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[Bullet] Collision Features #173

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merged 3 commits into from
Dec 3, 2020

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Lobotuerk
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@Lobotuerk Lobotuerk commented Dec 3, 2020

Collision seems to be working, deleting and creating does not segfault, bodies seem to move properly

Signed-off-by: Tomas Lorente <[email protected]>
@Lobotuerk Lobotuerk changed the title Bullet dev/lobotuerk/collision features [Bullet] Collision Features Dec 3, 2020
@github-actions github-actions bot added 🏢 edifice Ignition Edifice 🔮 dome Ignition Dome labels Dec 3, 2020
@Lobotuerk Lobotuerk changed the base branch from ign-physics3 to bullet_classic_dev December 3, 2020 18:00
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codecov bot commented Dec 3, 2020

Codecov Report

Merging #173 (d646527) into bullet_classic_dev (94db733) will decrease coverage by 1.14%.
The diff coverage is 0.00%.

Impacted file tree graph

@@                  Coverage Diff                   @@
##           bullet_classic_dev     #173      +/-   ##
======================================================
- Coverage               79.44%   78.29%   -1.15%     
======================================================
  Files                     113      114       +1     
  Lines                    4154     4215      +61     
======================================================
  Hits                     3300     3300              
- Misses                    854      915      +61     
Impacted Files Coverage Δ
bullet/src/Base.hh 0.00% <0.00%> (ø)
bullet/src/EntityManagementFeatures.cc 0.00% <0.00%> (ø)
bullet/src/SDFFeatures.cc 0.00% <0.00%> (ø)
bullet/src/SimulationFeatures.hh 0.00% <0.00%> (ø)

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Minor comments, otherwise LGTM

bullet/src/EntityManagementFeatures.cc Outdated Show resolved Hide resolved
bullet/src/EntityManagementFeatures.cc Outdated Show resolved Hide resolved

public: std::vector<ContactInternal> GetContactsFromLastStep(
const Identity &/* _worldID */) const override
{ // TODO(lobotuerk): Implement contacts getter, could be like https://pybullet.org/Bullet/phpBB3/viewtopic.php?t=2855
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If this is a Dummy implementation, I suggest printing to ignwrn something to be aware when it's used JIC

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Updated on 30ae58a

const auto &link = linkInfo->link;
const auto &world = this->worlds.at(modelInfo->world)->world;
// btTransform transform;
delete link->getCollisionShape();
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Please leave a comment here stating why it's solved this way here. Maybe that can change in the future

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Updated on 30ae58a, hopefully, this does not spam the console

Lobotuerk and others added 2 commits December 3, 2020 16:01
Signed-off-by: Tomas Lorente <[email protected]>
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Merging after addresing everything

@Lobotuerk Lobotuerk merged commit a985842 into bullet_classic_dev Dec 3, 2020
@Lobotuerk Lobotuerk deleted the bulletDev/lobotuerk/CollisionFeatures branch December 3, 2020 19:20
Blast545 added a commit that referenced this pull request Feb 3, 2021
* Collision working

Signed-off-by: Tomas Lorente <[email protected]>

Co-authored-by: Jorge Perez <[email protected]>
Blast545 added a commit that referenced this pull request Feb 12, 2021
* Collision working

Signed-off-by: Tomas Lorente <[email protected]>

Co-authored-by: Jorge Perez <[email protected]>
Blast545 added a commit that referenced this pull request Feb 12, 2021
* Collision working

Signed-off-by: Tomas Lorente <[email protected]>

Co-authored-by: Jorge Perez <[email protected]>
Signed-off-by: Jorge Perez <[email protected]>
Blast545 added a commit that referenced this pull request Feb 18, 2021
* Collision working

Signed-off-by: Tomas Lorente <[email protected]>

Co-authored-by: Jorge Perez <[email protected]>
Signed-off-by: Jorge Perez <[email protected]>
Lobotuerk added a commit that referenced this pull request May 19, 2021
* Collision working

Signed-off-by: Tomas Lorente <[email protected]>

Co-authored-by: Jorge Perez <[email protected]>
Signed-off-by: Jorge Perez <[email protected]>
Signed-off-by: Tomas Lorente <[email protected]>
Blast545 added a commit that referenced this pull request May 20, 2021
* base and entity features
* Add base Cmake and plugin dummy feature
* Replace dummy features with base ones
* Added Simulation Features (#168)
* added features
* [Bullet] Bullet classic, Add sdf entities (#167)
* Add SDF features to build models
* Fix class inheritance problem
* Comment unused variables in this commit
* Add vector with ids of links added in a model
* Kinematics features (#169)
* Kinematic Features
* Free Group Features (#171)
* [bullet] Basic Features (#172)
* Fixed gravity, pose, and corrected some auto variables
* [Bullet] Collision Features (#173)
* Collision working
* [bullet] Add find or construct link (#175)
* Add Find or Construct Link function
* Change function to return entity instead of identity
* Remove loop creating links inside model
* [Bullet] Mesh features (#178)
* Collision working
* [bullet] Joints implementation (#190)
* Add placeholders joint features
* Iteration to add joints after links
* sdfConstructJoint math fixed
* added missing dummys
* added constraint to the world
* Change dummy functions print to debug
* fixed position
* friction
* fixed sdfLinkSearch
* Joint velocity command
* working version tunnels
* added joint position methods
* Add basic tests
* Add missing override keyword
* Updated CMake and replaced using with structs for feature lists
* Save base when adding a mesh
* deleted worlds

Signed-off-by: Jorge Perez <[email protected]>
Signed-off-by: Tomas Lorente <[email protected]>
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