Reorganize glut (preparation for glfw) (#1088)

CHANGELOG.md

@@ -7,6 +7,10 @@
   * 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)
 
+* GUI
+
+  * Reorganized OpenGL and GLUT files: [#1088](https://github.com/dartsim/dart/pull/1088)
+
 ### [DART 6.5.0 (2018-05-12)](https://github.com/dartsim/dart/milestone/41?closed=1)
 
 * Common

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"
 

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"
 

dart/dynamics/MultiSphereShape.hpp

@@ -33,8 +33,8 @@
 #ifndef DART_DYNAMICS_MULTISPHERESHAPE_HPP_
 #define DART_DYNAMICS_MULTISPHERESHAPE_HPP_
 
-#warning "This header has been deprecated in DART 6.2. "\
-  "Please include MultiSphereConvexHullShape.hpp intead."
+#pragma message("This header has been deprecated in DART 6.2. "\
+  "Please include MultiSphereConvexHullShape.hpp intead.")
 
 #include "dart/dynamics/MultiSphereConvexHullShape.hpp"
 

dart/gui/CMakeLists.txt

@@ -21,15 +21,31 @@ else()
 endif()
 
 # Search all header and source files
-file(GLOB hdrs "*.hpp")
-file(GLOB srcs "*.cpp")
+file(GLOB hdrs "*.hpp" "*.h" "detail/*.hpp")
+file(GLOB srcs "*.cpp" "*.c" "detail/*.cpp")
+
+function(dart_add_gui_headers)
+  dart_property_add(DART_GUI_HEADERS ${ARGN})
+endfunction()
+
+function(dart_add_gui_sources)
+  dart_property_add(DART_GUI_SOURCES ${ARGN})
+endfunction()
+
+# Add required subdirectory
+add_subdirectory(glut)
+
+get_property(dart_gui_headers GLOBAL PROPERTY DART_GUI_HEADERS)
+get_property(dart_gui_sources GLOBAL PROPERTY DART_GUI_SOURCES)
 
 # Set local target name
 set(target_name ${PROJECT_NAME}-gui)
 set(component_name gui)
 
 # Add target
-dart_add_library(${target_name} ${hdrs} ${srcs})
+dart_add_library(${target_name}
+  ${hdrs} ${srcs} ${dart_gui_headers} ${dart_gui_sources}
+)
 target_include_directories(
   ${target_name} SYSTEM
   PUBLIC
@@ -62,6 +78,25 @@ add_subdirectory(osg)
 
 # Generate header for this namespace
 dart_get_filename_components(header_names "gui headers" ${hdrs})
+
+# Remove deprecated files from the list
+list(REMOVE_ITEM header_names
+  "GLFuncs.hpp"
+  "GlutWindow.hpp"
+  "GraphWindow.hpp"
+  "LoadGlut.hpp"
+  "MotionBlurSimWindow.hpp"
+  "SimWindow.hpp"
+  "SoftSimWindow.hpp"
+  "Win2D.hpp"
+  "Win3D.hpp"
+)
+
+set(
+  header_names
+  ${header_names}
+  glut/glut.hpp
+)
 dart_generate_include_header_list(
   gui_headers
   "dart/gui/"

dart/gui/GLFuncs.cpp

@@ -38,40 +38,18 @@
 
 #include <Eigen/Eigen>
 
+#include "dart/common/Console.hpp"
 #include "dart/math/Constants.hpp"
 #include "dart/gui/LoadOpengl.hpp"
-#include "dart/gui/LoadGlut.hpp"
+#include "dart/gui/glut/GLUTFuncs.hpp"
+// TODO(JS): remove once glut become an optional dependency
 
