IRSL-tut · pull · Aug 8, 2024 · Jul 20, 2024 · Jul 12, 2024 · Jul 19, 2024
diff --git a/cmake/ChoreonoidConfig.cmake.in b/cmake/ChoreonoidConfig.cmake.in
@@ -49,6 +49,7 @@ set(CHOREONOID_COMPILE_DEFINITIONS "@compile_definitions@")
 set(CHOREONOID_DEFAULT_FVISIBILITY_HIDDEN @CHOREONOID_DEFAULT_FVISIBILITY_HIDDEN@)
 set(CHOREONOID_INCLUDE_DIRS "@include_dirs@")
 set(CHOREONOID_LIBRARY_DIRS "@library_dirs@")
+set(CHOREONOID_USE_PYTHON2 @CNOID_USE_PYTHON2@)
 
 if(@has_boost_libs_for_util_libs@)
   find_package(Boost @boost_version@ EXACT COMPONENTS @boost_components_for_util_libs@)

diff --git a/include/cnoid/CameraConfigDialog b/include/cnoid/CameraConfigDialog
@@ -0,0 +1 @@
+#include "src/Base/CameraConfigDialog.h"
diff --git a/include/cnoid/CameraItem b/include/cnoid/CameraItem
@@ -0,0 +1 @@
+#include "src/Base/CameraItem.h"
diff --git a/include/cnoid/GeneralSceneFileLoadDialog b/include/cnoid/GeneralSceneFileLoadDialog
@@ -0,0 +1 @@
+#include "src/Base/GeneralSceneFileLoadDialog.h"
diff --git a/include/cnoid/ParticleSystem b/include/cnoid/ParticleSystem
@@ -0,0 +1 @@
+#include "src/SceneEffectsPlugin/ParticleSystem.h"
diff --git a/include/cnoid/RainSnowDevice b/include/cnoid/RainSnowDevice
@@ -0,0 +1 @@
+#include "src/SceneEffectsPlugin/RainSnowDevice.h"
diff --git a/include/cnoid/RenderableItemSceneExporter b/include/cnoid/RenderableItemSceneExporter
@@ -0,0 +1 @@
+#include "src/Base/RenderableItemSceneExporter.h"
diff --git a/include/cnoid/SmokeDevice b/include/cnoid/SmokeDevice
@@ -0,0 +1 @@
+#include "src/SceneEffectsPlugin/SmokeDevice.h"
diff --git a/include/cnoid/ZmpDevice b/include/cnoid/ZmpDevice
@@ -0,0 +1 @@
+#include "src/Body/ZmpDevice.h"
diff --git a/share/model/misc/fencedfloor.body b/share/model/misc/fencedfloor.body
@@ -0,0 +1,45 @@
+format: ChoreonoidBody
+formatVersion: 2.0
+name: FencedFloor
+links:
+  -
+    name: Floor
+    jointType: fixed
+    material: Ground
+    elements:
+      Shape:
+        translation: [ 0, 0, -0.1 ]
+        geometry: { type: Box, size: [ 10.0, 10.0, 0.2 ] }
+        appearance: { material: { diffuseColor: [ 0, 0, 1 ] }}
+  -
+    name: Fence1
+    parent: Floor
+    translation: [ 4.95, 0, 0.2 ]
+    jointType: fixed
+    elements:
+      Shape: &Fence1
+        geometry: { type: Box, size: [ 0.1, 10.0, 0.4 ] }
+        appearance: &App1 { material: { diffuseColor: [ 0.7, 0.7, 0.7 ] }}
+  -
+    name: Fence2
+    parent: Floor
+    translation: [ -4.95, 0, 0.2 ]
+    jointType: fixed
+    elements:
+      Shape: *Fence1
+  -
+    name: Fence3
+    parent: Floor
+    translation: [ 0, 4.95, 0.2 ]
+    jointType: fixed
+    elements:
+      Shape: &Fence2
+        geometry: { type: Box, size: [ 9.8, 0.1, 0.4 ] }
+        appearance: *App1
+  -
+    name: Fence4
+    parent: Floor
+    translation: [ 0, -4.95, 0.2 ]
+    jointType: fixed
+    elements:
+      Shape: *Fence2
diff --git a/share/model/misc/smoke.body b/share/model/misc/smoke.body
@@ -8,4 +8,4 @@ links:
     name: Base
     jointType: fixed
     elements:
-      SmokeDevice: { }
+      SmokeDevice: { tint_color: [ 1.0, 1.0, 1.0 ] }
diff --git a/src/AGXDynamicsPlugin/AGXObjectFactory.cpp b/src/AGXDynamicsPlugin/AGXObjectFactory.cpp
@@ -49,7 +49,11 @@ agxSDK::SimulationRef AGXObjectFactory::createSimulation(const AGXSimulationDesc
     sim->getSpace()->setContactReductionThreshold(desc.contactReductionThreshhold);
     sim->getDynamicsSystem()->setEnableContactWarmstarting(desc.enableContactWarmstarting);
     sim->getMergeSplitHandler()->setEnable(desc.enableAMOR);
+
+#if AGX_MAJOR_VERSION < 38    
     sim->getDynamicsSystem()->getAutoSleep()->setEnable(desc.enableAutoSleep);
+#endif
+
     return sim;
 }
 
