Merge branch 'release-6.7'

# Conflicts: # CMakeLists.txt # dart/config.hpp.in # dart/gui/CMakeLists.txt # dart/gui/glut/SimWindow.cpp # dart/io/urdf/URDFTypes.hpp # examples/addDeleteSkels/CMakeLists.txt # examples/atlasSimbicon/CMakeLists.txt # examples/bipedStand/CMakeLists.txt # examples/hardcodedDesign/CMakeLists.txt # examples/hybridDynamics/CMakeLists.txt # examples/jointConstraints/CMakeLists.txt # examples/mixedChain/CMakeLists.txt # examples/operationalSpaceControl/CMakeLists.txt # examples/osgExamples/osgAtlasPuppet/CMakeLists.txt # examples/osgExamples/osgAtlasSimbicon/CMakeLists.txt # examples/osgExamples/osgDragAndDrop/CMakeLists.txt # examples/osgExamples/osgEmpty/CMakeLists.txt # examples/osgExamples/osgHuboPuppet/CMakeLists.txt # examples/osgExamples/osgImGui/CMakeLists.txt # examples/osgExamples/osgOperationalSpaceControl/CMakeLists.txt # examples/osgExamples/osgSoftBodies/CMakeLists.txt # examples/osgExamples/osgTinkertoy/CMakeLists.txt # examples/osgExamples/osgWamIkFast/CMakeLists.txt # examples/osgExamples/osgWamIkFast/InSourceBuild.cmake # examples/rigidChain/CMakeLists.txt # examples/rigidCubes/main.cpp # examples/rigidLoop/CMakeLists.txt # examples/rigidShapes/CMakeLists.txt # examples/simpleFrames/CMakeLists.txt # examples/softBodies/CMakeLists.txt # examples/speedTest/CMakeLists.txt # examples/vehicle/CMakeLists.txt # package.xml # tutorials/tutorialBiped-Finished/CMakeLists.txt # tutorials/tutorialBiped-Finished/InSourceBuild.cmake # tutorials/tutorialBiped-Finished/tutorialBiped-Finished.cpp # tutorials/tutorialBiped/CMakeLists.txt # tutorials/tutorialBiped/InSourceBuild.cmake # tutorials/tutorialBiped/tutorialBiped.cpp # tutorials/tutorialCollisions-Finished/CMakeLists.txt # tutorials/tutorialCollisions/CMakeLists.txt # tutorials/tutorialDominoes-Finished/CMakeLists.txt # tutorials/tutorialDominoes/CMakeLists.txt # tutorials/tutorialMultiPendulum-Finished/CMakeLists.txt # tutorials/tutorialMultiPendulum/CMakeLists.txt
dartsim · Aug 3, 2018 · 80a7435 · 80a7435
2 parents a206b19 + ec1e9b4
commit 80a7435
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diff --git a/.ci/docker/ubuntu-bionic b/.ci/docker/ubuntu-bionic
@@ -25,5 +25,6 @@ RUN apt-get install -y \
     liburdfdom-dev \
     liburdfdom-headers-dev \
     libopenscenegraph-dev \
+    liboctomap-dev \
     # clang-format-3.8 \  # Disable until higher version is supported
     lcov
diff --git a/.ci/docker/ubuntu-xenial b/.ci/docker/ubuntu-xenial
@@ -25,6 +25,7 @@ RUN apt-get install -y \
     liburdfdom-dev \
     liburdfdom-headers-dev \
     libopenscenegraph-dev \
+    liboctomap-dev \
     clang-format-3.8 \
     lcov \
     curl
diff --git a/Brewfile b/Brewfile
@@ -1,5 +1,9 @@
 #tap 'dartsim/dart' # for ipopt
-
+
+# Build dependencies
+brew 'cmake'
+brew 'pkg-config'
+
 brew 'assimp'
 brew 'boost'
 brew 'bullet'
@@ -9,6 +13,7 @@ brew 'fcl'
 #brew 'ipopt'
 brew 'libccd'
 #brew 'nlopt'
+brew 'octomap'
 brew 'ode'
 brew 'open-scene-graph'
 brew 'tinyxml2'

diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -16,6 +16,19 @@
 
 ## DART 6
 
+### DART 6.7.0 (201X-XX-XX)
+
+* GUI
+
+  * Reorganized OpenGL and GLUT files: [#1088](https://github.com/dartsim/dart/pull/1088)
+
+### [DART 6.6.0 (2018-08-02)](https://github.com/dartsim/dart/milestone/44?closed=1)
+
+* Collision detection
+
+  * Added voxel grid map: [#1076](https://github.com/dartsim/dart/pull/1076), [#1083](https://github.com/dartsim/dart/pull/1083)
+  * Added heightmap support: [#1069](https://github.com/dartsim/dart/pull/1069)
+
 ### [DART 6.5.0 (2018-05-12)](https://github.com/dartsim/dart/milestone/41?closed=1)
 
