Merge pull request #229 from erwincoumans/master

add fileOpenDialog selector (Win/Mac/Linux), CMake remote CMAKE_INSTALL_PREFIX,fix support for dynamic loading of X11 functions

CMakeLists.txt

@@ -279,10 +279,10 @@ ENDIF()
 
 IF(INSTALL_LIBS)
 	SET (LIB_SUFFIX "" CACHE STRING "Define suffix of directory name (32/64)" )
-	SET (LIB_DESTINATION "${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}" CACHE STRING "Library directory name")
+	SET (LIB_DESTINATION "lib${LIB_SUFFIX}" CACHE STRING "Library directory name")
 	## the following are directories where stuff will be installed to
-	SET(INCLUDE_INSTALL_DIR      "${CMAKE_INSTALL_PREFIX}/include/bullet/" CACHE PATH "The subdirectory to the header prefix")
+	SET(INCLUDE_INSTALL_DIR      "include/bullet/" CACHE PATH "The subdirectory to the header prefix")
-	SET(PKGCONFIG_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}/pkgconfig/" CACHE STRING "Base directory for pkgconfig files")
+	SET(PKGCONFIG_INSTALL_PREFIX "lib${LIB_SUFFIX}/pkgconfig/" CACHE STRING "Base directory for pkgconfig files")
 	IF(NOT WIN32)
 	  CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/bullet.pc.cmake ${CMAKE_CURRENT_BINARY_DIR}/bullet.pc @ONLY)
   	INSTALL(
@@ -309,7 +309,7 @@ list (APPEND BULLET_LIBRARIES LinearMath)
 list (APPEND BULLET_LIBRARIES BulletCollision)
 list (APPEND BULLET_LIBRARIES BulletDynamics)
 list (APPEND BULLET_LIBRARIES BulletSoftBody)
-set (BULLET_USE_FILE ${CMAKE_INSTALL_PREFIX}/${BULLET_CONFIG_CMAKE_PATH}/UseBullet.cmake)
+set (BULLET_USE_FILE ${BULLET_CONFIG_CMAKE_PATH}/UseBullet.cmake)
 configure_file ( ${CMAKE_CURRENT_SOURCE_DIR}/BulletConfig.cmake.in
                  ${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
                  @ONLY ESCAPE_QUOTES

Demos/OpenGL/GlutStuff.cpp

@@ -19,7 +19,7 @@ subject to the following restrictions:
 
 #if !defined(_WIN32) && !defined(__APPLE__)
 //assume linux workaround
-#include <pthread.h>
+//#include <pthread.h>
 #endif
 
 //glut is C code, this global gDemoApplication links glut to the C++ demo
@@ -86,8 +86,8 @@ int glutmain(int argc, char **argv,int width,int height,const char* title,DemoAp
 //Access pthreads as a workaround for a bug in Linux/Ubuntu
 //See https://bugs.launchpad.net/ubuntu/+source/nvidia-graphics-drivers-319/+bug/1248642
 
-	int i=pthread_getconcurrency();
+//	int i=pthread_getconcurrency();
-        printf("pthread_getconcurrency()=%d\n",i);
+ //       printf("pthread_getconcurrency()=%d\n",i);
 #endif
 
 	glutInit(&argc, argv);

Demos3/AllBullet2Demos/main.cpp

@@ -181,6 +181,32 @@ static void MyMouseButtonCallback(int button, int state, float x, float y)
 
 #include <string.h>
 
+void openURDFDemo(const char* filename)
+{
+   
+    if (sCurrentDemo)
+    {
+        sCurrentDemo->exitPhysics();
+        app->m_instancingRenderer->removeAllInstances();
+        delete sCurrentDemo;
+        sCurrentDemo=0;
+    }
+    
+    app->m_parameterInterface->removeAllParameters();
+   
+    ImportUrdfDemo* physicsSetup = new ImportUrdfDemo();
+    physicsSetup->setFileName(filename);
+    
+    sCurrentDemo = new BasicDemo(app, physicsSetup);
+    
+    if (sCurrentDemo)
+    {
+        sCurrentDemo->initPhysics();
+    }
+
+    
+}
+
 void selectDemo(int demoIndex)
 {
 	sCurrentDemoIndex = demoIndex;
@@ -329,6 +355,18 @@ struct GL3TexLoader : public MyTextureLoader
 	}
 };
 
