Merge remote-tracking branch 'origin/master' into travis_ci_trusty

keenon · Dec 8, 2015 · 976fbdf · 976fbdf
2 parents 8e1034c + dca2755
commit 976fbdf
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -41,7 +41,7 @@ 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 +62,7 @@ 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 +151,55 @@ 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.")
@@ -410,7 +460,7 @@ 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(${FILESYSTEM_CASE_SENSITIVE_RETURN} EQUAL 0)
   set(FILESYSTEM_CASE_SENSITIVE TRUE)
 else()
   set(FILESYSTEM_CASE_SENSITIVE FALSE)
@@ -420,14 +470,16 @@ endif()
 # Compiler flags
 #===============================================================================
 if(MSVC)
-  message(STATUS "Setup Visual Studio Specific Flags")
   # Visual Studio enables c++11 support by default
   if(NOT MSVC12)
     message(FATAL_ERROR "${PROJECT_NAME} requires VS 2013 or greater.")
   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(

diff --git a/Changelog.md b/Changelog.md
@@ -1,3 +1,32 @@
+### 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

diff --git a/appveyor.yml b/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

diff --git a/dart/CMakeLists.txt b/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()

diff --git a/dart/common/Deprecated.h b/dart/common/Deprecated.h
@@ -34,6 +34,8 @@
  *   POSSIBILITY OF SUCH DAMAGE.
  */
 
+#include "dart/config.h"
+
 #ifndef DART_COMMON_DEPRECATED_H_
 #define DART_COMMON_DEPRECATED_H_
 
@@ -54,4 +56,46 @@
   #define FORCEINLINE
 #endif
 
+// We define two convenient macros that can be used to suppress
+// deprecated-warnings for a specific code block rather than a whole project.
+// This macros would be useful when you need to call deprecated function for
+// some reason (e.g., for backward compatibility) but don't want warnings.
+//
+// Example code:
+//
+// deprecated_function()  // warning
+//
+// DART_SUPPRESS_DEPRECATED_BEGIN
+// deprecated_function()  // okay, no warning
+// DART_SUPPRESS_DEPRECATED_END
+//
+#if defined (DART_COMPILER_GCC)
+
+  #define DART_SUPPRESS_DEPRECATED_BEGIN                            \
+    _Pragma("GCC diagnostic push")                                  \
+    _Pragma("GCC diagnostic ignored \"-Wdeprecated-declarations\"")
+
+  #define DART_SUPPRESS_DEPRECATED_END \
+    _Pragma("GCC diagnostic pop")
+
+#elif defined (DART_COMPILER_CLANG)
+
+  #define DART_SUPPRESS_DEPRECATED_BEGIN                              \
+    _Pragma("clang diagnostic push")                                  \
+    _Pragma("clang diagnostic ignored \"-Wdeprecated-declarations\"")
+
+  #define DART_SUPPRESS_DEPRECATED_END \
+    _Pragma("clang diagnostic pop")
+
+#elif defined (DART_COMPILER_MSVC)
+
+  #define DART_SUPPRESS_DEPRECATED_BEGIN \
+    __pragma(warning(push))              \
+    __pragma(warning(disable:4996))
+
+  #define DART_SUPPRESS_DEPRECATED_END \
+    __pragma(warning(pop))
+
+#endif
+
 #endif  // DART_COMMON_DEPRECATED_H_
diff --git a/dart/config.h.in b/dart/config.h.in
@@ -28,6 +28,15 @@
   (DART_MAJOR_VERSION < x || (DART_MAJOR_VERSION <= x && \
   (DART_MINOR_VERSION < y || (DART_MINOR_VERSION <= y))))
 
+// Detect the compiler
+#if defined(__clang__)
+  #define DART_COMPILER_CLANG
+#elif defined(__GNUC__) || defined(__GNUG__)
+  #define DART_COMPILER_GCC
+#elif defined(_MSC_VER)
+  #define DART_COMPILER_MSVC
+#endif
+
 #cmakedefine BUILD_TYPE_DEBUG 1
 #cmakedefine BUILD_TYPE_RELEASE 1
 #cmakedefine BUILD_TYPE_RELWITHDEBINFO 1
@@ -41,4 +50,8 @@
 #define DART_ROOT_PATH "@CMAKE_SOURCE_DIR@/"
 #define DART_DATA_PATH "@CMAKE_SOURCE_DIR@/data/"
 
+// See #451
+#cmakedefine ASSIMP_AISCENE_CTOR_DTOR_DEFINED 1
+#cmakedefine ASSIMP_AIMATERIAL_CTOR_DTOR_DEFINED 1
+
 #endif // #ifndef DART_CONFIG_H_
diff --git a/dart/constraint/BalanceConstraint.cpp b/dart/constraint/BalanceConstraint.cpp
@@ -381,6 +381,12 @@ void BalanceConstraint::setPseudoInverseDamping(double _damping)
   clearCaches();
 }
 
+//==============================================================================
+double BalanceConstraint::getPseudoInverseDamping() const
+{
+  return mDamping;
+}
+
 //==============================================================================
 const Eigen::Vector3d& BalanceConstraint::getLastError() const
 {

diff --git a/dart/constraint/BalanceConstraint.h b/dart/constraint/BalanceConstraint.h
@@ -134,7 +134,7 @@ class BalanceConstraint : public optimizer::Function,
   void setPseudoInverseDamping(double _damping);
 
   /// Get the damping factor that will be used when computing the pseudoinverse
-  double getPseudoInverseDamping();
+  double getPseudoInverseDamping() const;
 
   /// Get the last error vector that was computed by this BalanceConstraint
   const Eigen::Vector3d& getLastError() const;

diff --git a/dart/constraint/ConstraintSolver.h b/dart/constraint/ConstraintSolver.h
@@ -98,9 +98,6 @@ class ConstraintSolver
   /// Add a constraint
   void addConstraint(ConstraintBase* _constraint);
 
-  /// Return the number of constraints
-  size_t getNumConstraints() const;
-
   /// Remove a constraint
   void removeConstraint(ConstraintBase* _constraint);
 

diff --git a/dart/dynamics/BodyNode.cpp b/dart/dynamics/BodyNode.cpp
@@ -317,8 +317,9 @@ void BodyNode::setMomentOfInertia(double _Ixx, double _Iyy, double _Izz,
 }
 
 //==============================================================================
-void BodyNode::getMomentOfInertia(double& _Ixx, double& _Iyy, double& _Izz,
-                                  double& _Ixy, double& _Ixz, double& _Iyz)
+void BodyNode::getMomentOfInertia(
+    double& _Ixx, double& _Iyy, double& _Izz,
+    double& _Ixy, double& _Ixz, double& _Iyz) const
 {
   _Ixx = mBodyP.mInertia.getParameter(Inertia::I_XX);
   _Iyy = mBodyP.mInertia.getParameter(Inertia::I_YY);

diff --git a/dart/dynamics/BodyNode.h b/dart/dynamics/BodyNode.h
@@ -204,7 +204,7 @@ class BodyNode :
   /// Return moment of inertia defined around the center of mass
   void getMomentOfInertia(
       double& _Ixx, double& _Iyy, double& _Izz,
-      double& _Ixy, double& _Ixz, double& _Iyz);
+      double& _Ixy, double& _Ixz, double& _Iyz) const;
 
   /// Return spatial inertia
   const Eigen::Matrix6d& getSpatialInertia() const;