Merge 7 -> main #604
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Merge 7 -> main #604
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When loading a model from SDF, the moment of inertia matrix is currently applying any rotations in the //inertial/pose two times, since the rotations are applied explicitly, but they are already applied in math::Inertial::Moi. Signed-off-by: Steve Peters <[email protected]> Signed-off-by: Louise Poubel <[email protected]> Co-authored-by: Louise Poubel <[email protected]>
* Use on `push` only on stable branches to avoid duplicate runs * Update project automation Signed-off-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Steve Peters <[email protected]>
Merge ign-physics2 ➡️ ign-physics5 Signed-off-by: Michael Carroll <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
Set collision spinning friction using on sdf's torsional coefficient value. If not specified in sdf, the default value of 1.0 is used. When 2 boxes penetrate, bullet pushes them apart. Without the spinning friction set, the boxes will continue to spin indefinitely or until it collides with another object. Setting the spinning friction prevents this from happening. Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
Signed-off-by: Addisu Z. Taddese <[email protected]>
Merge ign-physics2 ➡️ ign-physics5
Signed-off-by: Addisu Z. Taddese <[email protected]>
Adapted from #574 with acknowledgement to Ian Chen. Signed-off-by: Steve Peters <[email protected]> Co-authored-by: Ian Chen <[email protected]>
Merge ign-physics5 ➡️ gz-physics6
Merge 6 ➡️ 7
Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Steve Peters <[email protected]>
This cleans up physics tests in a few ways: Consolidate TestUtilities.hh and test/Utils.hh Move test headers to test/include/test Move mock headers to test/include/mock Create an INTERFACE library for test/mock headers that sets common compiler definitions as well as common libraries to link against Remove all instances of hardcoded world names or resource names and instead use constants. Signed-off-by: Michael Carroll <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>
Signed-off-by: Michael Carroll <[email protected]>
Signed-off-by: Michael Carroll <[email protected]>
Signed-off-by: Steve Peters <[email protected]>
This reverts commit 1016539. Signed-off-by: Michael Carroll <[email protected]>
Signed-off-by: Michael Carroll <[email protected]>
Signed-off-by: Michael Carroll <[email protected]>
Extended bullet-featurestone implementation to support these features related to nested models: * ConstructSdfJoint (limited to creating fixed joints to the world) * ConstructSdfNestedModel * GetNestedModelFromModel * WorldModelFeature * RemoveEntities The nested models are currently added to a single multibody since bullet-featherstone does not currently support joints between two different multibodies. The nested model keeps a shared ptr to the root link's btMultibody. With the addition of the above features, more common tests are now being run using bullet-feathersone plugin. Closes #546, #547. Signed-off-by: Shameek Ganguly <[email protected]> Signed-off-by: Steve Peters <[email protected]> Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Shameek Ganguly <[email protected]> Co-authored-by: Steve Peters <[email protected]>
* Tune erp2 and mesh margin * increase tol in joint features test Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
Merge 6 -> 7
Signed-off-by: Ian Chen <[email protected]>
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #604 +/- ##
==========================================
+ Coverage 77.91% 78.32% +0.40%
==========================================
Files 140 140
Lines 7766 8069 +303
==========================================
+ Hits 6051 6320 +269
- Misses 1715 1749 +34 ☔ View full report in Codecov by Sentry. |
scpeters
approved these changes
Mar 14, 2024
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➡️ Forward port
Port gz-physics7 to main
Branch comparison: main...gz-physics7
Note to maintainers: Remember to Merge with commit (not squash-merge or rebase)