+void fileOpenCallback()
+{
+
+ char filename[1024];
+ int len = app->m_window->fileOpenDialog(filename,1024);
+ if (len)
+ {
+     //todo(erwincoumans) check if it is actually URDF
+     //printf("file open:%s\n", filename);
+     openURDFDemo(filename);
+ }
+}
 
 extern float shadowMapWorldSize;
 int main(int argc, char* argv[])
@@ -476,6 +514,7 @@ int main(int argc, char* argv[])
 	*/
 	unsigned long int	prevTimeInMicroseconds = clock.getTimeMicroseconds();
 
+    gui->registerFileOpenCallback(fileOpenCallback);
     
 	do
 	{

Demos3/GpuDemos/gwenInternalData.h

@@ -40,6 +40,7 @@ struct GwenInternalData
 	Gwen::Controls::TabButton*		m_explorerPage;
 	Gwen::Controls::TreeControl*	m_explorerTreeCtrl;
 	Gwen::Controls::MenuItem*		m_viewMenu;
+    class MyMenuItems*                    m_menuItems;
 
 	int		m_curYposition;
 

Demos3/GpuDemos/gwenUserInterface.cpp

@@ -44,13 +44,23 @@ class MyMenuItems :  public Gwen::Controls::Base
 {
 public:
 
-    MyMenuItems() :Gwen::Controls::Base(0)
+    b3FileOpenCallback m_fileOpenCallback;
+    
+    MyMenuItems() :Gwen::Controls::Base(0),m_fileOpenCallback(0)
     {
     }
     void myQuitApp( Gwen::Controls::Base* pControl )
     {
         exit(0);
     }
+    void fileOpen( Gwen::Controls::Base* pControl )
+    {
+        if (m_fileOpenCallback)
+        {
+            (*m_fileOpenCallback)();
+        }
+    }
+    
 };
 
 struct MyTestMenuBar : public Gwen::Controls::MenuStrip
@@ -58,16 +68,19 @@ struct MyTestMenuBar : public Gwen::Controls::MenuStrip
 
 	Gwen::Controls::MenuItem* m_fileMenu;
 	Gwen::Controls::MenuItem* m_viewMenu;
+    MyMenuItems*                m_menuItems;
 
 	MyTestMenuBar(Gwen::Controls::Base* pParent)
 		:Gwen::Controls::MenuStrip(pParent)
 	{
 //		Gwen::Controls::MenuStrip* menu = new Gwen::Controls::MenuStrip( pParent );
 		{
-			MyMenuItems* menuItems = new MyMenuItems;
+			m_menuItems = new MyMenuItems;
 
 			m_fileMenu = AddItem( L"File" );
-			m_fileMenu->GetMenu()->AddItem(L"Quit",menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::myQuitApp);
+			
+            m_fileMenu->GetMenu()->AddItem(L"Open",m_menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::fileOpen);
+            m_fileMenu->GetMenu()->AddItem(L"Quit",m_menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::myQuitApp);
             m_viewMenu = AddItem( L"View" );
 			
 		}
@@ -142,6 +155,11 @@ void	GwenUserInterface::setStatusBarMessage(const char* message, bool isLeft)
 	}
 }
 
+void GwenUserInterface::registerFileOpenCallback(b3FileOpenCallback callback)
+{
+    m_data->m_menuItems->m_fileOpenCallback = callback;
+}
+
 void	GwenUserInterface::init(int width, int height,struct sth_stash* stash,float retinaScale)
 {
 	m_data->m_curYposition = 20;
@@ -157,6 +175,10 @@ void	GwenUserInterface::init(int width, int height,struct sth_stash* stash,float
 
 	MyTestMenuBar* menubar = new MyTestMenuBar(m_data->pCanvas);
 	m_data->m_viewMenu = menubar->m_viewMenu;
+    m_data->m_menuItems = menubar->m_menuItems;
+    
+    
+    
 	Gwen::Controls::StatusBar* bar = new Gwen::Controls::StatusBar(m_data->pCanvas);
 	m_data->m_rightStatusBar = new Gwen::Controls::Label( bar );
 	m_data->m_rightStatusBar->SetWidth(width/2);

