Merge remote-tracking branch 'origin/master' into release-6.0

Changelog.md → CHANGELOG.md

@@ -1,9 +1,108 @@
 ## DART 6
 
-### Version 6.0.0 (2015-12-19)
+### DART 6.0.0 (2016-05-10)
+
+* Common data structures
+
+  * Added `Node`, `Aspect`, `State`, and `Properties`: [#713](https://github.com/dartsim/dart/pull/713), [#712](https://github.com/dartsim/dart/issues/712), [#708](https://github.com/dartsim/dart/pull/708), [#707](https://github.com/dartsim/dart/pull/707), [#659](https://github.com/dartsim/dart/pull/659), [#649](https://github.com/dartsim/dart/pull/649), [#645](https://github.com/dartsim/dart/issues/645), [#607](https://github.com/dartsim/dart/pull/607), [#598](https://github.com/dartsim/dart/pull/598), [#591](https://github.com/dartsim/dart/pull/591), [#531](https://github.com/dartsim/dart/pull/531) 
+  * Added mathematical constants and user-defined literals for radian, degree, and pi: [#669](https://github.com/dartsim/dart/pull/669), [#314](https://github.com/dartsim/dart/issues/314)
+  * Added `ShapeFrame` and `ShapeNode`: [#608](https://github.com/dartsim/dart/pull/608)
+  * Added `BoundingBox`: [#547](https://github.com/dartsim/dart/pull/547), [#546](https://github.com/dartsim/dart/issues/546)
+
+* Kinematics features:
+
+  * Added convenient functions for setting joint limits: [#703](https://github.com/dartsim/dart/pull/703)
+  * Added more description on `InverseKinematics::solve()`: [#624](https://github.com/dartsim/dart/pull/624)
+  * Added API for utilizing analytical inverse kinematics: [#530](https://github.com/dartsim/dart/pull/530), [#463](https://github.com/dartsim/dart/issues/463)
+  * Added color property to `Marker`: [#187](https://github.com/dartsim/dart/issues/187)
+  * Improved `Skeleton` to clone `State` as well: [#691](https://github.com/dartsim/dart/pull/691)
+  * Improved `ReferentialSkeleton` to be able to add and remove `BodyNode`s and `DegreeOfFreedom`s to/from `Group`s freely: [#557](https://github.com/dartsim/dart/pull/557), [#556](https://github.com/dartsim/dart/issues/556), [#548](https://github.com/dartsim/dart/issues/548)
+  * Changed `Marker` into `Node`: [#692](https://github.com/dartsim/dart/pull/692), [#609](https://github.com/dartsim/dart/issues/609)
+  * Renamed `Joint::get/setLocal[~]` to `Joint::get/setRelative[~]`: [#715](https://github.com/dartsim/dart/pull/715), [#714](https://github.com/dartsim/dart/issues/714)
+  * Renamed `PositionLimited` to `PositionLimitEnforced`: [#447](https://github.com/dartsim/dart/issues/447)
+  * Fixed initialization of joint position and velocity: [#691](https://github.com/dartsim/dart/pull/691), [#621](https://github.com/dartsim/dart/pull/621)
+  * Fixed `InverseKinematics` when it's used with `FreeJoint` and `BallJoint`: [#683](https://github.com/dartsim/dart/pull/683)
+  * Fixed ambiguous overload on `MetaSkeleton::getLinearJacobianDeriv`: [#628](https://github.com/dartsim/dart/pull/628), [#626](https://github.com/dartsim/dart/issues/626)
+
+* Dynamics features:
+
+  * Added `get/setLCPSolver` functions to `ConstraintSolver`: [#633](https://github.com/dartsim/dart/pull/633)
+  * Added `ServoMotorConstraint` as a preliminary implementation for `SERVO` actuator type: [#566](https://github.com/dartsim/dart/pull/566)
+  * Improved `ConstraintSolver` to obey C++11 ownership conventions: [#616](https://github.com/dartsim/dart/pull/616)
+  * Fixed segfualting of `DantzigLCPSolver` when the constraint dimension is zero: [#634](https://github.com/dartsim/dart/pull/634)
+  * Fixed missing implementations in ConstrainedGroup: [#586](https://github.com/dartsim/dart/pull/586)
+  * Fixed incorrect applying of joint constraint impulses: [#317](https://github.com/dartsim/dart/issues/317)
