Merge gz-physics7 ➡️ main: part 1 #669
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Supports convex decomposition on meshes. Bullet-featherstone implementation will parse the new mesh optimization attribute, decompose the mesh into convex meshes, and builds btConvexHullShape collision shapes. Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Øystein Sture <[email protected]>
* bullet-featherstone fixed joint implementation now calls setMaxAppliedImpulse to enforce fixed constraint. *When the pose of the parent body of a fixed constraint is changed by FreeGroupSetWorldPose, the child pose is updated to enforce pose transform relative to the parent * prevent collision between parent and child link if parent is static Signed-off-by: Ian Chen <[email protected]> Signed-off-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]>
…#647) Currently if a collision has a pose offset, the bullet-featherstone plugin returns an incorrect axis aligned bounding box for the link containing the collision. This is found to be caused by incorrect frame data pose computed for collisions - It currently ignores the collision pose offset. This PR makes a few changes to KinematicsFeatures::FrameDataRelativeToWorld in bullet-featherstone plugin: - fixed getting collision pose relative to world - fixed getting model pose relative to world - minor refactoring The link_features's bounding box test was previously skipped for bullet-featherstone plugin. This PR enables this test for bullet-featherstone by requiring only a minimal set of features needed to run the test. --------- Signed-off-by: Ian Chen <[email protected]>
dartsim does support ray-based collisions via Bullet backend, which is also supported by gz-physics. This PR creates a simulation feature to compute and retrieve ray castings. Also, it updates dartsim version >= 6.10, which fixes the issues when no ray hit. This addition is useful for range-based applications (e.g. laser, altimeter etc.). --------- Signed-off-by: Rômulo Cerqueira <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]>
…ertial pose offset (#653) When creating a fixed constraint between links, the SetJointTransformFromParent currently does not take into account the inertial pose. If an inertial pose offset exists, the fixed constraint causes the 2 models to be displaced from their original position. This PR updates the calculation in SetJointTransformFromParent to include inertial pose offset. The detachable_joint.world test world is updated to use a model with inertial pose offset - this world is used by the CorrectAttachmentPoints test in detachable_joint common test. The test fails without the changes in this PR. --------- Signed-off-by: Ian Chen <[email protected]>
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force-pushed to fix package.xml version numbers |
iche033
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Jul 30, 2024
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part 2 is in #670 |
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➡️ Forward port
Port gz-physics7 as of 6bcf1af to main
The conflicts were difficult to resolve, due to some changes in a1cb989, so I'm splitting this merge into two parts, first merging with the commit just before that one.
Branch comparison: main...6bcf1af
Note to maintainers: Remember to Merge with commit (not squash-merge or rebase)