Demos3/GpuDemos/gwenUserInterface.h

@@ -5,7 +5,7 @@ struct GwenInternalData;
 
 typedef void (*b3ComboBoxCallback) (int combobox, const char* item);
 typedef void (*b3ToggleButtonCallback)(int button, int state);
-
+typedef void (*b3FileOpenCallback)();
 
 
 class GwenUserInterface
@@ -40,6 +40,8 @@ class GwenUserInterface
 		
 		void	setStatusBarMessage(const char* message, bool isLeft=true);
 
+        void    registerFileOpenCallback(b3FileOpenCallback callback);
+    
 		GwenInternalData* getInternalData()
 		{
 			return m_data;

Demos3/ImportURDFDemo/ImportURDFSetup.cpp

@@ -12,7 +12,7 @@ static bool enableConstraints = true;//false;
 
 ImportUrdfDemo::ImportUrdfDemo()
 {
-
+    sprintf(m_fileName,"r2d2.urdf");
 }
 
 ImportUrdfDemo::~ImportUrdfDemo()
@@ -21,7 +21,10 @@ ImportUrdfDemo::~ImportUrdfDemo()
 }
 
 
-
+void ImportUrdfDemo::setFileName(const char* urdfFileName)
+{
+    memcpy(m_fileName,urdfFileName,strlen(urdfFileName)+1);
+}
 
 #include "urdf/urdfdom/urdf_parser/include/urdf_parser/urdf_parser.h"
 
@@ -244,9 +247,20 @@ btMultiBody* URDF2BulletMultiBody(my_shared_ptr<const Link> link, GraphicsPhysic
             localInertialTransform.setOrigin(inertiaLocalCOM);
             btQuaternion inertiaOrn((*link).inertial->origin.rotation.x,(*link).inertial->origin.rotation.y,(*link).inertial->origin.rotation.z,(*link).inertial->origin.rotation.w);
             btMatrix3x3 inertiaOrnMat(inertiaOrn);
+            
+            if (mass > 0 && (localInertiaDiagonal[0]==0.f || localInertiaDiagonal[1] == 0.f
+				|| localInertiaDiagonal[2] == 0.f))
+            {
+				b3Warning("Error: inertia should not be zero if mass is positive\n");
+                localInertiaDiagonal.setMax(btVector3(0.1,0.1,0.1));
+                localInertialTransform.setIdentity();//.setBasis(inertiaOrnMat);
+            }
+            else
+            {
                 localInertialTransform.setBasis(inertiaOrnMat*inertia2PrincipalAxis);
             }
 		}
+	}
 	btTransform linkTransformInWorldSpace;
 	int parentIndex = -1;
 
@@ -554,6 +568,8 @@ void URDFvisual2BulletCollisionShape(my_shared_ptr<const Link> link, GraphicsPhy
                 //create a joint if necessary
                 if ((*link).parent_joint)
                 {
+					btAssert(pp);
+
                     btRigidBody* parentBody =pp->m_bulletRigidBody;
 
                     const Joint* pj = (*link).parent_joint.get();
@@ -667,11 +683,11 @@ void ImportUrdfDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
 
 	m_dynamicsWorld->setGravity(gravity);
     //int argc=0;
-	const char* someFileName="r2d2.urdf";
 	char relativeFileName[1024];
 	
 	b3FileUtils fu;
-	bool fileFound = fu.findFile(someFileName, relativeFileName, 1024);
+	printf("m_fileName=%s\n", m_fileName);
+	bool fileFound = fu.findFile(m_fileName, relativeFileName, 1024);
 
 
 
@@ -773,6 +789,8 @@ void ImportUrdfDemo::initPhysics(GraphicsPhysicsBridge& gfxBridge)
         groundOrigin[upAxis]=-2.5;
         start.setOrigin(groundOrigin);
         btRigidBody* body =  createRigidBody(0,start,box);
+        //m_dynamicsWorld->removeRigidBody(body);
+       // m_dynamicsWorld->addRigidBody(body,2,1);
         btVector3 color(0.5,0.5,0.5);
         gfxBridge.createRigidBodyGraphicsObject(body,color);
     }