+  * Deprecated `draw()` functions of dynamics classes: [#654](https://github.com/dartsim/dart/pull/654)
+
+* Collision detection features
+
+  * Added `CollisionGroup` and refactored `CollisionDetector` to be more versatile: [#711](https://github.com/dartsim/dart/pull/711), [#704](https://github.com/dartsim/dart/pull/704), [#689](https://github.com/dartsim/dart/pull/689), [#631](https://github.com/dartsim/dart/pull/631), [#642](https://github.com/dartsim/dart/issues/642), [#20](https://github.com/dartsim/dart/issues/20)
+  * Improved API for self collision checking options: [#718](https://github.com/dartsim/dart/pull/718), [#702](https://github.com/dartsim/dart/issues/702)
+  * Deprecated `BodyNode::isColliding`; collision sets are moved to `CollisionResult`: [#694](https://github.com/dartsim/dart/pull/694), [#670](https://github.com/dartsim/dart/pull/670), [#668](https://github.com/dartsim/dart/pull/668), [#666](https://github.com/dartsim/dart/issues/666)
+
+* Parsers
+
+  * Added back VSK parser: [#602](https://github.com/dartsim/dart/pull/602), [#561](https://github.com/dartsim/dart/pull/561), [#254](https://github.com/dartsim/dart/issues/254)
+  * Fixed segfault of `SdfParser` when `nullptr` `ResourceRetriever` is passed: [#663](https://github.com/dartsim/dart/pull/663)
+
+* GUI features
+
+  * Merged `renderer` namespace into `gui` namespace: [#652](https://github.com/dartsim/dart/pull/652), [#589](https://github.com/dartsim/dart/issues/589)
+  * Moved `osgDart` under `dart::gui` namespace as `dart::gui::osg`: [#651](https://github.com/dartsim/dart/pull/651)
+  * Fixed GlutWindow::screenshot(): [#623](https://github.com/dartsim/dart/pull/623), [#395](https://github.com/dartsim/dart/issues/395)
+
+* Simulation features
+
+  * Fixed `World::clone()` didn't clone the collision detector: [#658](https://github.com/dartsim/dart/pull/658)
+  * Fixed bug of `World` concurrency: [#577](https://github.com/dartsim/dart/pull/577), [#576](https://github.com/dartsim/dart/issues/576)
+
+* Misc improvements and bug fixes
+
+  * Added `make_unique<T>` that was omitted from C++11: [#639](https://github.com/dartsim/dart/pull/639)
+  * Added missing `override` keywords: [#617](https://github.com/dartsim/dart/pull/617), [#535](https://github.com/dartsim/dart/pull/535)
+  * Added gcc warning flag `-Wextra`: [#600](https://github.com/dartsim/dart/pull/600)
+  * Improved memory management of `constraint` namespace: [#584](https://github.com/dartsim/dart/pull/584), [#583](https://github.com/dartsim/dart/issues/583)
+  * Changed the extension of headers from `.h` to `.hpp`: [#709](https://github.com/dartsim/dart/pull/709), [#693](https://github.com/dartsim/dart/pull/693), [#568](https://github.com/dartsim/dart/issues/568)
+  * Changed Doxyfile to gnerate tag file: [#690](https://github.com/dartsim/dart/pull/690)
+  * Changed the convention to use `std::size_t` over `size_t`: [#681](https://github.com/dartsim/dart/pull/681), [#656](https://github.com/dartsim/dart/issues/656)
+  * Changed CMake to configure preprocessors using `#cmakedefine`: [#648](https://github.com/dartsim/dart/pull/648), [#641](https://github.com/dartsim/dart/pull/641)
+  * Updated copyright years: [#679](https://github.com/dartsim/dart/pull/679), [#160](https://github.com/dartsim/dart/issues/160)
+  * Renamed directory name `apps` to `examples`: [#685](https://github.com/dartsim/dart/pull/685)
+  * Fixed warnings of unused variables in release mode: [#646](https://github.com/dartsim/dart/pull/646)
+  * Fixed typo of `getNumPluralAddoName` in utility macro: [#615](https://github.com/dartsim/dart/issues/615)
+  * Fixed linker error by adding namespace-scope definitions for `constexpr static` members: [#603](https://github.com/dartsim/dart/pull/603)
+  * Fixed segfault from nullptr meshes: [#585](https://github.com/dartsim/dart/pull/585)
