Merge branch 'master' into clone

ci/install_osx.sh

@@ -9,6 +9,7 @@ cmake
 assimp
 fcl
 bullet
+ode
 flann
 boost
 eigen

ci/script.sh

@@ -1,4 +1,4 @@
-if [ "$TRAVIS_PULL_REQUEST" = "false" ] && [ "$COMPILER" = "CLANG" ]; then exit; fi
+if [ "$TRAVIS_PULL_REQUEST" = "false" ] && [ "$TRAVIS_OS_NAME" = "linux" ] && [ "$COMPILER" = "CLANG" ]; then exit; fi
 
 mkdir build && cd build
 cmake -DCMAKE_BUILD_TYPE=$BUILD_TYPE -DDART_VERBOSE=ON -DDART_TREAT_WARNINGS_AS_ERRORS=ON -DDART_COVERALLS=$COVERALLS ..

cmake/DARTFindDependencies.cmake

@@ -185,6 +185,15 @@ else()
   set(HAVE_BULLET_COLLISION FALSE)
 endif()
 
+# ODE
+find_package(ODE 0.11 QUIET)
+dart_check_optional_package(ODE "dart-collision-ode" "ode" "0.11")
+if(ODE_FOUND)
+  set(HAVE_ODE_COLLISION TRUE)
+else()
+  set(HAVE_ODE_COLLISION FALSE)
+endif()
+
 #--------------------------------
 # Dependencies for dart-planning
 #--------------------------------

cmake/FindODE.cmake

@@ -0,0 +1,43 @@
+# Copyright (c) 2015-2016, Humanoid Lab, Georgia Tech Research Corporation
+# Copyright (c) 2015-2017, Graphics Lab, Georgia Tech Research Corporation
+# Copyright (c) 2016-2017, Personal Robotics Lab, Carnegie Mellon University
+# This file is provided under the "BSD-style" License
+
+# Find ODE
+#
+# This sets the following variables:
+# ODE_FOUND
+# ODE_INCLUDE_DIRS
+# ODE_LIBRARIES
+# ODE_VERSION
+
+find_package(PkgConfig QUIET)
+
+# Check to see if pkgconfig is installed.
+pkg_check_modules(PC_ODE ode QUIET)
+
+# Include directories
+find_path(ODE_INCLUDE_DIRS
+    NAMES ode/collision.h
+    HINTS ${PC_ODE_INCLUDEDIR}
+    PATHS "${CMAKE_INSTALL_PREFIX}/include")
+
+# Libraries
+if(MSVC)
+  set(ODE_LIBRARIES optimized ode debug oded)
+else()
+  find_library(ODE_LIBRARIES
+      NAMES ode
+      HINTS ${PC_ODE_LIBDIR})
+endif()
+
+# Version
+set(ODE_VERSION ${PC_ODE_VERSION})
+
+# Set (NAME)_FOUND if all the variables and the version are satisfied.
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(ODE
+    FAIL_MESSAGE  DEFAULT_MSG
+    REQUIRED_VARS ODE_INCLUDE_DIRS ODE_LIBRARIES
+    VERSION_VAR   ODE_VERSION)
+

dart/collision/CMakeLists.txt

@@ -42,6 +42,9 @@ install(
 # Add subdirectories
 add_subdirectory(dart)
 add_subdirectory(fcl)
+if(HAVE_ODE_COLLISION)
+  add_subdirectory(ode)
+endif()
 if(HAVE_BULLET_COLLISION)
   add_subdirectory(bullet)
 endif()

dart/collision/CollisionDetector.cpp

@@ -140,7 +140,8 @@ CollisionDetector::ManagerForSharableCollisionObjects::claimCollisionObject(
 {
   const auto search = mCollisionObjectMap.find(shapeFrame);
 
-  if (mCollisionObjectMap.end() != search)
+  const auto found = mCollisionObjectMap.end() != search;
+  if (found)
   {
     const auto& collObj = search->second;
     assert(collObj.lock());