[Bullet] Collision Features #173
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Signed-off-by: Tomas Lorente <[email protected]>
Lobotuerk
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@@ Coverage Diff @@
## bullet_classic_dev #173 +/- ##
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- Coverage 79.44% 78.29% -1.15%
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Files 113 114 +1
Lines 4154 4215 +61
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Hits 3300 3300
- Misses 854 915 +61
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Blast545
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Dec 3, 2020
bullet/src/SimulationFeatures.hh
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| 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
| 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
Co-authored-by: Jorge Perez <[email protected]>
Signed-off-by: Tomas Lorente <[email protected]>
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Merging after addresing everything |
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* Collision working Signed-off-by: Tomas Lorente <[email protected]> Co-authored-by: Jorge Perez <[email protected]>
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* Collision working Signed-off-by: Tomas Lorente <[email protected]> Co-authored-by: Jorge Perez <[email protected]>
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* Collision working Signed-off-by: Tomas Lorente <[email protected]> Co-authored-by: Jorge Perez <[email protected]> Signed-off-by: Jorge Perez <[email protected]>
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* Collision working Signed-off-by: Tomas Lorente <[email protected]> Co-authored-by: Jorge Perez <[email protected]> Signed-off-by: Jorge Perez <[email protected]>
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* 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]>
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* 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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Collision seems to be working, deleting and creating does not segfault, bodies seem to move properly