[pull] master from choreonoid:master

CMakeLists.txt

@@ -584,6 +584,9 @@ if(ENABLE_GUI)
   endif()
   set(CHOREONOID_QT_MAJOR_VERSION ${default_qt_major_version}
     CACHE STRING "Specify the major version of Qt; either 5 or 6.")
+  if(CHOREONOID_QT_MAJOR_VERSION GREATER_EQUAL 6 AND CMAKE_CXX_STANDARD LESS_EQUAL 14)
+    message(FATAL_ERROR "Qt6 requires C++17 or higher.")
+  endif()
   choreonoid_find_qt_package()
   set(CMAKE_AUTOMOC OFF)
 

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@)

include/cnoid/CameraConfigDialog

@@ -0,0 +1 @@
+#include "src/Base/CameraConfigDialog.h"

include/cnoid/CameraItem

@@ -0,0 +1 @@
+#include "src/Base/CameraItem.h"

include/cnoid/CompilerWarningControlMacros

@@ -0,0 +1 @@
+#include "src/Util/CompilerWarningControlMacros.h"

include/cnoid/GeneralSceneFileLoadDialog

@@ -0,0 +1 @@
+#include "src/Base/GeneralSceneFileLoadDialog.h"

include/cnoid/ParticleSystem

@@ -0,0 +1 @@
+#include "src/SceneEffectsPlugin/ParticleSystem.h"

include/cnoid/ProjectBackupManager

@@ -0,0 +1 @@
+#include "src/Base/ProjectBackupManager.h"

include/cnoid/RainSnowDevice

@@ -0,0 +1 @@
+#include "src/SceneEffectsPlugin/RainSnowDevice.h"

include/cnoid/RenderableItemSceneExporter

@@ -0,0 +1 @@
+#include "src/Base/RenderableItemSceneExporter.h"

include/cnoid/SceneWidgetEvent

@@ -0,0 +1 @@
+#include "../choreonoid-nx/src/Base/SceneWidgetEvent.h"

include/cnoid/SmokeDevice

@@ -0,0 +1 @@
+#include "src/SceneEffectsPlugin/SmokeDevice.h"

include/cnoid/WorldLogFileItem

@@ -0,0 +1 @@
+#include "src/BodyPlugin/WorldLogFileItem.h"

include/cnoid/ZmpDevice

@@ -0,0 +1 @@
+#include "src/Body/ZmpDevice.h"

misc/script/CMakeLists.txt

@@ -7,3 +7,11 @@ configure_file(make_src_archive.sh.in make_src_archive.sh @ONLY)
 if(WIN32)
   configure_file(install_win32_deps.rb.template install_win32_deps.rb)
 endif()
+
+if(UNIX)
+  option(INSTALL_SYNC_LOGFILE_COMMAND "Installing the choreonoid-sync-logfile command" OFF)
+  mark_as_advanced(INSTALL_SYNC_LOGFILE_COMMAND)
+  if(INSTALL_SYNC_LOGFILE_COMMAND)
+    configure_file(sync-logfile.sh ${PROJECT_BINARY_DIR}/bin/choreonoid-sync-logfile COPYONLY)
+  endif()
+endif()

misc/script/install-requisites-ubuntu-24.04.sh

@@ -1,7 +1,7 @@
 #!/bin/sh
 
 sudo --preserve-env=DEBIAN_FRONTEND,TZ \
-apt-get install \
+apt-get -y install \
 build-essential \
 cmake-curses-gui \
 libeigen3-dev \