+  * Fixed typo of tutorial with minor improvements: [#573](https://github.com/dartsim/dart/pull/573)
+  * Fixed `NameManager<T>::removeEntries(~)` called a function that does not exist: [#564](https://github.com/dartsim/dart/pull/564), [#554](https://github.com/dartsim/dart/issues/554)
+  * Fixed missing definitions for various functions: [#558](https://github.com/dartsim/dart/pull/558), [#555](https://github.com/dartsim/dart/issues/555)
+  * Fixed const correctness of `BodyNode::getMomentsOfInertia()`: [#541](https://github.com/dartsim/dart/pull/541), [#540](https://github.com/dartsim/dart/issues/540)
+  * Fixed `ftel` bug in Linux with an workaround: [#533](https://github.com/dartsim/dart/pull/533)
+  * Removed unnecessary `virtual` keyword for overriding functions: [#680](https://github.com/dartsim/dart/pull/680)
+  * Removed deprecated APIs in DART 5: [#678](https://github.com/dartsim/dart/pull/678)
+
+* Build and test issues
+
+  * Added CMake target for code coverage testing, and automatic reporting: [#688](https://github.com/dartsim/dart/pull/688), [#687](https://github.com/dartsim/dart/issues/687), [#638](https://github.com/dartsim/dart/pull/638), [#632](https://github.com/dartsim/dart/pull/632)
+  * Added missing `liburdfdom-dev` dependency in Ubuntu package: [#574](https://github.com/dartsim/dart/pull/574)
+  * Modulized DART libraries: [#706](https://github.com/dartsim/dart/pull/706), [#675](https://github.com/dartsim/dart/pull/675), [#652](https://github.com/dartsim/dart/pull/652), [#477](https://github.com/dartsim/dart/issues/477)
+  * Improved Travis-CI script: [#655](https://github.com/dartsim/dart/pull/655)
+  * Improved CMake script by splitting tutorials, examples, and tests into separate targets: [#644](https://github.com/dartsim/dart/pull/644)
+  * Improved wording of the cmake warning messages for ASSIMP: [#553](https://github.com/dartsim/dart/pull/553)
+  * Changed Travis-CI to treat warning as errors using `-Werror` flags: [#682](https://github.com/dartsim/dart/pull/682), [#677](https://github.com/dartsim/dart/issues/677)
+  * Changed Travis-CI to test DART with bullet collision detector: [#650](https://github.com/dartsim/dart/pull/650), [#376](https://github.com/dartsim/dart/issues/376)
+  * Changed the minimum requirement of Visual Studio version to 2015: [#592](https://github.com/dartsim/dart/issues/592)
+  * Changed CMake to build gui::osg examples when `DART_BUILD_EXAMPLES` is on: [#536](https://github.com/dartsim/dart/pull/536)
+  * Simplfied Travis-CI tests for general pushes: [#700](https://github.com/dartsim/dart/pull/700)
+  * Fixed Eigen memory alignment issue in testCollision.cpp: [#719](https://github.com/dartsim/dart/pull/719)
+  * Fixed `BULLET_INCLUDE_DIRS` in `DARTConfig.cmake`: [#697](https://github.com/dartsim/dart/pull/697)
+  * Fixed linking with Bullet on OS X El Capitan by supporting for Bullet built with double precision: [#660](https://github.com/dartsim/dart/pull/660), [#657](https://github.com/dartsim/dart/issues/657)
+  * Fixed FCL version check logic in the main `CMakeLists.txt`: [#640](https://github.com/dartsim/dart/pull/640)
+  * Fixed `find_package(DART)` on optimizer components: [#637](https://github.com/dartsim/dart/pull/637)
+  * Fixed linking against `${DART_LIBRARIES}` not working in Ubuntu 14.04: [#630](https://github.com/dartsim/dart/pull/630), [#629](https://github.com/dartsim/dart/issues/629)
+  * Fixed Visual Studio 2015 build errors: [#580](https://github.com/dartsim/dart/pull/580)
+  * Removed OpenGL dependency from `dart` library: [#667](https://github.com/dartsim/dart/pull/667)
+  * Removed version check for Bullet: [#636](https://github.com/dartsim/dart/pull/636), [#625](https://github.com/dartsim/dart/issues/625)
 