 namespace dart {
 namespace gui {
 
-  void drawStringOnScreen(float _x, float _y, const std::string& _s,
-                          bool _bigFont) {
-  // draws text on the screen
-  GLint oldMode;
-  glGetIntegerv(GL_MATRIX_MODE, &oldMode);
-  glMatrixMode(GL_PROJECTION);
-
-  glPushMatrix();
-  glLoadIdentity();
-  gluOrtho2D(0.0, 1.0, 0.0, 1.0);
-
-  glMatrixMode(GL_MODELVIEW);
-  glPushMatrix();
-  glLoadIdentity();
-  glRasterPos2f(_x, _y);
-  unsigned int length = _s.length();
-  for (unsigned int c = 0; c < length; c++) {
-    if (_bigFont)
-      glutBitmapCharacter(GLUT_BITMAP_HELVETICA_18, _s.at(c) );
-    else
-      glutBitmapCharacter(GLUT_BITMAP_HELVETICA_10, _s.at(c) );
-  }  
-  glPopMatrix();
-
-  glMatrixMode(GL_PROJECTION);
-  glPopMatrix();
-  glMatrixMode(oldMode);
+void drawStringOnScreen(float x, float y, const std::string& s, bool bigFont)
+{
+  glut::drawStringOnScreen(x, y, s, bigFont);
 }
 
 // draw a 3D arrow starting from pt along dir, the arrowhead is on the other end

dart/gui/GLFuncs.hpp

@@ -34,15 +34,18 @@
 #define DART_GUI_GLFUNCS_HPP_
 
 #include <string>
-
 #include <Eigen/Eigen>
+#include "dart/common/Deprecated.hpp"
 
 namespace dart {
 namespace gui {
 
-/// \brief
-  void drawStringOnScreen(float _x, float _y, const std::string& _s,
-                          bool _bigFont = true);
+/// \deprecated Deprecated in 6.6. Please use
+/// dart::gui::glut::drawStringOnScreen() instead in
+/// dart/gui/glut/GLUTFuncs.hpp file.
+DART_DEPRECATED(6.6)
+void drawStringOnScreen(float _x, float _y, const std::string& _s,
+                        bool _bigFont = true);
 
 /// \brief
 void drawArrow3D(const Eigen::Vector3d& _pt, const Eigen::Vector3d& _dir,

dart/gui/GlutWindow.hpp

@@ -33,67 +33,18 @@
 #ifndef DART_GUI_GLUTWINDOW_HPP_
 #define DART_GUI_GLUTWINDOW_HPP_
 
-#include <vector>
+#pragma message("This header is deprecated as of DART 6.6. "\
+    "Please use dart/gui/glut/Window.hpp instead.")
 
-#include "dart/gui/LoadOpengl.hpp"
-#include "dart/gui/RenderInterface.hpp"
+#include "dart/gui/glut/Window.hpp"
+#include "dart/common/Deprecated.hpp"
 
 namespace dart {
 namespace gui {
 
-/// \brief
-class GlutWindow {
-public:
-  GlutWindow();
-  virtual ~GlutWindow();
+using GlutWindow DART_DEPRECATED(6.6) = ::dart::gui::glut::Window;
 
-  /// \warning This function should be called once.
-  virtual void initWindow(int _w, int _h, const char* _name);
-
-  // callback functions
-  static void reshape(int _w, int _h);
-  static void keyEvent(unsigned char _key, int _x, int _y);
-  static void specKeyEvent(int _key, int _x, int _y);
-  static void mouseClick(int _button, int _state, int _x, int _y);
-  static void mouseDrag(int _x, int _y);
-  static void mouseMove(int _x, int _y);
-  static void refresh();
-  static void refreshTimer(int _val);
-  static void runTimer(int _val);
-
-  static GlutWindow* current();
-  static std::vector<GlutWindow*> mWindows;
-  static std::vector<int> mWinIDs;
-
-protected:
-  // callback implementation
-  virtual void resize(int _w, int _h) = 0;
-  virtual void render() = 0;
-  virtual void keyboard(unsigned char _key, int _x, int _y);
-  virtual void specKey(int _key, int _x, int _y);
-  virtual void click(int _button, int _state, int _x, int _y);
-  virtual void drag(int _x, int _y);
-  virtual void move(int _x, int _y);
-  virtual void displayTimer(int _val);
-  virtual void simTimer(int _val);
-
-  virtual bool screenshot();
-
-  int mWinWidth;
-  int mWinHeight;
-  int mMouseX;
-  int mMouseY;
-  double mDisplayTimeout;
-  bool mMouseDown;
-  bool mMouseDrag;
-  bool mCapture;
-  double mBackground[4];
-  gui::RenderInterface* mRI;
-  std::vector<unsigned char> mScreenshotTemp;
-  std::vector<unsigned char> mScreenshotTemp2;
-};
-
-}  // namespace gui
-}  // namespace dart
+} // namespace gui
+} // namespace dart
 
 #endif  // DART_GUI_GLUTWINDOW_HPP_

dart/gui/GraphWindow.hpp

@@ -39,35 +39,16 @@
 #ifndef DART_GUI_GRAPHWINDOW_HPP_
 #define DART_GUI_GRAPHWINDOW_HPP_
 
-#include <vector>
+#pragma message("This header is deprecated as of DART 6.6. "\
+    "Please use dart/gui/glut/GraphWindow.hpp instead.")
 
