[Opal-commits] opal SConstruct,NONE,1.1 changelog.txt,NONE,1.1 todo.txt,1.19,1.20

[tylerstreeter <tyl...@us...>]

Update of /cvsroot/opal/opal
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv26694

Modified Files:
	todo.txt 
Added Files:
	SConstruct changelog.txt 
Log Message:
added SCons build system

--- NEW FILE: SConstruct ---
import os

def printOptions(mode, engine, XML):
	print 'Building OPAL with the following options: '
	if mode == True:
		print 'mode = true'
	else:
		print 'mode = false'
	print 'engine = ' + engine
	if XML == True:
		print 'Use XML functions = true'
	else:
		print 'Use XML functions = false'

# Make at least one target (physics engine) required.
Default(None)

# Setup options
opts = Options()
opts.AddOptions(
	BoolOption('debug', 'Build in debug mode', False),
	BoolOption('XML', 'Build with XML saving/loading functions (TinyXML headers required)', True), 
	PathOption('extra_include_path', 'Additional include directory', '.'), 
	PathOption('extra_lib_path', 'Additional lib directory', '.'), 
	PathOption('prefix', 'Install directory', '.'))

physicsEngine = ''
if 'ODE' in COMMAND_LINE_TARGETS:
	physicsEngine = 'ODE'
else:
	print 'Invalid physics engine.  Specify one of the following targets: ODE'

# Setup the base environment
env = Environment(ENV = os.environ, 
	options = opts, 
	LINKFLAGS = [])
env.Append(CPPDEFINES = ['TIXML_USE_STL'], 
	CPPPATH = env['extra_include_path'], 
	LIBPATH = env['extra_lib_path'])

# Setup the buildDir (where compiled binary files are placed)
buildDir = ''
if env['debug'] == True:
	buildDir = 'debug'
else:
	buildDir = 'release'

# Add XML support if desired
if env['XML'] == True:
	env.Append(CPPDEFINES = ['OPAL_USE_XML'])

printOptions(env['debug'], physicsEngine, env['XML'])

# Generate command line help text
Help(opts.GenerateHelpText(env))

# Add platform-specific stuff
if env['PLATFORM'] == 'win32':
	env.Append(
               CPPDEFINES = ['WIN32', '_WIN32', '/W3', 'OPAL_DLL_EXPORTING'], 
               CPPPATH = [], 
               LIBPATH = [])
	if env['debug'] == True:
		env.Append(CXXFLAGS = ['/MD', '/Od'], 
			CPPDEFINES = ['_DEBUG'])
	else:
		env.Append(CXXFLAGS = ['/MD', '/O2', '/Og', '/Ob2', '/Oi', '/Ot'], 
			CPPDEFINES = ['NDEBUG'])
elif env['PLATFORM'] == 'irix':
	env.Replace(CXX = 'CC')
	env.Append(
		CXXFLAGS = ['-ansi', '-LANG:std', '-n32'], 
		CPPPATH = string.split(os.environ['CPLUS_INCLUDE_PATH'], ':'), 
		LIBPATH = string.split(os.environ['LIBRARY_PATH'], ':'))
	if env['debug'] == True:
		env.Append(CXXFLAGS = ['/O0'])
	else:
		env.Append(CXXFLAGS = ['/O2'])
else:
	env.Replace(CXX = 'g++')
	if env['debug'] == True:
		env.Append(CXXFLAGS = ['/O0'])
	else:
		env.Append(CXXFLAGS = ['/O2'])

# Export the environment we just created for the SConscripts
Export('env')

# Call the base OPAL src SConscript
objects = SConscript(dirs = ['src'], build_dir = buildDir, duplicate = 0)

opalLib = ''

# Setup ODE version
if physicsEngine == 'ODE':
	# Add ODE objects
	ODEBuildDir = buildDir + '/ODE'
	objects += SConscript(dirs = ['src/ODE'], build_dir = ODEBuildDir, duplicate = 0)

	if env['debug'] == True:
		env.Append(LIBS = 'ode_d')
		opalLib = env.SharedLibrary('lib/' + env['PLATFORM'] + '/opal-ode_d', objects)
	else:
		env.Append(LIBS = 'ode')
		opalLib = env.SharedLibrary('lib/' + env['PLATFORM'] + '/opal-ode', objects)

	env.Alias('ODE', opalLib)

# Add more physics engines here...

# Setup 'install' alias
#env.Alias('install', env.Install(os.path.join(prefix, 'lib'), opalLib))
#env.Alias('install', env.Install(os.path.join(prefix, 'include'), includeDir))
#TODO: above - fix include dir stuff

# TODO: add gather scripts here...

--- NEW FILE: changelog.txt ---
Version 0.2.0
-------------
	* Changed build systems from make to SCons
	* Changed build systems to produce a shared library on all platforms
	* Added Blueprint classes for XML loading
	* Fixed crashes from destroying objects at the wrong time; garbage collector now allows objects to be destroyed at any time
	* Added trimesh object to ODE version
	* Numerous API changes