 * Common

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -408,7 +408,7 @@ endif()
 
 find_program(
   CLANG_FORMAT_EXECUTABLE
-  NAMES clang-format clang-format-3.8
+  NAMES clang-format-3.8
 )
 
 get_property(formatting_files GLOBAL PROPERTY DART_FORMAT_FILES)

diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
@@ -29,7 +29,7 @@ The code doesn't need to be perfect right away, feel free to post work-in-progre
  [Can Erdogan](https://github.com/cerdogan)         | planning, examples
  [Jie Tan](https://github.com/jietan)               | lcp solver, renderer
  [Yunfei Bai](https://github.com/YunfeiBai)         | build and bug fixes
- [Konstantinos Chatzilygeroudis](https://github.com/costashatz) | build and bug fixes
+ [Konstantinos Chatzilygeroudis](https://github.com/costashatz) | OSG shadows, build and bug fixes
  [Sehoon Ha](https://github.com/sehoonha)           | early DART data structure design, [pydart](https://github.com/sehoonha/pydart)
  [Donny Ward](https://github.com/donnyward)         | build fix
  [Andrew Price](https://github.com/a-price)         | build fix
@@ -41,8 +41,13 @@ The code doesn't need to be perfect right away, feel free to post work-in-progre
  [José Luis Rivero](https://github.com/j-rivero)    | build, especially for Debian
  [Jonathan Scholz](https://github.com/jscholz)      | build fix
  [John Turgeson](https://github.com/JohnTurgeson)   | mesh model
+ [Jennifer Buehler](https://github.com/JenniferBuehler) | heightmap, bug fix
+ [Dong Xu](https://github.com/hxbloom)              | motion blur renderer
+ [Donghyun Kim](https://github.com/dhkim0821)       | Atlas texture images
+ [Aditya Vamsikrishna](https://github.com/aditya-vk) | bug fix
+ [pchorak](https://github.com/pchorak)              | bug fixes
 
-You can find a detailed contribution history in [here](https://github.com/dartsim/dart/graphs/contributors).
+You can find the complete contribution history in [here](https://github.com/dartsim/dart/graphs/contributors).
 
 ## DART Style Guide
 

diff --git a/cmake/DARTFindDependencies.cmake b/cmake/DARTFindDependencies.cmake
@@ -104,6 +104,33 @@ else()
   find_package(Boost ${DART_MIN_BOOST_VERSION} QUIET REQUIRED COMPONENTS ${BOOST_REQUIRED_COMPONENTS})
 endif()
 
+find_package(octomap 1.6.8 QUIET)
+if (octomap_FOUND AND NOT MSVC)
+  if (MSVC)
+    # Supporting Octomap on Windows is disabled for the following issue:
+    # https://github.com/OctoMap/octomap/pull/213
+    message(WARNING "Octomap ${octomap_VERSION} is found, but Octomap "
+        "is not supported on Windows until "
+        "'https://github.com/OctoMap/octomap/pull/213' "
+        "is resolved.")
+    set(HAVE_OCTOMAP FALSE CACHE BOOL "Check if octomap found." FORCE)
+  elseif (NOT octomap_VERSION VERSION_LESS 1.9.0)
+    message(WARNING "Octomap ${octomap_VERSION} is found, but Octomap 1.9.0 or "
+        "greater is not supported yet. Please see "
+        "'https://github.com/dartsim/dart/issues/1078' for the details")
+    set(HAVE_OCTOMAP FALSE CACHE BOOL "Check if octomap found." FORCE)
+  else()
+    set(HAVE_OCTOMAP TRUE CACHE BOOL "Check if octomap found." FORCE)
+    if(DART_VERBOSE)
+      message(STATUS "Looking for octomap - version ${octomap_VERSION} found")
+    endif()
+  endif()
+else()
+  set(HAVE_OCTOMAP FALSE CACHE BOOL "Check if octomap found." FORCE)
+  message(STATUS "Looking for octomap - NOT found, to use VoxelGridShape, "
+      "please install octomap")
+endif()
+
 #--------------------
 # Misc. dependencies
 #--------------------

diff --git a/dart/CMakeLists.txt b/dart/CMakeLists.txt
@@ -122,6 +122,7 @@ target_include_directories(
     ${FCL_INCLUDE_DIRS}
     ${ASSIMP_INCLUDE_DIRS}
     ${Boost_INCLUDE_DIRS}
+    ${OCTOMAP_INCLUDE_DIRS}
 )
 target_link_libraries(
   dart
@@ -132,6 +133,7 @@ target_link_libraries(
     ${ASSIMP_LIBRARIES}
     ${Boost_LIBRARIES}
     ${PROJECT_NAME}-external-odelcpsolver
+    ${OCTOMAP_LIBRARIES}
 )
 
 # Build DART with all available SIMD instructions

diff --git a/dart/collision/Option.hpp b/dart/collision/Option.hpp
@@ -33,8 +33,8 @@
 #ifndef DART_COLLISION_OPTION_HPP_
 #define DART_COLLISION_OPTION_HPP_
 
-#warning "This header has been deprecated in DART 6.1. "\
-  "Please include CollisionOption.hpp intead."
+#pragma message("This header has been deprecated in DART 6.1. "\
+  "Please include CollisionOption.hpp intead.")
 
 #include "dart/collision/CollisionOption.hpp"
 

diff --git a/dart/collision/Result.hpp b/dart/collision/Result.hpp
@@ -33,8 +33,8 @@
 #ifndef DART_COLLISION_RESULT_HPP_
 #define DART_COLLISION_RESULT_HPP_
 
-#warning "This header has been deprecated in DART 6.1. "\
-  "Please include CollisionResult.hpp intead."
+#pragma message("This header has been deprecated in DART 6.1. "\
+  "Please include CollisionResult.hpp intead.")
 
 #include "dart/collision/CollisionResult.hpp"