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[bullet]: Fix how changed link poses are computed #460
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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 +/- ##
===============================================
+ Coverage 75.79% 75.82% +0.03%
===============================================
Files 140 140
Lines 7056 7066 +10
===============================================
+ 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
codecheck
passed (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-by
messages.