Demos3/ImportURDFDemo/ImportURDFSetup.h

@@ -6,12 +6,16 @@
 
 class ImportUrdfDemo : public CommonMultiBodySetup
 {
+    char m_fileName[1024];
+    
 public:
     ImportUrdfDemo();
     virtual ~ImportUrdfDemo();
 
 	virtual void initPhysics(GraphicsPhysicsBridge& gfxBridge);
 	virtual void stepSimulation(float deltaTime);
+    
+    void setFileName(const char* urdfFileName);
 };
 
 #endif //IMPORT_URDF_SETUP_H

btgui/OpenGLWindow/MacOpenGLWindow.h

@@ -81,7 +81,7 @@ public:
 	
 	virtual void setWindowTitle(const char* title);
 
-	
+    int fileOpenDialog(char* filename, int maxNameLength);
 
 };
 

btgui/OpenGLWindow/MacOpenGLWindow.mm

@@ -989,8 +989,48 @@ void MacOpenGLWindow::setRequestExit()
 	m_internalData->m_exitRequested = true;
 }
 
+#include <string.h>
+int MacOpenGLWindow::fileOpenDialog(char* filename, int maxNameLength)
+{
+    //save/restore the OpenGL context, NSOpenPanel can mess it up
+    //http://stackoverflow.com/questions/13987148/nsopenpanel-breaks-my-sdl-opengl-app
     
+    NSOpenGLContext *foo = [NSOpenGLContext currentContext];
+    // get the url of a .txt file
+    NSOpenPanel * zOpenPanel = [NSOpenPanel openPanel];
+    NSArray * zAryOfExtensions = [NSArray arrayWithObject:@"urdf"];
+    [zOpenPanel setAllowedFileTypes:zAryOfExtensions];
+    NSInteger zIntResult = [zOpenPanel runModal];
     
+    [foo makeCurrentContext];
+    
+    if (zIntResult == NSFileHandlingPanelCancelButton) {
+        NSLog(@"readUsingOpenPanel cancelled");
+        return 0;
+    }
+    NSURL *zUrl = [zOpenPanel URL];
+   if (zUrl)
+   {
+       //without the file://
+       NSString *myString = [zUrl absoluteString];
+       int slen = [myString length];
+       if (slen < maxNameLength)
+       {
+           const char *cfilename=[myString UTF8String];
+           //expect file:// at start of URL
+           const char* p = strstr(cfilename, "file://");
+            if (p==cfilename)
+            {
+                int actualLen = strlen(cfilename)-7;
+                memcpy(filename, cfilename+7,actualLen);
+                filename[actualLen]=0;
+                return actualLen;
+            }
+       }
+   }
+
+    return 0;
+}
 
 
 

btgui/OpenGLWindow/Win32OpenGLWindow.cpp

@@ -137,6 +137,40 @@ void	Win32OpenGLWindow::endRendering()
 
 }
 
+int Win32OpenGLWindow::fileOpenDialog(char* fileName, int maxFileNameLength)
+{
+	//wchar_t wideChars[1024];
+
+		OPENFILENAME ofn ;
+	ZeroMemory( &ofn , sizeof( ofn));
+	ofn.lStructSize = sizeof ( ofn );
+	ofn.hwndOwner = NULL  ;
+
+#ifdef UNICODE
+	WCHAR bla[1024];
+	ofn.lpstrFile = bla;
+	ofn.lpstrFile[0] = '\0';
+	ofn.nMaxFile = 1023;
+	ofn.lpstrFilter = L"URDF\0*.urdf\0";
+#else
+	ofn.lpstrFile = fileName;
+	ofn.lpstrFile[0] = '\0';
+	ofn.nMaxFile = 1023;
+	//ofn.lpstrFilter = "All\0*.*\0Text\0*.TXT\0";
+	ofn.lpstrFilter = "URDF\0*.urdf\0";
+	
+#endif
+
+	ofn.nFilterIndex =1;
+	ofn.lpstrFileTitle = NULL ;
+	ofn.nMaxFileTitle = 0 ;
+	ofn.lpstrInitialDir=NULL ;
+	ofn.Flags = OFN_PATHMUSTEXIST|OFN_FILEMUSTEXIST ;
+	GetOpenFileName( &ofn );
+	return strlen(fileName);
 
