Added Simulation Features (#168)

* added features Signed-off-by: Lobotuerk <[email protected]> Co-authored-by: Jorge Perez <[email protected]> Signed-off-by: Jorge Perez <[email protected]> Signed-off-by: Tomas Lorente <[email protected]>
gazebosim · May 19, 2021 · 7adcf18 · 7adcf18
1 parent a48a799
commit 7adcf18
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Showing 3 changed files with 94 additions and 2 deletions.
diff --git a/bullet/src/SimulationFeatures.cc b/bullet/src/SimulationFeatures.cc
@@ -0,0 +1,40 @@
+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#include "SimulationFeatures.hh"
+
+namespace ignition {
+namespace physics {
+namespace bullet {
+
+void SimulationFeatures::WorldForwardStep(
+    const Identity &_worldID,
+    ForwardStep::Output & /*_h*/,
+    ForwardStep::State & /*_x*/,
+    const ForwardStep::Input & _u)
+{
+    const WorldInfoPtr &worldInfo = this->worlds.at(_worldID);
+
+    auto *dtDur =
+      _u.Query<std::chrono::steady_clock::duration>();
+    std::chrono::duration<double> dt = *dtDur;
+    worldInfo->world->stepSimulation(dt.count());
+}
+
+}
+}
+}
diff --git a/bullet/src/SimulationFeatures.hh b/bullet/src/SimulationFeatures.hh
@@ -0,0 +1,49 @@
+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#ifndef IGNITION_PHYSICS_BULLET_SRC_SIMULATIONFEATURES_HH_
+#define IGNITION_PHYSICS_BULLET_SRC_SIMULATIONFEATURES_HH_
+
+#include <vector>
+#include <ignition/physics/ForwardStep.hh>
+
+#include "Base.hh"
+
+namespace ignition {
+namespace physics {
+namespace bullet {
+
+using SimulationFeatureList = FeatureList<
+  ForwardStep
+>;
+
+class SimulationFeatures :
+    public virtual Base,
+    public virtual Implements3d<SimulationFeatureList>
+{
+  public: void WorldForwardStep(
+      const Identity &_worldID,
+      ForwardStep::Output &_h,
+      ForwardStep::State &_x,
+      const ForwardStep::Input &_u) override;
+};
+
+}
+}
+}
+
+#endif
diff --git a/bullet/src/plugin.cc b/bullet/src/plugin.cc
@@ -22,19 +22,22 @@
 
 #include "Base.hh"
 #include "EntityManagementFeatures.hh"
+#include "SimulationFeatures.hh"
 
 namespace ignition {
 namespace physics {
 namespace bullet {
 
 struct BulletFeatures : FeatureList <
-  EntityManagementFeatureList
+  EntityManagementFeatureList,
+  SimulationFeatureList
 > { };
 
 class Plugin :
     public virtual Implements3d<BulletFeatures>,
     public virtual Base,
-    public virtual EntityManagementFeatures {};
+    public virtual EntityManagementFeatures,
+    public virtual SimulationFeatures {};
 
 IGN_PHYSICS_ADD_PLUGIN(Plugin, FeaturePolicy3d, BulletFeatures)