Update API to support fcl 0.5 and tinyxml2 4.0

CHANGELOG.md

@@ -4,6 +4,7 @@
 
 * Collision detection
 
+  * Added support of FCL 0.5 and tinyxml2 4.0: [#749](https://github.com/dartsim/dart/pull/749)
   * Added warnings for unsupported shape pairs of DARTCollisionDetector: [#722](https://github.com/dartsim/dart/pull/722)
 
 * Misc improvements and bug fixes

dart/collision/fcl/FCLCollisionDetector.cpp

@@ -431,8 +431,6 @@ fcl::BVHModel<BV>* createEllipsoid(float _sizeX, float _sizeY, float _sizeZ)
   return model;
 }
 
-#if FCL_MAJOR_MINOR_VERSION_AT_MOST(0,4)
-
 //==============================================================================
 template<class BV>
 fcl::BVHModel<BV>* createCylinder(double _baseRadius, double _topRadius,
@@ -536,8 +534,6 @@ fcl::BVHModel<BV>* createCylinder(double _baseRadius, double _topRadius,
   return model;
 }
 
-#endif
-
 //==============================================================================
 template<class BV>
 fcl::BVHModel<BV>* createMesh(float _scaleX, float _scaleY, float _scaleZ,
@@ -782,7 +778,7 @@ std::unique_ptr<CollisionObject> FCLCollisionDetector::createCollisionObject(
 }
 
 //==============================================================================
-boost::shared_ptr<fcl::CollisionGeometry>
+fcl_shared_ptr<fcl::CollisionGeometry>
 FCLCollisionDetector::claimFCLCollisionGeometry(
     const dynamics::ConstShapePtr& shape)
 {
@@ -805,7 +801,7 @@ FCLCollisionDetector::claimFCLCollisionGeometry(
 }
 
 //==============================================================================
-boost::shared_ptr<fcl::CollisionGeometry>
+fcl_shared_ptr<fcl::CollisionGeometry>
 FCLCollisionDetector::createFCLCollisionGeometry(
     const dynamics::ConstShapePtr& shape,
     FCLCollisionDetector::PrimitiveShape type,
@@ -943,9 +939,9 @@ FCLCollisionDetector::createFCLCollisionGeometry(
   }
 
   if (geom)
-    return boost::shared_ptr<fcl::CollisionGeometry>(geom, deleter);
+    return fcl_shared_ptr<fcl::CollisionGeometry>(geom, deleter);
   else
-    return boost::shared_ptr<fcl::CollisionGeometry>();
+    return fcl_shared_ptr<fcl::CollisionGeometry>();
 }
 
 //==============================================================================

dart/collision/fcl/FCLCollisionDetector.hpp

@@ -36,6 +36,7 @@
 #include <fcl/collision_object.h>
 #include <boost/weak_ptr.hpp> // This should be removed once we migrate to fcl 0.5
 #include "dart/collision/CollisionDetector.hpp"
+#include "dart/collision/fcl/FCLTypes.hpp"
 
 namespace dart {
 namespace collision {
@@ -130,7 +131,7 @@ class FCLCollisionDetector : public CollisionDetector
 
   /// Return fcl::CollisionGeometry associated with give Shape. New
   /// fcl::CollisionGeome will be created if it hasn't created yet.
-  boost::shared_ptr<fcl::CollisionGeometry> claimFCLCollisionGeometry(
+  fcl_shared_ptr<fcl::CollisionGeometry> claimFCLCollisionGeometry(
       const dynamics::ConstShapePtr& shape);
 
 protected:
@@ -162,15 +163,15 @@ class FCLCollisionDetector : public CollisionDetector
 
   /// Create fcl::CollisionGeometry with the custom deleter
   /// FCLCollisionGeometryDeleter
-  boost::shared_ptr<fcl::CollisionGeometry> createFCLCollisionGeometry(
+  fcl_shared_ptr<fcl::CollisionGeometry> createFCLCollisionGeometry(
       const dynamics::ConstShapePtr& shape,
       FCLCollisionDetector::PrimitiveShape type,
       const FCLCollisionGeometryDeleter& deleter);
 
 private:
 
   using ShapeMap = std::map<dynamics::ConstShapePtr,
-                            boost::weak_ptr<fcl::CollisionGeometry>>;
+                            fcl_weak_ptr<fcl::CollisionGeometry>>;
   // TODO(JS): FCL replaced all the use of boost in version 0.5. Once we migrate
   // to 0.5 or greater, this also should be changed to
   // std::weak_ptr<fcl::CollisionGeometry>