-1. Added missing `liburdfdom-dev` dependency in Ubuntu package
-    * [Pull request #574](https://github.com/dartsim/dart/pull/574)
 
 ## DART 5
 

dart/collision/CollisionDetector.hpp

@@ -98,15 +98,22 @@ class CollisionDetector : public std::enable_shared_from_this<CollisionDetector>
   std::shared_ptr<CollisionGroup> createCollisionGroupAsSharedPtr(
       const Args&... args);
 
-  /// Perform collision detection for group.
+  /// Perform collision check for a single group. If nullptr is passed to
+  /// result, then the this returns only simple information whether there is a
+  /// collision of not.
   virtual bool collide(
       CollisionGroup* group,
-      const CollisionOption& option, CollisionResult& result) = 0;
+      const CollisionOption& option = CollisionOption(false, 1u, nullptr),
+      CollisionResult* result = nullptr) = 0;
 
-  /// Perform collision detection for group1-group2.
+  /// Perform collision check for two groups. If nullptr is passed to
+  /// result, then the this returns only simple information whether there is a
+  /// collision of not.
   virtual bool collide(
-      CollisionGroup* group1, CollisionGroup* group2,
-      const CollisionOption& option, CollisionResult& result) = 0;
+      CollisionGroup* group1,
+      CollisionGroup* group2,
+      const CollisionOption& option = CollisionOption(false, 1u, nullptr),
+      CollisionResult* result = nullptr) = 0;
 
 protected:
 

dart/collision/CollisionGroup.cpp

@@ -155,14 +155,28 @@ std::size_t CollisionGroup::getNumShapeFrames() const
 }
 
 //==============================================================================
-bool CollisionGroup::collide(const CollisionOption& option, CollisionResult& result)
+const dynamics::ShapeFrame* CollisionGroup::getShapeFrame(
+    std::size_t index) const
+{
+  assert(index < mShapeFrameMap.size());
+  if(index < mShapeFrameMap.size())
+    return mShapeFrameMap[index].first;
+
+  return nullptr;
+}
+
+//==============================================================================
+bool CollisionGroup::collide(
+    const CollisionOption& option, CollisionResult* result)
 {
   return mCollisionDetector->collide(this, option, result);
 }
 
 //==============================================================================
 bool CollisionGroup::collide(
-    CollisionGroup* other, const CollisionOption& option, CollisionResult& result)
+    CollisionGroup* other,
+    const CollisionOption& option,
+    CollisionResult* result)
 {
   return mCollisionDetector->collide(this, other, option, result);
 }

dart/collision/CollisionGroup.hpp

@@ -105,7 +105,7 @@ class CollisionGroup
   /// Add ShapeFrames of Skeleton, and also add another ShapeFrames of other
   /// various objects.
   template <typename... Others>
-  void addShapeFramesOf(const dynamics::Skeleton* skeleton,
+  void addShapeFramesOf(const dynamics::MetaSkeleton* skeleton,
                         const Others*... others);
 
   /// Do nothing. This function is for terminating the recursive variadic
@@ -168,15 +168,22 @@ class CollisionGroup
   /// Return number of ShapeFrames added to this CollisionGroup
   std::size_t getNumShapeFrames() const;
 
-  /// Perform collision detection within this CollisionGroup.
-  bool collide(const CollisionOption& option, CollisionResult& result);
+  /// Get the ShapeFrame corresponding to the given index
+  const dynamics::ShapeFrame* getShapeFrame(std::size_t index) const;
 
-  /// Perform collision detection with other CollisionGroup.
+  /// Perform collision check within this CollisionGroup.
+  bool collide(
+      const CollisionOption& option = CollisionOption(false, 1u, nullptr),
+      CollisionResult* result = nullptr);
+
+  /// Perform collision check with other CollisionGroup.
   ///
   /// Return false if the engine type of the other CollisionGroup is different
   /// from this CollisionObject engine.
-  bool collide(CollisionGroup* group,
-               const CollisionOption& option, CollisionResult& result);
+  bool collide(
+      CollisionGroup* group,
+      const CollisionOption& option = CollisionOption(false, 1u, nullptr),
+      CollisionResult* result = nullptr);
 
 protected:
 

dart/collision/Option.cpp

@@ -42,11 +42,9 @@ namespace collision {
 //==============================================================================
 CollisionOption::CollisionOption(
     bool enableContact,
-    bool binaryCheck,
     std::size_t maxNumContacts,
     const std::shared_ptr<CollisionFilter>& collisionFilter)
   : enableContact(enableContact),
-    binaryCheck(binaryCheck),
     maxNumContacts(maxNumContacts),
     collisionFilter(collisionFilter)
 {

dart/collision/Option.hpp

@@ -47,26 +47,27 @@ class CollisionFilter;
 
 struct CollisionOption
 {
-  /// Flag whether compute contact information such as point, normal, and
-  /// penetration depth. If this flag is set to false, the Engine returns only
-  /// simple information whether there is a collision of not.
-  bool enableContact;
 
-  /// If true, the collision checking will terminate as soon as the first
-  /// contact is found.
-  bool binaryCheck;
+  /// Flag whether the collision detector computes contact information (contact
+  /// point, normal, and penetration depth). If it is set to false, only the
+  /// result of that which pairs are colliding will be stored in the
+  /// CollisionResult without the contact information.
+  bool enableContact;
 
-  /// Maximum number of contacts to detect
+  /// Maximum number of contacts to detect. Once the contacts are found up to
+  /// this number, the collision checking will terminate at that moment. Set
+  /// this to 1 for binary check.
   std::size_t maxNumContacts;
 
   /// CollisionFilter
   std::shared_ptr<CollisionFilter> collisionFilter;
 
   /// Constructor
-  CollisionOption(bool enableContact = true,
-         bool binaryCheck = false,
-         std::size_t maxNumContacts = 100,
-         const std::shared_ptr<CollisionFilter>& collisionFilter = nullptr);
+  CollisionOption(
+      bool enableContact = true,
+      std::size_t maxNumContacts = 1000u,
+      const std::shared_ptr<CollisionFilter>& collisionFilter = nullptr);
+
 };
 
 }  // namespace collision