Version 0.1.0
-------------
	* Initial version
Index: todo.txt
===================================================================
RCS file: /cvsroot/opal/opal/todo.txt,v
retrieving revision 1.19
retrieving revision 1.20
diff -C2 -d -r1.19 -r1.20
*** todo.txt	26 Jan 2005 23:10:46 -0000	1.19
--- todo.txt	1 Feb 2005 05:55:19 -0000	1.20
***************
*** 5,9 ****
  	- src
  	- build systems
! 	- unix configure script
  	- samples
  		- src
--- 5,9 ----
  	- src
  	- build systems
! 	- unix configure script? /scons file
  	- samples
  		- src
***************
*** 26,33 ****
  =====
  
  * build everything as dynamic libs
! 	- windows dll problem: derived event handlers need to use OPAL_CALL; and... the event handler 
! 		system is kinda ugly, too
! 	- Unix makefiles (ld -shared; use -rpath when linking sample apps to specify .so search path)
  
  * fix scripts
--- 26,39 ----
  =====
  
+ * use stable ODE releases (0.5)
+ 
+ * use scons
+ 	- one script for all platforms
+ 	- additionally, vs and xcode project files
+ 
  * build everything as dynamic libs
! 	- windows dll problem: derived event handlers need to use OPAL_CALL; and... the event handler system is kinda ugly, too
! 
! * Unix build for sample apps: use -rpath when linking to specify .so search path
  
  * fix scripts
***************
*** 43,48 ****
--- 49,66 ----
  	- gather Win32 binary release (just used by us, the developers)
  
+ * fix vc6 project to create a dll
+ 
  * make tinyxml optional
  
+ * add "sensors"; could the event handler be replaced with these?
+ 	- ray casting/rangefinder
+ 	- contact
+ 	- gyro
+ 	- velocimeter
+ 
+ * shape class
+ 	- solution: yes
+ 	- user-created (not requested from simulator or solid)
+ 
  * calculate actual kd and ks for joints from erp/cfm
  
***************
*** 58,70 ****
  * Combine DesiredPosMotor with ServoMotor since they do almost the same thing
  
  * small objects rotate weirdly
  	- due to small mass not causing deep enough penetrations, thus they have little friction and just slide around?
  
  * remove huge parameter lists from constructors / simulator construction methods; use init functions
! 	- solution: empty constructors; separate set functions for all parameters; the object becomes enabled 
! 	automatically once the required parameters are set
  	
  * remove address accessor to matrix (too dangerous for new users?)
! 	- solution: keep and document?
  	
  * make an 'enable acceleration calculations' function so they don't get calculated unnecessarily
--- 76,92 ----
  * Combine DesiredPosMotor with ServoMotor since they do almost the same thing
  
+ * Rename ConstForceMotor to something else (e.g. ThrusterMotor)?
+ 
  * small objects rotate weirdly
  	- due to small mass not causing deep enough penetrations, thus they have little friction and just slide around?
  
  * remove huge parameter lists from constructors / simulator construction methods; use init functions
! 	- solution: empty constructors; separate set functions for all parameters; the object becomes enabled automatically once the required parameters are set
! 	- OR... have init functions that take only the necessary params; this enables the object
! 
! * each object's functions should check if (enabled) first
  	
  * remove address accessor to matrix (too dangerous for new users?)
! 	- solution: keep and document, or remove?
  	
  * make an 'enable acceleration calculations' function so they don't get calculated unnecessarily
***************
*** 77,80 ****
--- 99,107 ----
  * make sure everything is stepsize independent
  
+ * memory allocation
+ 	- event handlers: created and destroyed by users
+ 	- custom motors: created and destroyed by users? (must be alloc'd and dealloc'd on the same side of 
+ 		the DLL interface
+ 
  * Add a boolean to Solid that determines if it generates contacts at all (the docking volume shouldn't collide with anything
    but should generate collision events still).
***************
*** 85,89 ****
  
  * Buoyancy ideas
! 	- look at ODE mailing list for Tyler's post
  
  * Convex hulls
--- 112,116 ----
  
  * Buoyancy ideas
! 	- look at ODE mailing list for Tyler's post and responses
  
  * Convex hulls
***************
*** 91,97 ****
  
  * Automatic collision mesh generation (allows "concave hulls")
! 	- load in model, generate octree
  	- create a primitive shape for each leaf in the octree using the leaf's extents as the dimensions of the shape
  	- the primitive shapes can be boxes, spheres, or convex hulls
  
  * Sample apps using OGRE
--- 118,126 ----
  
  * Automatic collision mesh generation (allows "concave hulls")
! 	- load in model (include OBJ loader?), generate octree
  	- create a primitive shape for each leaf in the octree using the leaf's extents as the dimensions of the shape
  	- the primitive shapes can be boxes, spheres, or convex hulls
+ 	- for XML file spec, add auto shape generation option
+ 	- opal file exporters could calculate precached collision mesh data (i.e. not using the auto feature)
  
  * Sample apps using OGRE
***************
*** 105,115 ****
  ================
  * cool logo
! * downloads (just links to sf project page)
  * docs
  	- overview/"about" page
  		- purpose
! 		- platforms
  		- major features
  		- license info
  	- tutorials
  	- doxygen source docs
--- 134,149 ----
  ================
  * cool logo
! * downloads
! 	- description of different downloads
! 	- links to sf project page for actual downloads
  * docs
  	- overview/"about" page
  		- purpose
! 		- current physics engine support per platform
! 		- platforms supported
  		- major features
  		- license info
+ 	- manual
+ 		- general description of main objects
  	- tutorials
  	- doxygen source docs