dart/collision/fcl/FCLCollisionObject.cpp

@@ -63,7 +63,7 @@ const fcl::CollisionObject* FCLCollisionObject::getFCLCollisionObject() const
 FCLCollisionObject::FCLCollisionObject(
     CollisionDetector* collisionDetector,
     const dynamics::ShapeFrame* shapeFrame,
-    const boost::shared_ptr<fcl::CollisionGeometry>& fclCollGeom)
+    const fcl_shared_ptr<fcl::CollisionGeometry>& fclCollGeom)
   : CollisionObject(collisionDetector, shapeFrame),
     mFCLCollisionObjectUserData(new UserData(this)),
     mFCLCollisionObject(new fcl::CollisionObject(fclCollGeom))

dart/collision/fcl/FCLCollisionObject.hpp

@@ -34,6 +34,7 @@
 
 #include <fcl/collision_object.h>
 #include "dart/collision/CollisionObject.hpp"
+#include "dart/collision/fcl/FCLTypes.hpp"
 
 namespace dart {
 namespace collision {
@@ -64,7 +65,7 @@ class FCLCollisionObject : public CollisionObject
   /// Constructor
   FCLCollisionObject(CollisionDetector* collisionDetector,
       const dynamics::ShapeFrame* shapeFrame,
-      const boost::shared_ptr<fcl::CollisionGeometry>& fclCollGeom);
+      const fcl_shared_ptr<fcl::CollisionGeometry>& fclCollGeom);
 
   // Documentation inherited
   void updateEngineData() override;

dart/collision/fcl/FCLTypes.hpp

@@ -46,6 +46,14 @@
   (FCL_MAJOR_VERSION < x || (FCL_MAJOR_VERSION <= x && \
   (FCL_MINOR_VERSION < y || (FCL_MINOR_VERSION <= y))))
 
+#if FCL_VERSION_AT_LEAST(0,5,0)
+template <class T> using fcl_shared_ptr = std::shared_ptr<T>;
+template <class T> using fcl_weak_ptr = std::weak_ptr<T>;
+#else
+template <class T> using fcl_shared_ptr = boost::shared_ptr<T>;
+template <class T> using fcl_weak_ptr = boost::weak_ptr<T>;
+#endif
+
 namespace dart {
 namespace collision {
 

dart/utils/XmlHelpers.cpp

@@ -726,7 +726,7 @@ bool getAttributeBool(const tinyxml2::XMLElement* element,
   const int result = element->QueryBoolAttribute(attributeName.c_str(),
                                                  &val);
 
-  if (result != tinyxml2::XML_NO_ERROR)
+  if (result != tinyxml2::XML_SUCCESS)
   {
     dtwarn << "[getAttribute] Error in parsing bool type attribute ["
            << attributeName << "] of an element [" << element->Name()
@@ -744,7 +744,7 @@ int getAttributeInt(const tinyxml2::XMLElement* element,
   int val = 0;
   const int result = element->QueryIntAttribute(attributeName.c_str(), &val);
 
-  if (result != tinyxml2::XML_NO_ERROR)
+  if (result != tinyxml2::XML_SUCCESS)
   {
     dtwarn << "[getAttribute] Error in parsing int type attribute ["
            << attributeName << "] of an element [" << element->Name()
@@ -763,7 +763,7 @@ unsigned int getAttributeUInt(const tinyxml2::XMLElement* element,
   const int result = element->QueryUnsignedAttribute(attributeName.c_str(),
                                                      &val);
 
-  if (result != tinyxml2::XML_NO_ERROR)
+  if (result != tinyxml2::XML_SUCCESS)
   {
     dtwarn << "[getAttribute] Error in parsing unsiged int type attribute ["
            << attributeName << "] of an element [" << element->Name()
@@ -782,7 +782,7 @@ float getAttributeFloat(const tinyxml2::XMLElement* element,
   const int result = element->QueryFloatAttribute(attributeName.c_str(),
                                                   &val);
 
-  if (result != tinyxml2::XML_NO_ERROR)
+  if (result != tinyxml2::XML_SUCCESS)
   {
     dtwarn << "[getAttribute] Error in parsing float type attribute ["
            << attributeName << "] of an element [" << element->Name()
@@ -801,7 +801,7 @@ double getAttributeDouble(const tinyxml2::XMLElement* element,
   const int result = element->QueryDoubleAttribute(attributeName.c_str(),
                                                    &val);
 
-  if (result != tinyxml2::XML_NO_ERROR)
+  if (result != tinyxml2::XML_SUCCESS)
   {
     dtwarn << "[getAttribute] Error in parsing double type attribute ["
            << attributeName << "] of an element [" << element->Name()