.8 for C++11
-sudo apt-get -qq --yes install python-software-properties 
-sudo add-apt-repository --yes ppa:ubuntu-toolchain-r/test
-sudo apt-get -qq update
-sudo apt-get -qq --yes install gcc-4.8 g++-4.8
-sudo apt-get -qq --yes autoremove
-sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.8 50
-sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-4.8 50
-
-# Install eigen-3.2.1 (for unsupported/Eigen/Splines)
-wget --quiet -O libeigen3-dev_3.2.1-1~precise1_all.deb http://packages.yade-dem.org/precise/libeigen3-dev_3.2.1-1~precise1_all.deb
-sudo dpkg -i libeigen3-dev_3.2.1-1~precise1_all.deb
-
-# Install boost 1.55 compatible with C++11
-wget --quiet -O boost_1_55_0.tar.gz http://sourceforge.net/projects/boost/files/boost/1.55.0/boost_1_55_0.tar.gz/download
-tar -xzf boost_1_55_0.tar.gz
-cd boost_1_55_0/
-sudo apt-get -qq update
-sudo apt-get -qq install build-essential g++ python-dev autotools-dev libicu-dev build-essential libbz2-dev 
-./bootstrap.sh --prefix=/usr/local &>/dev/null  # mute the output
-n=`cat /proc/cpuinfo | grep "cpu cores" | uniq | awk '{print $NF}'`
-sudo ./b2 --with=all -j $n install &>/dev/null  # mute the output
-sudo sh -c 'echo "/usr/local/lib" >> /etc/ld.so.conf.d/local.conf'
-sudo ldconfig
-
-sudo add-apt-repository --yes ppa:libccd-debs/ppa
-sudo add-apt-repository --yes ppa:fcl-debs/ppa
-sudo add-apt-repository --yes ppa:dartsim/ppa
+sudo apt-add-repository --yes ppa:libccd-debs/ppa
+sudo apt-add-repository --yes ppa:fcl-debs/ppa
+sudo apt-add-repository --yes ppa:dartsim/ppa
 sudo apt-get -qq update
 
 APT_CORE='
 cmake
 libassimp-dev
+libboost-all-dev
 libccd-dev
+libeigen3-dev
 libfcl-dev
 '
 
-APT=$APT_CORE' 
+APT=$APT_CORE'
 freeglut3-dev
 libxi-dev
 libxmu-dev
 libflann-dev
+libnlopt-dev
 coinor-libipopt-dev
 libtinyxml-dev
 libtinyxml2-dev
 liburdfdom-dev
 liburdfdom-headers-dev
+libopenscenegraph-dev
 '
 
 if [ $BUILD_CORE_ONLY = OFF ]; then
@@ -64,5 +32,3 @@ else
   sudo apt-get -qq --yes --force-yes install $APT_CORE
 fi
 
-(before_install)
-

dart/CMakeLists.txt

@@ -36,6 +36,7 @@ set(dart_core_hdrs
   ${dart_optimizer_hdrs}
   ${dart_collision_hdrs}
   ${dart_constraint_hdrs}
+  ${dart_renderer_hdrs}
   ${dart_simulation_hdrs}
 )
 set(dart_core_srcs
@@ -47,20 +48,19 @@ set(dart_core_srcs
   ${dart_optimizer_srcs}
   ${dart_collision_srcs}
   ${dart_constraint_srcs}
+  ${dart_renderer_srcs}
   ${dart_simulation_srcs}
 )
 if(NOT BUILD_CORE_ONLY)
   set(dart_hdrs
     dart.h
     ${dart_gui_hdrs}
     ${dart_planning_hdrs}
-    ${dart_renderer_hdrs}
     ${dart_utils_hdrs}
   )
   set(dart_srcs
     ${dart_gui_srcs}
     ${dart_planning_srcs}
-    ${dart_renderer_srcs}
     ${dart_utils_srcs}
   )
 endif()