@@ -107,7 +111,11 @@ LinkRigidBodyRef AGXObjectFactory::createLinkRigidBody(const AGXRigidBodyDesc& d
     rigid->setPosition(desc.p);
     rigid->setRotation(desc.R);
     rigid->setName(desc.name);
+
+#if AGX_MAJOR_VERSION < 38    
     rigid->getAutoSleepProperties().setEnable(desc.enableAutoSleep);
+#endif
+
     return rigid;
 }
 

diff --git a/src/AGXDynamicsPlugin/AGXScene.cpp b/src/AGXDynamicsPlugin/AGXScene.cpp
@@ -132,12 +132,18 @@ void AGXScene::setGravity(const agx::Vec3 & g)
 
 bool AGXScene::getEnableAutoSleep() const
 {
+#if AGX_MAJOR_VERSION >= 38
+    return false;
+#else
     return getSimulation()->getDynamicsSystem()->getAutoSleep()->getEnable();
+#endif
 }
 
 void AGXScene::setEnableAutoSleep(const bool & bOn)
 {
+#if AGX_MAJOR_VERSION < 38
     getSimulation()->getDynamicsSystem()->getAutoSleep()->setEnable(bOn);
+#endif
 }
 
 bool AGXScene::saveSceneToAGXFile()
@@ -151,4 +157,4 @@ agxSDK::SimulationRef AGXScene::getSimulation() const
     return _agxSimulation;
 }
 
-}
+}
diff --git a/src/Base/App.cpp b/src/Base/App.cpp
@@ -20,10 +20,11 @@
 #include "ExtCommandItem.h"
 #include "SceneItem.h"
 #include "SceneGeometryMeasurementTracker.h"
+#include "CameraItem.h"
+#include "LightingItem.h"
 #include "PointSetItem.h"
 #include "PointSetGeometryMeasurementTracker.h"
 #include "MultiPointSetItem.h"
-#include "LightingItem.h"
 #include "AbstractTextItem.h"
 #include "ScriptItem.h"
 #include "MessageLogItem.h"
@@ -434,13 +435,14 @@ void App::Impl::initialize()
     ReferencedObjectSeqItem::initializeClass(ext);
     SceneItem::initializeClass(ext);
     SceneGeometryMeasurementTracker::initializeClass();
+    CameraItem::initializeClass(ext);
+    LightingItem::initializeClass(ext);
     PointSetItem::initializeClass(ext);
     PointSetGeometryMeasurementTracker::initializeClass();
     MultiPointSetItem::initializeClass(ext);
     AbstractTextItem::initializeClass(ext);
     ScriptItem::initializeClass(ext);
     MessageLogItem::initializeClass(ext);
-    LightingItem::initializeClass(ext);
     CoordinateFrameListItem::initializeClass(ext);
     CoordinateFrameItem::initializeClass(ext);
     PositionTagGroupItem::initializeClass(ext);
@@ -495,9 +497,9 @@ App::~App()
 
