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Backport #621 to Garden #629

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merged 2 commits into from
Apr 22, 2024
Merged

Backport #621 to Garden #629

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fb0a1d3
Disable test failing due to ODE/libccd (#621)
scpeters Apr 9, 2024
ea84ff7
Fix windows compiler warning (#629)
scpeters Apr 20, 2024
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8 changes: 4 additions & 4 deletions bullet-featherstone/src/Base.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -45,10 +45,10 @@ WorldInfo::WorldInfo(std::string name_)

// By default a large impulse is applied when collisions penetrate
// which causes unstable behavior. Bullet featherstone does not support
// configuring split impulse and penetration threshold parameters. Instead the
// penentration impulse depends on the erp2 parameter so set to a small value
// (default is 0.2).
this->world->getSolverInfo().m_erp2 = 0.002;
// configuring split impulse and penetration threshold parameters. Instead
// the penentration impulse depends on the erp2 parameter so set to a small
// value (default in bullet is 0.2).
this->world->getSolverInfo().m_erp2 = btScalar(0.002);
}

} // namespace bullet_featherstone
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18 changes: 16 additions & 2 deletions test/common_test/joint_features.cc
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Expand Up @@ -966,9 +966,23 @@ TYPED_TEST(JointFeaturesDetachTest, JointDetach)
// sanity check on velocity values
EXPECT_LT(1e-5, upperLinkLinearVelocity.Z());
EXPECT_GT(-0.03, upperLinkAngularVelocity.X());
EXPECT_NEAR(0.0, upperLinkLinearVelocity.X(), 1e-6);
#ifdef __APPLE__
// Disable some expectations for dartsim plugin on homebrew,
// see https://github.com/gazebosim/gz-physics/issues/620.
if (this->PhysicsEngineName(name) != "dartsim")
#endif
{
EXPECT_NEAR(0.0, upperLinkLinearVelocity.X(), 1e-6);
}
EXPECT_NEAR(0.0, upperLinkLinearVelocity.Y(), 1e-6);
EXPECT_NEAR(0.0, upperLinkAngularVelocity.Y(), 1e-6);
#ifdef __APPLE__
// Disable some expectations for dartsim plugin on homebrew,
// see https://github.com/gazebosim/gz-physics/issues/620.
if (this->PhysicsEngineName(name) != "dartsim")
#endif
{
EXPECT_NEAR(0.0, upperLinkAngularVelocity.Y(), 1e-6);
}
EXPECT_NEAR(0.0, upperLinkAngularVelocity.Z(), 1e-6);

upperJoint->Detach();
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