Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

ign -> gz Provisional Finale: Source Migration : gz-physics #383

Merged
merged 1 commit into from
Jul 15, 2022
Merged

ign -> gz Provisional Finale: Source Migration : gz-physics #383

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 3 additions & 3 deletions Changelog.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@

### Gazebo Physics 5.1.0 (2021-11-12)

1. Remove unused ign_auto_headers.hh.in
1. Remove unused gz_auto_headers.hh.in
* [Pull request #305](https://github.com/gazebosim/gz-physics/pull/305)

1. Added DART feature for setting joint limits dynamically.
Expand Down Expand Up @@ -69,7 +69,7 @@

### Gazebo Physics 4.3.0 (2021-11-11)

1. Remove unused ign_auto_headers.hh.in
1. Remove unused gz_auto_headers.hh.in
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

no really sure if you should modify the Changelog

Copy link
Contributor Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

This came up before, I think we were ok with modifying it to whittle down the number of cases, so I'll just accept this one too :o

* [Pull request #305](https://github.com/gazebosim/gz-physics/pull/305)

1. Added DART feature for setting joint limits dynamically.
Expand Down Expand Up @@ -323,7 +323,7 @@

### Gazebo Physics 2.5.0 (2021-11-09)

1. Remove unused ign_auto_headers.hh.in
1. Remove unused gz_auto_headers.hh.in
* [Pull request #305](https://github.com/gazebosim/gz-physics/pull/305)

1. Added DART feature for setting joint limits dynamically.
Expand Down
4 changes: 2 additions & 2 deletions dartsim/src/CustomHeightmapShape.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -47,10 +47,10 @@ CustomHeightmapShape::CustomHeightmapShape(
else
scale.Z(fabs(_size(2)) / heightmapSizeZ);

auto sizeIgn = gz::math::eigen3::convert(_size);
auto sizeGz = gz::math::eigen3::convert(_size);

std::vector<float> heightsFloat;
_input.FillHeightMap(_subSampling, vertSize, sizeIgn, scale, flipY,
_input.FillHeightMap(_subSampling, vertSize, sizeGz, scale, flipY,
heightsFloat);

this->setHeightField(vertSize, vertSize, heightsFloat);
Expand Down
74 changes: 37 additions & 37 deletions dartsim/src/SimulationFeatures.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -172,7 +172,7 @@ void SimulationFeatures::AddContactPropertiesCallback(
{
auto *world = this->ReferenceInterface<DartWorld>(_worldID);

auto handler = std::make_shared<IgnContactSurfaceHandler>();
auto handler = std::make_shared<GzContactSurfaceHandler>();
handler->surfaceParamsCallback = _callback;
handler->convertContact = [this](const dart::collision::Contact& _contact) {
return this->convertContact(_contact);
Expand Down Expand Up @@ -202,7 +202,7 @@ bool SimulationFeatures::RemoveContactPropertiesCallback(
}
}

dart::constraint::ContactSurfaceParams IgnContactSurfaceHandler::createParams(
dart::constraint::ContactSurfaceParams GzContactSurfaceHandler::createParams(
const dart::collision::Contact& _contact,
const size_t _numContactsOnCollisionObject) const
{
Expand All @@ -214,93 +214,93 @@ dart::constraint::ContactSurfaceParams IgnContactSurfaceHandler::createParams(

typedef SetContactPropertiesCallbackFeature F;
typedef FeaturePolicy3d P;
typename F::ContactSurfaceParams<P> pIgn;
typename F::ContactSurfaceParams<P> pGz;

pIgn.frictionCoeff = pDart.mFrictionCoeff;
pIgn.secondaryFrictionCoeff = pDart.mSecondaryFrictionCoeff;
pIgn.slipCompliance = pDart.mSlipCompliance;
pIgn.secondarySlipCompliance = pDart.mSecondarySlipCompliance;
pIgn.restitutionCoeff = pDart.mRestitutionCoeff;
pIgn.firstFrictionalDirection = pDart.mFirstFrictionalDirection;
pIgn.contactSurfaceMotionVelocity = pDart.mContactSurfaceMotionVelocity;
pGz.frictionCoeff = pDart.mFrictionCoeff;
pGz.secondaryFrictionCoeff = pDart.mSecondaryFrictionCoeff;
pGz.slipCompliance = pDart.mSlipCompliance;
pGz.secondarySlipCompliance = pDart.mSecondarySlipCompliance;
pGz.restitutionCoeff = pDart.mRestitutionCoeff;
pGz.firstFrictionalDirection = pDart.mFirstFrictionalDirection;
pGz.contactSurfaceMotionVelocity = pDart.mContactSurfaceMotionVelocity;

auto contactInternal = this->convertContact(_contact);
if (contactInternal)
{
this->surfaceParamsCallback(contactInternal.value(),
_numContactsOnCollisionObject, pIgn);

if (pIgn.frictionCoeff)
pDart.mFrictionCoeff = pIgn.frictionCoeff.value();
if (pIgn.secondaryFrictionCoeff)
pDart.mSecondaryFrictionCoeff = pIgn.secondaryFrictionCoeff.value();
if (pIgn.slipCompliance)
pDart.mSlipCompliance = pIgn.slipCompliance.value();
if (pIgn.secondarySlipCompliance)
pDart.mSecondarySlipCompliance = pIgn.secondarySlipCompliance.value();
if (pIgn.restitutionCoeff)
pDart.mRestitutionCoeff = pIgn.restitutionCoeff.value();
if (pIgn.firstFrictionalDirection)
pDart.mFirstFrictionalDirection = pIgn.firstFrictionalDirection.value();
if (pIgn.contactSurfaceMotionVelocity)
_numContactsOnCollisionObject, pGz);