 App::Impl::~Impl()
 {
-    AppConfig::flush();
     delete qapplication;
     delete pluginManager;
+    AppConfig::flush();
 }
 
 
@@ -586,6 +588,7 @@ int App::Impl::exec()
     RootItem::instance()->clearChildren();
 
     pluginManager->finalizePlugins();
+    ext->deleteManagedObjects();
     delete mainWindow;
     mainWindow = nullptr;
 

diff --git a/src/Base/AppCustomizationUtil.h b/src/Base/AppCustomizationUtil.h
@@ -10,6 +10,7 @@
 #include "FileDialog.h"
 #include "TimeBar.h"
 #include "DisplayValueFormat.h"
+#include "GeneralSceneFileLoadDialog.h"
 #include <cnoid/GettextUtil>
 
 namespace cnoid {
@@ -116,6 +117,11 @@ class AppCustomizationUtil
         TimeBar::setNegativeTimeEnabled(on);
     }
 
+    static void setGeneralSceneFileLoadDialogDefaultLengthUnitHint(SceneLoader::LengthUnitType hint)
+    {
+        GeneralSceneFileLoadDialog::setDefaultLengthUnitHint(hint);
+    }
+
     void setLengthUnit(DisplayValueFormat::LengthUnit unit)
     {
         displayValueFormat->setLengthUnit(unit);

diff --git a/src/Base/Base.qrc b/src/Base/Base.qrc
@@ -36,6 +36,7 @@
     <file>icon/rightview.svg</file>
     <file>icon/topview.svg</file>
     <file>icon/bottomview.svg</file>
+    <file>icon/isometricview.svg</file>
 
     <file>icon/global.svg</file>
 

diff --git a/src/Base/CMakeLists.txt b/src/Base/CMakeLists.txt
@@ -25,6 +25,7 @@ set(sources
   RenderableItem.cpp
   RenderableItemUtil.cpp
   RenderableItemSceneStatistics.cpp
+  RenderableItemSceneExporter.cpp
   PolymorphicItemFunctionSet.cpp
   PutPropertyFunction.cpp
   RootItem.cpp
@@ -130,6 +131,10 @@ set(sources
   SceneItemFileIO.cpp
   SceneGeometryMeasurementTracker.cpp
   GeneralSceneFileImporterBase.cpp
+  GeneralSceneFileLoadDialog.cpp
+  CameraItem.cpp
+  CameraConfigDialog.cpp
+  LightingItem.cpp
   PointSetItem.cpp
   PointSetGeometryMeasurementTracker.cpp
   MultiPointSetItem.cpp
@@ -149,7 +154,6 @@ set(sources
   TaskView.cpp
   VirtualJoystickView.cpp
   MessageLogItem.cpp
-  LightingItem.cpp
   QtSvgUtil.cpp
   )
 
@@ -226,6 +230,7 @@ set(headers
   LocatableItem.h
   RenderableItem.h
   RenderableItemUtil.h
+  RenderableItemSceneExporter.h
   ImageableItem.h
   TargetItemPicker.h
   UnifiedEditHistory.h
@@ -285,6 +290,10 @@ set(headers
   SceneItem.h
   SceneItemFileIO.h
   GeneralSceneFileImporterBase.h
+  GeneralSceneFileLoadDialog.h
+  CameraItem.h
+  CameraConfigDialog.h
+  LightingItem.h
   PointSetItem.h
   MultiPointSetItem.h
   PositionTagGroupItem.h
@@ -302,7 +311,6 @@ set(headers
   TextEdit.h
   TaskView.h
   MessageLogItem.h
-  LightingItem.h
   QtEventUtil.h
   QVariantUtil.h
   QtSvgUtil.h