Remove btk references (#3280)

* Removed BTK from opensim-core.

* Merge branch 'opensim-org:master' into remove-btk-references

* Merge branch 'opensim-org:master' into remove-btk-references

* Merge branch 'opensim-org:master' into remove-btk-references

* Removed block of code that only was executed with BTK.

* Updated CHANGELOG.md

* Merge branch 'master' into remove-btk-references

* Update CHANGELOG.md

Bindings/CMakeLists.txt

@@ -3,9 +3,6 @@ if(BUILD_PYTHON_WRAPPING OR BUILD_JAVA_WRAPPING)
 endif()
 
 # Flags are both Python and Java bindings will use.
-if(WITH_BTK)
-    set(SWIG_FLAGS "-DWITH_BTK")
-endif()
 if(WITH_EZC3D)
     set(SWIG_FLAGS "-DWITH_EZC3D")
 endif()

Bindings/Java/Matlab/tests/CMakeLists.txt

@@ -92,7 +92,7 @@ OpenSimAddMatlabTest(AccessSubcomponents testAccessSubcomponents.m)
 OpenSimAddMatlabTest(Simbody testSimbody.m)
 OpenSimAddMatlabTest(osimTableStruct testosimTableStruct.m)
 OpenSimAddMatlabTest(testOsimVec3 testOsimVec3.m)
-if(WITH_BTK OR WITH_EZC3D)
+if(WITH_EZC3D)
     OpenSimAddMatlabTest(testOsimC3D testOsimC3D.m)
 endif()
 OpenSimAddMatlabTest(testOsimList2MatlabCell testOsimList2MatlabCell.m)

Bindings/Java/tests/CMakeLists.txt

@@ -143,7 +143,7 @@ OpenSimAddJavaTest(TestTables)
 OpenSimAddJavaTest(TestModelBuilding)
 OpenSimAddJavaTest(TestEditMarkers)
 OpenSimAddJavaTest(TestIKInterfaces)
-if(WITH_BTK OR WITH_EZC3D)
+if(WITH_EZC3D)
     OpenSimAddJavaTest(TestC3DFileAdapter)
 endif()
 OpenSimAddJavaTest(TestReporter)

Bindings/common.i

@@ -420,7 +420,7 @@ namespace OpenSim {
 %include <OpenSim/Common/CSVFileAdapter.h>
 %include <OpenSim/Common/XsensDataReader.h>
 
-#if defined WITH_EZC3D || defined (WITH_BTK)
+#if defined (WITH_EZC3D)
 %include <OpenSim/Common/C3DFileAdapter.h>
 
 %extend OpenSim::C3DFileAdapter {

CHANGELOG.md

@@ -11,6 +11,7 @@ v4.4.1
 
 - Made `Component::getSocketNames` a `const` member method (previously: non-const)
 - Modifed the swig interface files to make OpenSim::PathPointSet adopt new PathPoints inserted into it. (Issue #3276)
+- Remove references to obsoleted dependency BTK, use ezc3d exclusively.
 - Fixed an issue with IPOPT libraries when building OpenSim with `OPENSIM_WITH_CASADI = ON` but `OPENSIM_WITH_TROPTER = OFF` (Issue #3267).
 
 v4.4

CMakeLists.txt

@@ -135,7 +135,7 @@ from the internet, we turn this option OFF." ON)
 set(SIMBODY_HOME $ENV{SIMBODY_HOME} CACHE
     PATH "The location of the Simbody installation to use; you can change this. Set as empty to let CMake search for Simbody automatically.")
 
-option(OPENSIM_COPY_DEPENDENCIES "Copy Simbody, ezc3d and BTK into the
+option(OPENSIM_COPY_DEPENDENCIES "Copy Simbody and ezc3d into the
 OpenSim installation. This should be set to ON when making a relocatable
 distribution, and should be set to OFF when packaging for Homebrew, Debian,
 etc. On Linux and macOS: we use relative RPATHs when ON, and absolute RPATHs
@@ -144,7 +144,7 @@ BUILD_PYTHON_WRAPPING is ON, so if this OFF, a warning is thrown." ON)
 mark_as_advanced(OPENSIM_COPY_DEPENDENCIES)
 
 option(OPENSIM_PYTHON_STANDALONE "Make the Python package standalone, meaning
-the OpenSim (and Simbody, ezc3d and BTK) shared libraries it depends on are copied
+the OpenSim (and Simbody and ezc3d) shared libraries it depends on are copied
 into the package. If you are building OpenSim on the same machine on which you
 plan to use it, you can leave this OFF. If you are distributing OpenSim to
 other computers, you should turn this ON. If macOS, this option affects how
@@ -640,9 +640,9 @@ if(UNIX) # Linux and macOS
         # Add the automatically determined parts of the RPATH which point
         # to directories outside the build tree to the install RPATH.
         # If we are copying Simbody into OpenSim's installation, then
-        # there's no need to link to the libraries in Simbody's, ezc3d's or BTK's
+        # there's no need to link to the libraries in Simbody's or ezc3d's
         # original installations. Furthermore, we may be distributing OpenSim
-        # to other computers that will not have our original Simbody, ezc3d or BTK
+        # to other computers that will not have our original Simbody or ezc3d
         # installations, and so the RPATH would point to a nonexistant
         # directory on others' computers.
         set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
@@ -696,11 +696,10 @@ endif()
 