misc/script/sync-logfile.sh

@@ -0,0 +1,116 @@
+#!/bin/bash
+
+# Function to display usage information
+usage() {
+    echo "Usage: $0 SOURCE_FILE REMOTE_HOST [REMOTE_FILE]"
+    echo "  SOURCE_FILE: Path to the local source file"
+    echo "  REMOTE_HOST: Remote host in the format user@hostname"
+    echo "  REMOTE_FILE: (Optional) Path to the remote destination file. If omitted, same as SOURCE_FILE"
+    exit 1
+}
+
+# Check command-line arguments
+if [ $# -lt 2 ]; then
+    usage
+fi
+
+# Set parameters
+SOURCE_FILE="$1"
+REMOTE_HOST="$2"
+REMOTE_FILE="${3:-$SOURCE_FILE}"
+
+# Establish SSH connection and run in the background
+ssh -N -f -M -S /tmp/ssh_socket "$REMOTE_HOST"
+
+cleanup() {
+    echo "Cleaning up and closing SSH connection..."
+    ssh -S /tmp/ssh_socket -O exit "$REMOTE_HOST"
+    exit 0
+}
+
+# Execute cleanup on script termination
+trap cleanup EXIT
+
+# Initial sync: Replace the remote file with the source file at script start
+initial_sync() {
+    echo "Performing initial sync..."
+    scp -o "ControlPath=/tmp/ssh_socket" "$SOURCE_FILE" "$REMOTE_HOST:$REMOTE_FILE"
+    if [ $? -eq 0 ]; then
+        echo "Initial sync completed successfully."
+    else
+        echo "Error during initial sync. Exiting."
+        cleanup
+    fi
+}
+
+# Function to sync specified byte range
+sync_range() {
+    local start=$1
+    local end=$2
+    local length=$((end - start))
+
+    if [ $length -gt 0 ]; then
+        dd if="$SOURCE_FILE" bs=1 skip=$start count=$length 2>/dev/null | 
+        ssh -S /tmp/ssh_socket "$REMOTE_HOST" "cat >> $REMOTE_FILE"
+
+        return $length
+    fi
+    return 0
+}
+
+# Perform initial sync
+initial_sync
+
+# Record the last synced file size
+last_size=$(stat -c %s "$SOURCE_FILE")
+
+# Get current time in seconds with nanosecond precision
+get_time() {
+    date +%s.%N
+}
+
+start_time=$(get_time)
+last_output_time=$start_time
+total_synced_bytes=0
+sync_count=0
+
+while true; do
+    current_time=$(get_time)
+
+    # Get current file size
+    current_size=$(stat -c %s "$SOURCE_FILE")
+
+    # Sync if file size has changed
+    if [ "$current_size" != "$last_size" ]; then
+        if [ "$current_size" -lt "$last_size" ]; then
+            # If file size decreased, replace the entire file
+            scp -o "ControlPath=/tmp/ssh_socket" "$SOURCE_FILE" "$REMOTE_HOST:$REMOTE_FILE"
+            echo "File size decreased. Replaced entire file. New size: $current_size bytes"
+            synced_bytes=$current_size
+        else
+            # If file size increased, send only the newly added data
+            sync_range "$last_size" "$current_size"
+            synced_bytes=$?
+        fi
+
+        # Update statistics
+        total_synced_bytes=$((total_synced_bytes + synced_bytes))
+        sync_count=$((sync_count + 1))
+
+        # Update the last synced size
+        last_size=$current_size
+    fi
+
+    # Output statistics approximately once per second, only if there were syncs
+    if (( $(echo "$current_time - $last_output_time >= 1" | bc -l) )); then
+        if [ $sync_count -gt 0 ]; then
+            echo "Sync count: $sync_count, Total bytes synced: $total_synced_bytes"
+        fi
+        last_output_time=$current_time
+        sync_count=0
+        total_synced_bytes=0
+    fi
+
+    # Minimal sleep to reduce CPU usage
+    sleep 0.001
+done

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

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 ] }

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;
 }
 

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;
 }
 
-}
+}

src/AISTCollisionDetector/AISTCollisionDetector.cpp

@@ -627,8 +627,9 @@ void AISTCollisionDetector::Impl::detectCollisionsInParallel(const std::function
         if(size == 0){
             break;
         }
-        threadPool->start([this, i, index, size](){
-                extractCollisionsOfAssignedPairs(index, index + size, collisionPairArrays[i]); });
+        threadPool->post([this, i, index, size](){
+            extractCollisionsOfAssignedPairs(index, index + size, collisionPairArrays[i]);
+        });
         index += size;
     }
     threadPool->waitLoop();

src/Base/App.cpp

@@ -10,6 +10,7 @@
 #include "MessageView.h"
 #include "RootItem.h"
 #include "ProjectManager.h"
+#include "ProjectBackupManager.h"
 #include "UnifiedEditHistory.h"
 #include "UnifiedEditHistoryView.h"
 #include "ItemEditRecordManager.h"
@@ -20,10 +21,11 @@
 #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"
@@ -261,7 +263,7 @@ App::Impl::Impl(App* self, int& argc, char** argv, const std::string& appName, c
 #ifdef Q_OS_WIN32
     // Make a bundled Python available if it exists in the Choreonoid top directory.
     std::smatch match;
-    for(auto& dir : filesystem::directory_iterator(executableTopDirPath())){
+    for(auto& dir : stdx::filesystem::directory_iterator(executableTopDirPath())){
         static std::regex re("^Python\\d+$");
         string dirString = dir.path().filename().string();
         if(regex_match(dirString, match, re)){
@@ -386,6 +388,7 @@ void App::Impl::initialize()
 
     ItemManager::initializeClass(ext);
     ProjectManager::initializeClass(ext);
+    ProjectBackupManager::initializeClass();
     RootItem::initializeClass(ext);
     UnifiedEditHistory::initializeClass(ext);
     UnifiedEditHistoryView::initializeClass(ext);
@@ -434,13 +437,14 @@ 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 +499,9 @@ App::~App()
 
 App::Impl::~Impl()
 {
-    AppConfig::flush();
     delete qapplication;
     delete pluginManager;
+    AppConfig::flush();
 }
 
 
@@ -586,6 +590,7 @@ int App::Impl::exec()
     RootItem::instance()->clearChildren();
 
     pluginManager->finalizePlugins();
+    ext->deleteManagedObjects();
     delete mainWindow;
     mainWindow = nullptr;
 

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);