Dart integration v2

[costashatz]

This PR improves the DartIntegration introduced in #28 .. It is still work in progress, but at a quite good state:

• [x] Require DART version >=6.0.0; I am highly unsure if the code works with older versions of DART
• [x] Check for mesh updates from DART
• [x] Support soft bodies
• [x] Incorporate all the DART flags for rendering
• [x] Support multiple meshes and materials per DartIntegration::Object
• [x] Provide default behavior (i.e, remove it from scene) when an Object is deleted from the DART world; maybe we do not need to add this
• [x] Fix normals in DART SoftMeshShape; for now we are rendering them without normals
• [x] For MeshShapes use DART flags for rendering properly
• [x] Code optimization
  • [x] Properly edit already created meshes (e.g., do not re-create them from scratch when just scaling needs to be changed)
  • [x] Check the usage of std::shared_ptr; maybe replace it with std::unique_ptr? It could not be a good idea to have unique_ptrs as you may need to use the pointers to check whether a mesh is already created/or not
  • [x] Check all the pointers in the code and see if they should/could be replaced by smart pointers

For an example usage, you can have a look at this branch, which I am updating to match the updates on this integration.

Let me know what you think!

[codecov-io]

Codecov Report

Merging #29 into master will decrease coverage by 8.79%. The diff coverage is 45.42%.

@@            Coverage Diff            @@
##           master      #29     +/-   ##
=========================================
- Coverage   55.33%   46.53%   -8.8%     
=========================================
  Files          12       12             
  Lines         253      462    +209     
=========================================
+ Hits          140      215     +75     
- Misses        113      247    +134

Impacted Files	Coverage Δ
src/Magnum/DartIntegration/Object.h	0% <0%> (ø)
src/Magnum/DartIntegration/World.h	0% <0%> (ø)
src/Magnum/DartIntegration/Object.cpp	1.14% <1.14%> (ø)
src/Magnum/DartIntegration/World.cpp	1.31% <1.31%> (ø)
src/Magnum/DartIntegration/ConvertShapeNode.h	100% <100%> (ø)	:arrow_up:
src/Magnum/DartIntegration/ConvertShapeNode.cpp	92.85% <92.54%> (+49.81%)	:arrow_up:
src/Magnum/BulletIntegration/ConvertShape.cpp	35.71% <0%> (-0.65%)	:arrow_down:
src/Magnum/BulletIntegration/MotionState.cpp	100% <0%> (ø)	:arrow_up:
... and 3 more

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[costashatz]

@mosra I think it's time that you can check more thoroughly what I've written and give me your thoughts/comments on the code and the 2 last bullets remaining (about the pointers).. Of course I will work on the documentation more.. :smile:

Thanks!

[mosra]

Merged, thanks a lot. Code coverage including GL tests says 92%, you're doing amazing work :+1: :tada:

I made a few small changes to the public API that might break your code, see e3efe6de0791242a53324873ce571003fc617712, 3c3d554f7330ddbbc52acdabff0ba33c35ed1f43 and 7676fdb34e22eb8edde46fdc3023edb524e408c5. In 016c2527f7da3b10a2277cf0be9e6b7cded5ad7e I removed a public function that I think was superfluous and never used in any code, I hope that's okay.

Looking forward to the example now :)