 
 set(OPENSIM_C3D_PARSER None CACHE STRING
-    "Compile OpenSim with a C3D parser ? ezc3d or BTK provide C3D reading.")
-set_property(CACHE OPENSIM_C3D_PARSER PROPERTY STRINGS "ezc3d" "BTK" "None")
+    "Compile OpenSim with a C3D parser ? ezc3d provide C3D reading.")
+set_property(CACHE OPENSIM_C3D_PARSER PROPERTY STRINGS "ezc3d" "None")
 if(${OPENSIM_C3D_PARSER} STREQUAL "ezc3d")
     set(WITH_EZC3D true)
-    set(WITH_BTK false)
     set(ezc3d_hint "${OPENSIM_DEPENDENCIES_DIR}/ezc3d/lib/cmake/ezc3d")
     find_package(ezc3d REQUIRED HINTS "${ezc3d_hint}")
     add_definitions(-DWITH_EZC3D)
@@ -716,32 +715,12 @@ if(${OPENSIM_C3D_PARSER} STREQUAL "ezc3d")
         OpenSimInstallDependencyLibraries(ezc3d "${ezc3d_DIR}/../../../bin"
             "${ezc3d_DIR}/../../../lib" "${OPENSIM_INSTALL_PYTHONDIR}/opensim")
     endif()
-elseif(${OPENSIM_C3D_PARSER} STREQUAL "BTK")
-    set(WITH_EZC3D false)
-    unset(ezc3d_LIBRARY_DIR CACHE)
-    unset(ezc3d_LIBRARY)
-    unset(ezc3d_INCLUDE_DIR CACHE)
-    set(WITH_BTK true)
-
-    # If compiling with BTK, find and use it.
-    find_package(BTK
-                 REQUIRED
-                 HINTS "${OPENSIM_DEPENDENCIES_DIR}/BTK/share/btk-0.4dev")
-    include(${BTK_USE_FILE})
-    add_definitions(-DWITH_BTK)
-    OpenSimCopyDependencyDLLsForWin(DEP_NAME BTK
-            DEP_BIN_DIR ${BTK_INSTALL_PREFIX}/bin)
-    if(BUILD_PYTHON_WRAPPING AND OPENSIM_PYTHON_STANDALONE)
-        OpenSimInstallDependencyLibraries(BTK "${BTK_INSTALL_PREFIX}"
-            "${BTK_LIBRARY_DIRS}" "${OPENSIM_INSTALL_PYTHONDIR}/opensim")
-    endif()
 
 else()
     set(WITH_EZC3D false)
     unset(ezc3d_LIBRARY_DIR CACHE)
     unset(ezc3d_LIBRARY)
     unset(ezc3d_INCLUDE_DIR CACHE)
-    set(WITH_BTK false)
 endif()
 
 find_package(spdlog REQUIRED
@@ -956,15 +935,6 @@ if(${OPENSIM_COPY_DEPENDENCIES})
                 DESTINATION "${CMAKE_INSTALL_LIBDIR}")
     endif()
 
-    # BTK
-    # ---
-    if(NOT WIN32)
-        # LIB: .so files on Linux, .dylib on macOS
-        file(GLOB btk_desired_lib_files "${BTK_LIBRARY_DIRS}/*BTK*")
-        install(FILES ${btk_desired_lib_files}
-                DESTINATION "${CMAKE_INSTALL_LIBDIR}")
-    endif()
-
     # spdlog
     # ------
     install(DIRECTORY "${spdlog_DIR}/../../../"

DEVELOPING.md

@@ -74,7 +74,7 @@ documentation online.
 
 The layout of the distribution on Windows is as follows:
 
-  - `bin/` OpenSim, SimTK, and BTK DLLs, opensim-cmd.exe, simbody-visualizer.exe
+  - `bin/` OpenSim and SimTK DLLs, opensim-cmd.exe, simbody-visualizer.exe
   - `cmake/` OpenSimConfig.cmake, etc.
   - `sdk/`
     - `APIExamples/`: C++ examples.
@@ -99,7 +99,7 @@ if `OPENSIM_INSTALL_UNIX_FHS` is `ON`, as follows:
   - `include/`
     - `OpenSim/` OpenSim (and Lepton) headers.
     - `simbody/` Simbody headers.
-  - `lib/` (on some Linux variants, `lib/<arch>/`) OpenSim, SimTK, and BTK  shared libraries.
+  - `lib/` (on some Linux variants, `lib/<arch>/`) OpenSim and SimTK shared libraries.
     - `cmake/` OpenSimConfig.cmake, SimbodyConfig.cmake, etc.
     - `python2.7/site-packages/` OpenSim Python bindings.
   - `libexec/simbody/simbody-visualizer`
@@ -151,7 +151,7 @@ interchangeably.
 
 There are two types of dependencies: public, or those exposed through OpenSim's 
 API (e.g., Simbody), and private, or those used internally by OpenSim 
-(e.g., BTK and ezc3d):
+(e.g., ezc3d):
 
 - **private**: OpenSim's binary distribution need only contain the 
   dependency's dynamic libraries.

OpenSim/Common/Adapters.h

@@ -27,7 +27,7 @@
 #include "STOFileAdapter.h"
 #include "CSVFileAdapter.h"
 
-#if defined (WITH_EZC3D) || defined (WITH_BTK)
+#if defined (WITH_EZC3D)
 
 #include "C3DFileAdapter.h"