[rerun] Add experimental integration with rerun

CMakeLists.txt

@@ -99,6 +99,7 @@ dart_option(DART_FAST_DEBUG "Add -O1 option for DEBUG mode build" OFF)
 dart_option(DART_FORCE_COLORED_OUTPUT
   "Always produce ANSI-colored output (GNU/Clang only)." OFF)
 dart_option(DART_USE_SYSTEM_IMGUI "Use system ImGui" OFF)
+dart_option(DART_BUILD_RERUN "Build with Rerun SDK" OFF)
 dart_option(DART_IN_CI "Indicate building DART as part of CI" OFF)
 
 #===============================================================================
@@ -199,12 +200,12 @@ endif()
 set_property(CACHE DART_ACTIVE_LOG_LEVEL PROPERTY STRINGS TRACE DEBUG INFO WARN ERROR FATAL OFF)
 
 if(DART_BUILD_MODE_DEBUG)
-  option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" OFF)
+  dart_option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" OFF)
 else()
-  option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" ON)
+  dart_option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" ON)
 endif()
 
-option(DART_BUILD_WHEELS "Indicate building dartpy for wheels" OFF)
+dart_option(DART_BUILD_WHEELS "Indicate building dartpy for wheels" OFF)
 
 #===============================================================================
 # Find dependencies

cmake/DARTFindDependencies.cmake

@@ -132,11 +132,18 @@ option(DART_SKIP_spdlog "If ON, do not use spdlog even if it is found." OFF)
 mark_as_advanced(DART_SKIP_spdlog)
 dart_find_package(spdlog)
 
+if(DART_BUILD_RERUN)
+  include(FetchContent)
+  FetchContent_Declare(rerun_sdk
+    URL https://github.com/rerun-io/rerun/releases/download/0.14.1/rerun_cpp_sdk.zip
+  )
+  FetchContent_MakeAvailable(rerun_sdk)
+endif()
+
 #--------------------
 # Misc. dependencies
 #--------------------
 
 # Doxygen
 find_package(Doxygen QUIET)
 dart_check_optional_package(DOXYGEN "generating API documentation" "doxygen")
-

examples/CMakeLists.txt

@@ -30,3 +30,5 @@ add_subdirectory(fetch)
 
 # Deprecated examples
 add_subdirectory(deprecated_examples)
+
+add_subdirectory(rerun)

examples/rerun/CMakeLists.txt

@@ -1,11 +1,17 @@
 cmake_minimum_required(VERSION 3.22.1)
 
 get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
+set(example_name example-${example_name})
 
 project(${example_name})
 
 set(required_components utils-urdf)
-set(required_libraries dart dart-utils-urdf)
+set(required_libraries dart dart-utils-urdf rerun_sdk)
+
+# TODO: Fix dart_build_example_in_source() to handle this case
+if(NOT TARGET rerun_sdk)
+  return()
+endif()
 
 if(DART_IN_SOURCE_BUILD)
   dart_build_example_in_source(${example_name} LINK_LIBRARIES ${required_libraries})

examples/rerun/README.md

@@ -0,0 +1,20 @@
+This project is dependent on DART. Please make sure a proper version of DART is 
+installed before building this project.
+
+## Build Instructions
+
+From this directory:
+
+    $ mkdir build
+    $ cd build
+    $ cmake ..
+    $ make
+
+## Execute Instructions
+
+Launch the executable from the build directory above:
+
+    $ ./{generated_executable}
+
+Follow the instructions detailed in the console.
+

examples/rerun/main.cpp

@@ -0,0 +1,91 @@
+/*
+ * Copyright (c) 2011-2024, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <dart/utils/urdf/urdf.hpp>
+#include <dart/utils/utils.hpp>
+
+#include <dart/simulation/World.hpp>
+
+#include <dart/dart.hpp>
+
+#include <rerun.hpp>
+#include <rerun/demo_utils.hpp>
+
+using namespace dart;
+using namespace dart::common;
+using namespace dart::dynamics;
+using namespace dart::simulation;
+using namespace dart::utils;
+using namespace dart::math;
+using namespace rerun::demo;
+
+int main()
+{
+  auto shape
+      = std::make_shared<dynamics::BoxShape>(Eigen::Vector3d(0.3, 0.3, 0.3));
+
+  // Create a box-shaped rigid body
+  auto skeleton = dynamics::Skeleton::create();
+  auto jointAndBody
+      = skeleton->createJointAndBodyNodePair<dynamics::FreeJoint>();
+  auto body = jointAndBody.second;
+  body->createShapeNodeWith<
+      dynamics::VisualAspect,
+      dynamics::CollisionAspect,
+      dynamics::DynamicsAspect>(shape);
+
+  // Create a world and add the rigid body
+  auto world = simulation::World::create();
+  world->addSkeleton(skeleton);
+
+  // Spawn Rerun viewer
+  const auto rec = rerun::RecordingStream("rerun_example_cpp");
+  rec.spawn().exit_on_failure();
+
+  for (auto i = 0; i < 1000; ++i) {
+    world->step();
+
+    for (auto j = 0u; j < world->getNumSkeletons(); ++j) {
+      auto skel = world->getSkeleton(j);
+
+      for (auto k = 0u; k < skel->getNumBodyNodes(); ++k) {
+        auto body = skel->getBodyNode(k);
+        body->eachShapeNodeWith<dynamics::VisualAspect>(
+            [&](const dynamics::ShapeNode* shapeNode) {
+              const auto& visualAspect = shapeNode->getVisualAspect();
+              shapeNode->getTransform();
+              const auto& shape = shapeNode->getShape();
+            });
+      }
+    }
+  }
+}