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Reorganize glut (preparation for glfw) #1088

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merged 14 commits into from
Jul 29, 2018
Merged

Reorganize glut (preparation for glfw) #1088

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a5c4cec
Reorganize glut (preparation for glfw)
jslee02 Jul 19, 2018
8a62cb2
Fix incorrect deprecation version
jslee02 Jul 19, 2018
91080d3
Add more occupancy update functions to VoxelGridShape (#1083)
jslee02 Jul 20, 2018
7d7d7c3
Fix including deprecated header
jslee02 Jul 20, 2018
b0d564e
Fix using deprecated APIs
jslee02 Jul 20, 2018
a8b6c7b
Update changelog
jslee02 Jul 20, 2018
30964d4
Merge branch 'release-6.6' into enhance/glut_v3
jslee02 Jul 20, 2018
65a6f31
Update license headers
jslee02 Jul 20, 2018
0411d9c
Revert unintended change
jslee02 Jul 20, 2018
f4862ce
Merge branch 'release-6.6' into enhance/glut_v3
jslee02 Jul 22, 2018
8034eb0
Use a more portable warning directive
mxgrey Jul 27, 2018
b99b10c
Explicitly mark backwards compatibility aliases as deprecated
mxgrey Jul 27, 2018
dcde2dd
Make style consistent
mxgrey Jul 27, 2018
0090427
Rename glut/GlutWindow.* to glut/Window.*
mxgrey Jul 27, 2018
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4 changes: 4 additions & 0 deletions CHANGELOG.md
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Expand Up @@ -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
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4 changes: 2 additions & 2 deletions dart/collision/Option.hpp
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Expand Up @@ -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"

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4 changes: 2 additions & 2 deletions dart/collision/Result.hpp
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Expand Up @@ -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"

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4 changes: 2 additions & 2 deletions dart/dynamics/MultiSphereShape.hpp
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Expand Up @@ -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"

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41 changes: 38 additions & 3 deletions dart/gui/CMakeLists.txt
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Expand Up @@ -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
Expand Down Expand Up @@ -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
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I stumbled across a potential issue with this. I think it's inadvertently breaking the API. If a user is depending on #include <dart/gui/gui.hpp> to get these headers, then their code will no longer compile.

We might want to consider allowing these to remain in the master header, even if it shoots compiler messages at people who are using the master gui header.

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I think it's inadvertently breaking the API.

This is a valid point.

We might want to consider allowing these to remain in the master header, even if it shoots compiler messages at people who are using the master gui header.

I have a concern that the user will always see the warning messages by just including the master gui header. I can think of two possible solutions to this:

  1. Remove header warnings completely
    Easiest solution. The deprecated header will be removed in the next major release. The downside of this method is obviously that the user won't get a prior notice the header will be removed even when the header is included explicitly (not by the master header).

  2. Suppress header warning when it's included by a master header
    This would require some work for us. We could use a processor of whether the deprecated header is included by the master header, and suppress the warning if so. One caveat of this is that it's possible to unintentionally suppress the warning if a deprecated header is firstly included by the master header and then included explicitly. This is because the second header inclusion would be just ignored by the header guard. One workaround would be putting the warning out side of the header guard, but this would pollute the output window too much.

Maybe there is a much cleaner way, which I cannot think of now. Let me know.

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I had exactly the same thoughts, plus one additional thought (which might not be the nicest):

  1. If people are comfortable with using a "master" header, then they're probably not interested in best practices and wouldn't be particularly bothered by the compiler message. The master headers are provided for beginner convenience, but I don't think we should be encouraging their use in the first place. Although I suspect some of our examples and/or tutorials are probably using the master headers, so we'd need to do some work on our end to change that if we simply allow the compiler messages to print out.

I'd be fine with any of these three solutions.

"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/"
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34 changes: 6 additions & 28 deletions dart/gui/GLFuncs.cpp
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Expand Up @@ -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
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11 changes: 7 additions & 4 deletions dart/gui/GLFuncs.hpp
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Expand Up @@ -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,
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63 changes: 7 additions & 56 deletions dart/gui/GlutWindow.hpp
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Expand Up @@ -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_
29 changes: 5 additions & 24 deletions dart/gui/GraphWindow.hpp
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Expand Up @@ -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
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14 changes: 4 additions & 10 deletions dart/gui/LoadGlut.hpp
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Expand Up @@ -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_
46 changes: 8 additions & 38 deletions dart/gui/MotionBlurSimWindow.hpp
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Expand Up @@ -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_
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