-#include <Eigen/Dense>
-
-#include "dart/gui/Win2D.hpp"
+#include "dart/gui/glut/GraphWindow.hpp"
+#include "dart/common/Deprecated.hpp"
 
 namespace dart {
 namespace gui {
 
-/// \brief
-class GraphWindow : public Win2D {
-public:
-  /// \brief
-  GraphWindow();
-
-  /// \brief
-  virtual ~GraphWindow();
-
-  /// \brief
-  void draw() override;
-
-  /// \brief
-  void keyboard(unsigned char _key, int _x, int _y) override;
-
-  void setData(Eigen::VectorXd _data);
-
-protected:
-  Eigen::VectorXd mData;
-};
+using GraphWindow DART_DEPRECATED(6.6) = ::dart::gui::glut::GraphWindow;
 
 }  // namespace gui
 }  // namespace dart

dart/gui/LoadGlut.hpp

@@ -33,15 +33,9 @@
 #ifndef DART_GUI_LOADGLUT_HPP_
 #define DART_GUI_LOADGLUT_HPP_
 
-#if defined(_WIN32)
-  #include <cstdlib> // To disable glut::exit() function
-  #include <GL/glut.h>
-#elif defined(__linux__)
-  #include <GL/glut.h>
-#elif defined(__APPLE__)
-  #include <GLUT/glut.h>
-#else
-  #error "Load OpenGL Error: What's your operating system?"
-#endif
+#pragma message("This file is deprecated as of DART 6.6. "\
+         "Please use dart/gui/glut/LoadGlut.hpp instead.")
+
+#include "dart/gui/glut/LoadGlut.hpp"
 
 #endif  // DART_GUI_LOADGLUT_HPP_

dart/gui/MotionBlurSimWindow.hpp

@@ -9,49 +9,19 @@
 #ifndef DART_GUI_MOTIONBLURSIMWINDOW_HPP_
 #define DART_GUI_MOTIONBLURSIMWINDOW_HPP_
 
-#include <vector>
-#include <Eigen/Dense>
+#pragma message("This header is deprecated as of DART 6.6. "\
+         "Please use dart/gui/glut/MotionBlurSimWindow.hpp instead.")
 
-#include "dart/gui/SimWindow.hpp"
+#include "dart/gui/glut/MotionBlurSimWindow.hpp"
+#include "dart/common/Deprecated.hpp"
 
 namespace dart {
 namespace gui {
 
-class MotionBlurSimWindow : public SimWindow
-{
-public:
+using MotionBlurSimWindow DART_DEPRECATED(6.6) =
+  ::dart::gui::glut::MotionBlurSimWindow;
 
-  /// \brief
-  MotionBlurSimWindow();
-
-  /// \brief
-  virtual ~MotionBlurSimWindow();
-
-  // Set the Quality of Motion Blur
-  // Default is 5 (record position of every frame)
-  // int from 0 (No motion blur) - 5 (Highest)
-  // The function takes value smaller than 0 as 0, larger than 5 as 5
-  void setMotionBlurQuality(int _val);
-
-  // Override the render function in dart/gui/Win3D.hpp
-  // To draw the motion image
-  // Render function is called once per GUI display time
-  // but in MotionBlurSimWindow, draw function will run in motion blur frequency
-  void render() override;
-
-  // Override the display timer,
-  // Move the part of "step" in world function to the render function
-  void displayTimer(int _val) override;
-
-protected:
-  // Determines the frequency of the motion blur
-  // Default is 1, which means motion blur effect has the highest quality
-  // When set to m, motion blur record data every m frames
-  int mMotionBlurFrequency;
-
-}; // End of Class Definition
-
-} // namespace gui
-} // namespace dart
+}  // namespace gui
+}  // namespace dart
 
 #endif // DART_GUI_MOTIONBLURSIMWINDOW_HPP_