robsimulatorgroup / gobot Goto Github PK

RigidBody3D, as a Node3D in the scene tree, implements 3D physics. Movement and collision will be calculated w.r.t. an applied command.
In sense of a robot, any RigidBody3D should be attached to a parented Joint3D, otherwise it's floating.

set theme of imgui and add debug console of gobot::Logger

Ref<> is same with intrusive_ptr,

shared_ptr VS intrusive_ptr
About intrusive_ptr

About, In gobot basically all types inherit from one parent, so using intrusive_ptr is more natural.

https://www.boost.org/doc/libs/1_62_0/libs/smart_ptr/intrusive_ptr.html
https://groups.google.com/g/osg-users/c/uF1z2AYDOBQ

complete MeshInstance

using Eigen as math base

• Error of matrix
  Do you have any idea of this? @wuyingnan

C:\Users\wqq\gobot\include\gobot/core/math/matrix.hpp(113): error C2760: 语法错误:此处出现意外的“)”；应为“表达式”
C:\Users\wqq\gobot\include\gobot/core/math/matrix.hpp(149): note: 查看对正在编译的 类 模板 实例化“gobot::internal::Matrix<Scalar,_Rows,_Cols,_Options,_MaxRows,_MaxCols>”的引用
C:\Users\wqq\gobot\include\gobot/core/math/matrix.hpp(113): error C3878: 语法错误: "simple_declaration" 后出现意外标记 ")"
C:\Users\wqq\gobot\include\gobot/core/math/matrix.hpp(113): note: 已跳过错误恢复:“)”
C:\Users\wqq\gobot\include\gobot/core/math/matrix.hpp(123): error C2760: 语法错误:此处出现意外的“)”；应为“表达式”
C:\Users\wqq\gobot\include\gobot/core/math/matrix.hpp(123): error C2760: 语法错误:此处出现意外的“)”；应为“;”
C:\Users\wqq\gobot\include\gobot/core/math/matrix.hpp(123): error C3878: 语法错误: "expression_statement" 后出现意外标记 ")"
C:\Users\wqq\gobot\include\gobot/core/math/matrix.hpp(123): note: 已跳过错误恢复:“)”
C:\Users\wqq\gobot\include\gobot/core/math/matrix.hpp(133): error C2760: 语法错误:此处出现意外的“)”；应为“表达式”
C:\Users\wqq\gobot\include\gobot/core/math/matrix.hpp(133): error C3878: 语法错误: "simple_declaration" 后出现意外标记 ")"
C:\Users\wqq\gobot\include\gobot/core/math/matrix.hpp(133): note: 已跳过错误恢复:“)”
C:\Users\wqq\gobot\include\gobot/core/math/matrix.hpp(139): error C2760: 语法错误:此处出现意外的“)”；应为“表达式”
C:\Users\wqq\gobot\include\gobot/core/math/matrix.hpp(139): error C2760: 语法错误:此处出现意外的“)”；应为“:”
C:\Users\wqq\gobot\include\gobot/core/math/matrix.hpp(139): error C3878: 语法错误: "expression" 后出现意外标记 "*"
C:\Users\wqq\gobot\include\gobot/core/math/matrix.hpp(139): note: 已跳过错误恢复:“* 标识符”
C:\Users\wqq\gobot\include\gobot/core/math/matrix.hpp(139): error C2760: 语法错误:此处出现意外的“:”；应为“;”
C:\Users\wqq\gobot\include\gobot/core/math/matrix.hpp(139): error C3878: 语法错误: "expression_statement" 后出现意外标记 ":"
C:\Users\wqq\gobot\include\gobot/core/math/matrix.hpp(139): note: 已跳过错误恢复:“:”
C:\Users\wqq\gobot\include\gobot/core/math/matrix.hpp(140): error C2760: 语法错误:此处出现意外的“)”；应为“表达式”
C:\Users\wqq\gobot\include\gobot/core/math/matrix.hpp(140): error C2760: 语法错误:此处出现意外的“)”；应为“;”
C:\Users\wqq\gobot\include\gobot/core/math/matrix.hpp(140): error C3878: 语法错误: "expression_statement" 后出现意外标记 ")"
C:\Users\wqq\gobot\include\gobot/core/math/matrix.hpp(140): note: 已跳过错误恢复:“)”

