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Set collision detector and solver from SDF (#684)
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Signed-off-by: Louise Poubel <[email protected]>

Co-authored-by: Ashton Larkin <[email protected]>
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@chapulina @adlarkin
chapulina and adlarkin authored Jun 16, 2021
1 parent 80379fb commit 3e2018e
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173 changes: 173 additions & 0 deletions examples/worlds/physics_options.sdf
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<?xml version="1.0" ?>
<!--
Demo using custom physics options
-->
<sdf version="1.8">
<world name="shapes">
<physics name="1ms" type="ignored">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
<dart>
<collision_detector>bullet</collision_detector>
<solver>
<solver_type>pgs</solver_type>
</solver>
</dart>
</physics>

<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>

<model name="ground_plane">
<static>true</static>
<pose>0 0 -0.5 0 -0.52 0</pose>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>

<model name="box">
<pose>0 0 0.5 0 0 0</pose>
<link name="box_link">
<inertial>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
<mass>1.0</mass>
</inertial>
<collision name="box_collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>

<visual name="box_visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1 0 0 1</diffuse>
<specular>1 0 0 1</specular>
</material>
</visual>
</link>
</model>

<model name="cylinder">
<pose>0 -1.5 0.5 1.57079632679 0 0</pose>
<link name="cylinder_link">
<inertial>
<inertia>
<ixx>2</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>2</iyy>
<iyz>0</iyz>
<izz>2</izz>
</inertia>
<mass>2.0</mass>
</inertial>
<collision name="cylinder_collision">
<geometry>
<cylinder>
<radius>0.5</radius>
<length>1.0</length>
</cylinder>
</geometry>
</collision>

<visual name="cylinder_visual">
<geometry>
<cylinder>
<radius>0.5</radius>
<length>1.0</length>
</cylinder>
</geometry>
<material>
<ambient>0 1 0 1</ambient>
<diffuse>0 1 0 1</diffuse>
<specular>0 1 0 1</specular>
</material>
</visual>
</link>
</model>

<model name="sphere">
<pose>0 1.5 0.5 0 0 0</pose>
<link name="sphere_link">
<inertial>
<inertia>
<ixx>3</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>3</iyy>
<iyz>0</iyz>
<izz>3</izz>
</inertia>
<mass>3.0</mass>
</inertial>
<collision name="sphere_collision">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
</collision>

<visual name="sphere_visual">
<geometry>
<sphere>
<radius>0.5</radius>
</sphere>
</geometry>
<material>
<ambient>0 0 1 1</ambient>
<diffuse>0 0 1 1</diffuse>
<specular>0 0 1 1</specular>
</material>
</visual>
</link>
</model>
</world>
</sdf>
17 changes: 17 additions & 0 deletions include/ignition/gazebo/components/Physics.hh
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Expand Up @@ -17,6 +17,8 @@
#ifndef IGNITION_GAZEBO_COMPONENTS_PHYSICS_HH_
#define IGNITION_GAZEBO_COMPONENTS_PHYSICS_HH_

#include <string>

#include <ignition/msgs/physics.pb.h>

#include <sdf/Physics.hh>
Expand Down Expand Up @@ -48,6 +50,21 @@ namespace components
serializers::PhysicsSerializer>;
IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.Physics",
Physics)

/// \brief The name of the collision detector to be used. The supported
/// options will depend on the physics engine being used.
using PhysicsCollisionDetector = Component<std::string,
class PhysicsCollisionDetectorTag, serializers::StringSerializer>;
IGN_GAZEBO_REGISTER_COMPONENT(
"ign_gazebo_components.PhysicsCollisionDetector",
PhysicsCollisionDetector)

/// \brief The name of the solver to be used. The supported options will
/// depend on the physics engine being used.
using PhysicsSolver = Component<std::string,
class PhysicsSolverTag, serializers::StringSerializer>;
IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.PhysicsSolver",
PhysicsSolver)
}
}
}
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25 changes: 25 additions & 0 deletions src/LevelManager.cc
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Expand Up @@ -111,6 +111,31 @@ void LevelManager::ReadLevelPerformerInfo()
this->runner->entityCompMgr.CreateComponent(this->worldEntity,
components::Physics(*physics));

