[bullet]: Fix how changed link poses are computed #460
Conversation
The existing pose computation used pose data that was never updated by the physics engine. Signed-off-by: Addisu Z. Taddese <[email protected]>
| @@ -36,6 +37,8 @@ struct SimulationFeatureList : gz::physics::FeatureList< | |||
| > { }; | |||
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| class SimulationFeatures : | |||
| public CanWriteExpectedData<SimulationFeatures, | |||
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is this happenning in featherstone too ? I can reproduce the issue only with bullet, featherstone should be fine without this changes, is there any other reason to add this here?
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No, this is not happening on featherstone, but inheriting from CanWriteExpectedData adds a compile-time check that the class implements Write for the expected data type. It's not strictly necessary.
Codecov Report
@@ Coverage Diff @@
## gz-physics6 #460 +/- ##
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+ Coverage 75.79% 75.82% +0.03%
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Files 140 140
Lines 7056 7066 +10
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+ Hits 5348 5358 +10
Misses 1708 1708
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🦟 Bug fix
Summary
The existing pose computation used pose data that was never updated by the physics engine. This causes gz-sim to skip updating the poses of links. To test, run
gz sim -v 4 --physics-engine gz-physics-bullet-plugin rolling_shapes.sdf -r. Without this PR, the shapes do not move.Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.