 
+	//return 0;
+}
+
 	

btgui/OpenGLWindow/Win32OpenGLWindow.h

@@ -51,6 +51,8 @@ public:
 	virtual	void	endRendering();
 
 	virtual float getRetinaScale() const {return 1.f;}
+
+	virtual int fileOpenDialog(char* fileName, int maxFileNameLength);
 };
 
 

btgui/OpenGLWindow/X11OpenGLWindow.cpp

@@ -64,6 +64,7 @@ static bool forceOpenGL3 = true;
 #ifdef DYNAMIC_LOAD_X11_FUNCTIONS
 
 ///our X11 function typedefs
+
 typedef int (*PFNXFREE)(void*);
 typedef XErrorHandler (* PFNXSETERRORHANDLER) (XErrorHandler);
 typedef int (* PFNXSYNC) (Display* a,Bool b);
@@ -74,6 +75,8 @@ typedef int (*PFNXMAPWINDOW) (Display*, Window);
 typedef int (*PFNXSTORENAME) (Display* a,Window b,_Xconst char* c);
 typedef int (*PFNXCLOSEDISPLAY) (Display* a);
 typedef int (*PFNXDESTROYWINDOW) (Display* a,Window b);
+typedef int (*PFNXRAISEWINDOW) (Display* a, Window b);
+
 #if NeedWidePrototypes
 	typedef KeySym* (*PFNXGETKEYBOARDMAPPING) (Display*,unsigned int,int,int*);
 	typedef KeySym (*PFNXKEYCODETOKEYSYM) (Display* a,unsigned int b,int c);
@@ -100,6 +103,7 @@ typedef Status (*PFNXGETWINDOWATTRIBUTES) (Display* a,Window b,XWindowAttributes
 #define MyXMapWindow m_data->m_x11_XMapWindow
 #define MyXStoreName m_data->m_x11_XStoreName
 #define MyXDestroyWindow m_data->m_x11_XDestroyWindow
+#define MyXRaiseWindow m_data->m_x11_XRaiseWindow
 #define MyXCloseDisplay m_data->m_x11_XCloseDisplay
 #define MyXKeycodeToKeysym m_data->m_x11_XKeycodeToKeysym
 #define MyXConvertCase m_data->m_x11_XConvertCase
@@ -125,6 +129,7 @@ typedef Status (*PFNXGETWINDOWATTRIBUTES) (Display* a,Window b,XWindowAttributes
 #define MyXMapWindow XMapWindow
 #define MyXStoreName XStoreName
 #define MyXDestroyWindow XDestroyWindow
+#define MyXRaiseWindow XRaiseWindow
 #define MyXCloseDisplay XCloseDisplay
 #define MyXKeycodeToKeysym XKeycodeToKeysym
 #define MyXConvertCase XConvertCase
@@ -167,6 +172,7 @@ struct InternalData2
 	PFNXSTORENAME					m_x11_XStoreName;
 	PFNXCLOSEDISPLAY			m_x11_XCloseDisplay;
 	PFNXDESTROYWINDOW			m_x11_XDestroyWindow;
+	PFNXRAISEWINDOW				m_x11_XRaiseWindow;
 	PFNXKEYCODETOKEYSYM		m_x11_XKeycodeToKeysym;
 	PFNXGETKEYBOARDMAPPING m_x11_XGetKeyboardMapping;
 	PFNXCONVERTCASE				m_x11_XConvertCase;
@@ -225,7 +231,10 @@ struct InternalData2
 		missingFunc = ((m_x11_XCloseDisplay = (PFNXCLOSEDISPLAY) dlsym(m_x11_library,"XCloseDisplay"))==NULL) | missingFunc;
 		if (missingFunc)		{ printf("Error: missing func XCloseDisplay in %s, exiting!\n", X11_LIBRARY);	exit(0);}
 		missingFunc = ((m_x11_XDestroyWindow = (PFNXDESTROYWINDOW) dlsym(m_x11_library,"XDestroyWindow"))==NULL) | missingFunc;
-		if (missingFunc)		{ printf("Error: missing func XMapWindow in %s, exiting!\n", X11_LIBRARY);	exit(0);}
+		if (missingFunc)		{ printf("Error: missing func XDestroyWindow in %s, exiting!\n", X11_LIBRARY);	exit(0);}
+		missingFunc = ((m_x11_XRaiseWindow = (PFNXRAISEWINDOW) dlsym(m_x11_library,"XRaiseWindow"))==NULL) | missingFunc;
+		if (missingFunc)		{ printf("Error: missing func XRaiseWindow in %s, exiting!\n", X11_LIBRARY);	exit(0);}
+
 		missingFunc = ((m_x11_XGetKeyboardMapping = (PFNXGETKEYBOARDMAPPING) dlsym(m_x11_library,"XGetKeyboardMapping"))==NULL) | missingFunc;
 		if (missingFunc)		{ printf("Error: missing func XGetKeyboardMapping in %s, exiting!\n", X11_LIBRARY);	exit(0);}
 		missingFunc = ((m_x11_XKeycodeToKeysym = (PFNXKEYCODETOKEYSYM) dlsym(m_x11_library,"XKeycodeToKeysym"))==NULL) | missingFunc;
@@ -959,4 +968,29 @@ b3KeyboardCallback      X11OpenGLWindow::getKeyboardCallback()
 {
 	return m_data->m_keyboardCallback;
 }
+#include <stdio.h>
 