• Error of bx

C:\Users\wqq\gobot\3rdparty\bgfx\bx\include\bx\inline/allocator.inl(63): error C3861: “BX_UNUSED_1”: 找不到标识符 C:\Users\wqq\gobot\3rdparty\bgfx\bx\include\bx/mutex.h(16): error C2061: 语法错误: 标识符“NO_COPY” C:\Users\wqq\gobot\3rdparty\bgfx\bx\include\bx/mutex.h(18): error C4430: 缺少类型说明符 - 假定为 int。注意: C++ 不支持默认 int C:\Users\wqq\gobot\3rdparty\bgfx\bx\include\bx/mutex.h(18): warning C4183: “BX_CLASS_1”: 缺少返回类型；假定为返回“int”的成员函数 C:\Users\wqq\gobot\3rdparty\bgfx\bx\include\bx/mutex.h(40): error C2061: 语法错误: 标识符“NO_DEFAULT_CTOR” C:\Users\wqq\gobot\3rdparty\bgfx\bx\include\bx/mutex.h(43): error C4430: 缺少类型说明符 - 假定为 int。注意: C++ 不支持默认 int C:\Users\wqq\gobot\3rdparty\bgfx\bx\include\bx/mutex.h(43): warning C4183: “BX_CLASS_2”: 缺少返回类型；假定为返回“int”的成员函数 C:\Users\wqq\gobot\src\gobot\rendering\debug_draw\debug_draw.cpp(373): error C3861: “BX_UNUSED_5”: 找不到标识符 C:\Users\wqq\gobot\src\gobot\rendering\debug_draw\debug_draw.cpp(373): note: “BX_UNUSED_5”: 函数声明必须可用，因为所有参数都不依赖于模板参数 C:\Users\wqq\gobot\src\gobot\rendering\debug_draw\debug_draw.cpp(439): note: 查看对正在编译的 类 模板 实例化“gobot::GeometryT<MaxHandlesT>”的引用 C:\Users\wqq\gobot\src\gobot\rendering\debug_draw\debug_draw.cpp(1692): error C3861: “BX_UNUSED_4”: 找不到标识符

Since we changed conanfile.txt to conanfile.py, the cache key used in Github action should be changed accordingly.

cannot link libglad in windows

candidates:

1. https://github.com/google/filament
2. https://github.com/mosra/magnum
3. https://github.com/openscenegraph/OpenSceneGraph
4. https://github.com/bkaradzic/bgfx
5. https://github.com/LukasBanana/LLGL
   I want a lightweight, simple 3d visualization library for quick integration and for debug use for the first step.
   Also I hope path tracing and some graphic algorithm easy to integration and add new features incrementally.

magnum looks well enough, but I don't find the gizmo demo.

A pre-parsed relative or absolute path in a scene tree, for use with Node related functionalities. It can reference a node, a resource within a node, or a property of a node or resource.

Following contents should be added to the readme file.

1. Intro;
2. Requirments/dependencies;
3. Build steps.

1. state machine
2. Behavior tree
3. hierarchical task
4. decider networks

Main::Startup initialize all global instance(singleton)

Add intermediate layer for gobot api registration, so we can not only bind to rttr, but also some other usage, such as pybind11, json, and visual script.

gobot api registration ==> intermediate layer ==> RTTR, pybind11, json...

Add Windows CI Action so that pipeline is checked for both Ubuntu and Windows

1. Current demo relies on shader from bgfx demos without which the gobot editor cannot be initiated.
2. The editor process may not be terminated due to an incomplete shutdown of bgfx, which might be a multi-threading bug of bgfx.
3. Windows support is highly recommended since we can validate bgfx earlier if other issues existed.
4. resizing the view can cause flushing.

Currently windows build and test is disabled because there are bugs in CMakeLists.txt. Need to fix it and enable windows build/test again

Property inspector using rttr reflection system.

• Bool
  

• Integer(UInt8, UInt16, UInt32, UInt64, Int8, Int16, In
  

• ObjectID, RID, RenderRID
  

• String
  
  t32, Int64 )

• MultiLineString
  

• Color
  

• Enum
  

• Flags
  

• Vector (Vector2i, Vector2f, Vector2d, Vector3i, Vector3f, Vector3d, Vector4i, Vector4f, Vector4d)
  

• Quaterniond, Quaternionf
  

• Matrix2i, Matrix2f, Matrix2d, Matrix3i, Matrix3f, Matrix3d
  

• Isometry2f, Isometry2d, Affine2f, Affine2d, Projective2f, Projective2d, Isometry3f, Isometry3d, Affine3f, Affine3d, Projective3f, Projective3d
  

• VectorXi, VectorXf, VectorXd
  

• MatrixXi, MatrixXf, MatrixXd
  ![image](https://user-images.githubusercontent.com/37368

• Path
  
  540/230565396-882e9592-02b2-4ae2-94f6-f2ae5fdcd9dc.png)

• Ref

• Array

• Dictionary

• Compound

This is to adopt Godot's Node/Server pattern.

RID, namely Resource's unique ID, is used to access a low-level resource by its unique ID. Since RIDs are opaque to type of resources that Nodes are accessing, servers using RIDs could be anonymous to the front-end scenetree, which renders high flexibility to this design pattern.

Note that to differentiate RIDs from ObjectIDs, the former are used as handles for internal resources while the latter are exposed as user APIs for object tracking and debugging.

Should be able to compile and run in Windows 10. Windows pipeline is also required.

Because of the bad experience of using Qt to implement property inspector widget, I decide to switch Main GUI system to imgui.

I find this https://github.com/jmorton06/Lumos repo's UI system(imgui) looks good.

What I need so far:

• Scene Tree(Qt looks better)
• Debug console(Both ok)
• Render view
• Gizmos (imgui looks better)
• Property Inpsector( imgui looks better)
• Menu bar (Qt looks better)
• i18n (Qt looks better)

I want to integrate some render algorithms and physics engine in the future and I need be able to control physic frame and render frame. So I decide to not using qt widget as ui system framework.

For fast prototype，using https://github.com/mosra/magnum as main application entry is a good one.
Here is a demo of dart and magnum
https://doc.magnum.graphics/magnum/examples-dart.html

https://github.com/PacktPublishing/3D-Graphics-Rendering-Cookbook