// Populate physics options that aren't accessible outside the Element()
// See https://github.com/osrf/sdformat/issues/508
if (physics->Element() && physics->Element()->HasElement("dart"))
{
auto dartElem = physics->Element()->GetElement("dart");

if (dartElem->HasElement("collision_detector"))
{
auto collisionDetector =
dartElem->Get<std::string>("collision_detector");

this->runner->entityCompMgr.CreateComponent(worldEntity,
components::PhysicsCollisionDetector(collisionDetector));
}
if (dartElem->HasElement("solver") &&
dartElem->GetElement("solver")->HasElement("solver_type"))
{
auto solver =
dartElem->GetElement("solver")->Get<std::string>("solver_type");

this->runner->entityCompMgr.CreateComponent(worldEntity,
components::PhysicsSolver(solver));
}
}

this->runner->entityCompMgr.CreateComponent(this->worldEntity,
components::MagneticField(this->runner->sdfWorld->MagneticField()));

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25 changes: 25 additions & 0 deletions src/SdfEntityCreator.cc
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Expand Up @@ -280,6 +280,31 @@ Entity SdfEntityCreator::CreateEntities(const sdf::World *_world)
this->dataPtr->ecm->CreateComponent(worldEntity,
components::Physics(*physics));

// Populate physics options that aren't accessible outside the Element()
// See https://github.com/osrf/sdformat/issues/508
if (physics->Element() && physics->Element()->HasElement("dart"))
{
auto dartElem = physics->Element()->GetElement("dart");

if (dartElem->HasElement("collision_detector"))
{
auto collisionDetector =
dartElem->Get<std::string>("collision_detector");

this->dataPtr->ecm->CreateComponent(worldEntity,
components::PhysicsCollisionDetector(collisionDetector));
}
if (dartElem->HasElement("solver") &&
dartElem->GetElement("solver")->HasElement("solver_type"))
{
auto solver =
dartElem->GetElement("solver")->Get<std::string>("solver_type");

this->dataPtr->ecm->CreateComponent(worldEntity,
components::PhysicsSolver(solver));
}
}

// MagneticField
this->dataPtr->ecm->CreateComponent(worldEntity,
components::MagneticField(_world->MagneticField()));
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31 changes: 31 additions & 0 deletions src/gui/plugins/component_inspector/ComponentInspector.cc
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Expand Up @@ -49,8 +49,11 @@
#include "ignition/gazebo/components/Performer.hh"
#include "ignition/gazebo/components/PerformerAffinity.hh"
#include "ignition/gazebo/components/Physics.hh"
#include "ignition/gazebo/components/PhysicsEnginePlugin.hh"
#include "ignition/gazebo/components/Pose.hh"
#include "ignition/gazebo/components/PoseCmd.hh"
#include "ignition/gazebo/components/RenderEngineGuiPlugin.hh"
#include "ignition/gazebo/components/RenderEngineServerPlugin.hh"
#include "ignition/gazebo/components/SelfCollide.hh"
#include "ignition/gazebo/components/Sensor.hh"
#include "ignition/gazebo/components/SourceFilePath.hh"
Expand Down Expand Up @@ -631,12 +634,40 @@ void ComponentInspector::Update(const UpdateInfo &,
if (comp)
setData(item, comp->Data());
}
else if (typeId == components::PhysicsCollisionDetector::typeId)
{
auto comp = _ecm.Component<components::PhysicsCollisionDetector>(
this->dataPtr->entity);
if (comp)
setData(item, comp->Data());
}
else if (typeId == components::PhysicsSolver::typeId)
{
auto comp = _ecm.Component<components::PhysicsSolver>(
this->dataPtr->entity);
if (comp)
setData(item, comp->Data());
}
else if (typeId == components::Pose::typeId)
{
auto comp = _ecm.Component<components::Pose>(this->dataPtr->entity);
if (comp)
setData(item, comp->Data());
}
else if (typeId == components::RenderEngineGuiPlugin::typeId)
{
auto comp = _ecm.Component<components::RenderEngineGuiPlugin>(
this->dataPtr->entity);
if (comp)
setData(item, comp->Data());
}
else if (typeId == components::RenderEngineServerPlugin::typeId)
{
auto comp = _ecm.Component<components::RenderEngineServerPlugin>(
this->dataPtr->entity);
if (comp)
setData(item, comp->Data());
}
else if (typeId == components::Static::typeId)
{
auto comp = _ecm.Component<components::Static>(this->dataPtr->entity);
Expand Down
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