+int X11OpenGLWindow::fileOpenDialog(char* filename, int maxNameLength)
+{
+	int len = 0;
+	FILE * output = popen("zenity --file-selection --file-filter=\"*.urdf\" --file-filter=\"*.*\"","r");
+	if (output)
+	{
+		while( fgets(filename, maxNameLength-1, output) != NULL )
+		{
+			len=strlen(filename);
+			if (len>0)
+			{
+				filename[len-1]=0;
+				printf("file open (length=%d) = %s\n", len,filename);
+			}	
+		}
+		pclose(output);
+	} else
+	{
+		printf("Error: fileOpenDialog no popen output, perhaps install zenity?\n");
+	}
+	MyXRaiseWindow(m_data->m_dpy, m_data->m_win);
+	return len;
+	
+}

btgui/OpenGLWindow/X11OpenGLWindow.h

@@ -59,6 +59,7 @@ public:
 
         virtual void setWindowTitle(const char* title);
 
+	int fileOpenDialog(char* filename, int maxNameLength);
 };
 
 

btgui/OpenGLWindow/b3gWindowInterface.h

@@ -110,6 +110,8 @@ class b3gWindowInterface
 
 		virtual	float	getRetinaScale() const =0;
 
+        virtual int fileOpenDialog(char* fileName, int maxFileNameLength) = 0;
+    
 };
 
 #endif //B3G_WINDOW_INTERFACE_H

src/Bullet3Common/b3FileUtils.h

@@ -16,11 +16,21 @@ struct b3FileUtils
 
 	bool findFile(const char* orgFileName, char* relativeFileName, int maxRelativeFileNameMaxLen)
 	{
+		FILE* f=0;
+		f = fopen(orgFileName,"rb");
+                if (f)
+                {
+			//printf("original file found: [%s]\n", orgFileName);
+			sprintf(relativeFileName,"%s", orgFileName);
+			fclose(f);
+			return true;
+		}
 
-			const char* prefix[]={"","./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
+		//printf("Trying various directories, relative to current working directory\n");	
+			const char* prefix[]={"./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
 			int numPrefixes = sizeof(prefix)/sizeof(const char*);
 	
-			FILE* f=0;
+			f=0;
 			bool fileFound = false;
 			int result = 0;
 
@@ -79,11 +89,11 @@ struct b3FileUtils
 			path[len]=0;
 		} else
 		{
-#ifdef _WIN32
+			b3Assert(maxPathLength>0);
-		sprintf_s(path, maxPathLength,"");
+			if (maxPathLength>0)
-#else
+			{
-			sprintf(path, "");
+				path[0] = 0;
-#endif
+			}
 		}
 	}