if (pGz.frictionCoeff)
pDart.mFrictionCoeff = pGz.frictionCoeff.value();
if (pGz.secondaryFrictionCoeff)
pDart.mSecondaryFrictionCoeff = pGz.secondaryFrictionCoeff.value();
if (pGz.slipCompliance)
pDart.mSlipCompliance = pGz.slipCompliance.value();
if (pGz.secondarySlipCompliance)
pDart.mSecondarySlipCompliance = pGz.secondarySlipCompliance.value();
if (pGz.restitutionCoeff)
pDart.mRestitutionCoeff = pGz.restitutionCoeff.value();
if (pGz.firstFrictionalDirection)
pDart.mFirstFrictionalDirection = pGz.firstFrictionalDirection.value();
if (pGz.contactSurfaceMotionVelocity)
pDart.mContactSurfaceMotionVelocity =
pIgn.contactSurfaceMotionVelocity.value();
pGz.contactSurfaceMotionVelocity.value();

static bool warnedRollingFrictionCoeff = false;
if (!warnedRollingFrictionCoeff && pIgn.rollingFrictionCoeff)
if (!warnedRollingFrictionCoeff && pGz.rollingFrictionCoeff)
{
gzwarn << "DART doesn't support rolling friction setting" << std::endl;
warnedRollingFrictionCoeff = true;
}

static bool warnedSecondaryRollingFrictionCoeff = false;
if (!warnedSecondaryRollingFrictionCoeff &&
pIgn.secondaryRollingFrictionCoeff)
pGz.secondaryRollingFrictionCoeff)
{
gzwarn << "DART doesn't support secondary rolling friction setting"
<< std::endl;
warnedSecondaryRollingFrictionCoeff = true;
}

static bool warnedTorsionalFrictionCoeff = false;
if (!warnedTorsionalFrictionCoeff && pIgn.torsionalFrictionCoeff)
if (!warnedTorsionalFrictionCoeff && pGz.torsionalFrictionCoeff)
{
gzwarn << "DART doesn't support torsional friction setting"
<< std::endl;
warnedTorsionalFrictionCoeff = true;
}
}

this->lastIgnParams = pIgn;
this->lastGzParams = pGz;

return pDart;
}

dart::constraint::ContactConstraintPtr
IgnContactSurfaceHandler::createConstraint(
GzContactSurfaceHandler::createConstraint(
dart::collision::Contact& _contact,
const size_t _numContactsOnCollisionObject,
const double _timeStep) const
{
// this call sets this->lastIgnParams
// this call sets this->lastGzParams
auto constraint = dart::constraint::ContactSurfaceHandler::createConstraint(
_contact, _numContactsOnCollisionObject, _timeStep);

typedef SetContactPropertiesCallbackFeature F;
typedef FeaturePolicy3d P;
typename F::ContactSurfaceParams<P>& p = this->lastIgnParams;
typename F::ContactSurfaceParams<P>& p = this->lastGzParams;

if (this->lastIgnParams.errorReductionParameter)
if (this->lastGzParams.errorReductionParameter)
constraint->setErrorReductionParameter(p.errorReductionParameter.value());

if (this->lastIgnParams.maxErrorAllowance)
if (this->lastGzParams.maxErrorAllowance)
constraint->setErrorAllowance(p.maxErrorAllowance.value());

if (this->lastIgnParams.maxErrorReductionVelocity)
if (this->lastGzParams.maxErrorReductionVelocity)
constraint->setMaxErrorReductionVelocity(
p.maxErrorReductionVelocity.value());

if (this->lastIgnParams.constraintForceMixing)
if (this->lastGzParams.constraintForceMixing)
constraint->setConstraintForceMixing(p.constraintForceMixing.value());

return constraint;
Expand Down
8 changes: 4 additions & 4 deletions dartsim/src/SimulationFeatures.hh
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,7 @@ struct SimulationFeatureList : FeatureList<
> { };

#ifdef DART_HAS_CONTACT_SURFACE
class IgnContactSurfaceHandler : public dart::constraint::ContactSurfaceHandler
class GzContactSurfaceHandler : public dart::constraint::ContactSurfaceHandler
{
public: dart::constraint::ContactSurfaceParams createParams(
const dart::collision::Contact& _contact,
Expand All @@ -81,10 +81,10 @@ class IgnContactSurfaceHandler : public dart::constraint::ContactSurfaceHandler
> convertContact;

public: mutable typename Feature::ContactSurfaceParams<FeaturePolicy3d>
lastIgnParams;
lastGzParams;
};

using IgnContactSurfaceHandlerPtr = std::shared_ptr<IgnContactSurfaceHandler>;
using GzContactSurfaceHandlerPtr = std::shared_ptr<GzContactSurfaceHandler>;
#endif

class SimulationFeatures :
Expand Down Expand Up @@ -127,7 +127,7 @@ class SimulationFeatures :
const Identity &_worldID, const std::string &_callbackID) override;

private: std::unordered_map<
std::string, IgnContactSurfaceHandlerPtr> contactSurfaceHandlers;
std::string, GzContactSurfaceHandlerPtr> contactSurfaceHandlers;
#endif
};

Expand Down