Merge pull request #1428 from gazebosim/merge_13_14_20240531

Merge 13 -> 14

include/sdf/Link.hh

@@ -408,12 +408,22 @@ namespace sdf
     /// \sa bool Model::EnableWind
     public: bool EnableWind() const;
 
+    /// \brief Check if this link should be subject to gravity.
+    /// If true, this link should be affected by gravity.
+    /// \return true if the model should be subject to gravity, false otherwise.
+    public: bool EnableGravity() const;
+
     /// \brief Set whether this link should be subject to wind.
     /// \param[in] _enableWind True or false depending on whether the link
     /// should be subject to wind.
     /// \sa Model::SetEnableWind(bool)
     public: void SetEnableWind(bool _enableWind);
 
+    /// \brief Set whether this link should be subject to gravity.
+    /// \param[in] _enableGravity True or false depending on whether the link
+    /// should be subject to gravity.
+    public: void SetEnableGravity(bool _enableGravity);
+
     /// \brief Check if the automatic calculation for the link inertial
     /// is enabled or not.
     /// \return True if automatic calculation is enabled. This can be done

include/sdf/Surface.hh

@@ -17,6 +17,7 @@
 #ifndef SDF_SURFACE_HH_
 #define SDF_SURFACE_HH_
 
+#include <gz/math/Vector3.hh>
 #include <gz/utils/ImplPtr.hh>
 #include "sdf/Element.hh"
 #include "sdf/Types.hh"
@@ -122,6 +123,132 @@ namespace sdf
     GZ_UTILS_IMPL_PTR(dataPtr)
   };
 
+  /// \brief BulletFriction information for a friction.
+  class SDFORMAT_VISIBLE BulletFriction
+  {
+    /// \brief Default constructor
+    public: BulletFriction();
+
+    /// \brief Load BulletFriction friction based on a element pointer. This is
+    /// *not* the usual entry point. Typical usage of the SDF DOM is through
+    /// the Root object.
+    /// \param[in] _sdf The SDF Element pointer
+    /// \return Errors, which is a vector of Error objects. Each Error includes
+    /// an error code and message. An empty vector indicates no error.
+    public: Errors Load(ElementPtr _sdf);
+
+    /// \brief Get the friction coefficient in first friction pyramid direction.
+    /// \returns Friction coefficient
+    public: double Friction() const;
+
+    /// \brief Set friction coefficient in first friction pyramid direction.
+    /// \param[in] _fricton Friction coefficient
+    public: void SetFriction(double _friction);
+
+    /// \brief Get the friction coefficient in second friction pyramid
+    /// direction.
+    /// \return Second friction coefficient
+    public: double Friction2() const;
+
+    /// \brief Set friction coefficient in second friction pyramid direction.
+    /// \param[in] _fricton Friction coefficient
+    public: void SetFriction2(double _friction);
+
+    /// \brief Get the first friction pyramid direction in collision-fixed
+    /// reference
+    /// \return First friction pyramid direction.
+    public: const gz::math::Vector3d &Fdir1() const;
+
+    /// \brief Set the first friction pyramid direction in collision-fixed
+    /// reference
+    /// \param[in] _fdir First friction pyramid direction.
+    public: void SetFdir1(const gz::math::Vector3d &_fdir);
+
+    /// \brief Get the rolling friction coefficient
+    /// \return Rolling friction coefficient
+    public: double RollingFriction() const;
+
+    /// \brief Set the rolling friction coefficient
+    /// \param[in] _slip1 Rolling friction coefficient
+    public: void SetRollingFriction(double _friction);
+
+    /// \brief Get a pointer to the SDF element that was used during
+    /// load.
+    /// \return SDF element pointer. The value will be nullptr if Load has
+    /// not been called.
+    public: sdf::ElementPtr Element() const;
+
+    /// \brief Private data pointer.
+    GZ_UTILS_IMPL_PTR(dataPtr)
+  };
+
+  /// \brief Torsional friction
+  class SDFORMAT_VISIBLE Torsional
+  {
+    /// \brief Default constructor
+    public: Torsional();
+
+    /// \brief Load torsional friction based on a element pointer. This is *not*
+    /// the usual entry point. Typical usage of the SDF DOM is through the Root
+    /// object.
+    /// \param[in] _sdf The SDF Element pointer
+    /// \return Errors, which is a vector of Error objects. Each Error includes
+    /// an error code and message. An empty vector indicates no error.
+    public: Errors Load(ElementPtr _sdf);
+
+    /// \brief Get the torsional friction coefficient.
+    /// \return Torsional friction coefficient
+    public: double Coefficient() const;
+
+    /// \brief Set the torsional friction coefficient.
+    /// \param[in] _fricton Torsional friction coefficient
+    public: void SetCoefficient(double _coefficient);
+
+    /// \brief Get whether the patch radius is used to calculate torsional
+    /// friction.
+    /// \return True if patch radius is used.
+    public: bool UsePatchRadius() const;
+
+    /// \brief Set whether to use patch radius for torsional friction
+    /// calculation.
+    /// \param[in] _usePatchRadius True to use patch radius.
+    /// False to use surface radius.
+    public: void SetUsePatchRadius(bool _usePatchRadius);
+
+    /// \brief Get the radius of contact patch surface.
+    /// \return Patch radius
+    public: double PatchRadius() const;
+
+    /// \brief Set the radius of contact patch surface.
+    /// \param[in] _radius Patch radius
+    public: void SetPatchRadius(double _radius);
+
+    /// \brief Get the surface radius on the contact point
+    /// \return Surface radius
+    public: double SurfaceRadius() const;
+
+    /// \brief Set the surface radius on the contact point.
+    /// \param[in] _radius Surface radius
+    public: void SetSurfaceRadius(double _radius);
+
+    /// \brief Get the ODE force dependent slip for torsional friction
+    /// \return Force dependent slip for torsional friction.
+    public: double ODESlip() const;
+
+    /// \brief Set the ODE force dependent slip for torsional friction
+    /// \param[in] _slip Force dependent slip for torsional friction.
+    public: void SetODESlip(double _slip);
+
+    /// \brief Get a pointer to the SDF element that was used during
+    /// load.
+    /// \return SDF element pointer. The value will be nullptr if Load has
+    /// not been called.
+    public: sdf::ElementPtr Element() const;
+
+    /// \brief Private data pointer.
+    GZ_UTILS_IMPL_PTR(dataPtr)
+  };
+
   /// \brief Friction information for a surface.
   class SDFORMAT_VISIBLE Friction
   {
@@ -145,6 +272,24 @@ namespace sdf
     /// \param[in] _ode The ODE object.
     public: void SetODE(const sdf::ODE &_ode);
 
+    /// \brief Get the associated BulletFriction object
+    /// \return Pointer to the associated BulletFriction object,
+    /// nullptr if the Surface doesn't contain a BulletFriction element.
+    public: const sdf::BulletFriction *BulletFriction() const;
+
+    /// \brief Set the associated BulletFriction object.
+    /// \param[in] _bullet The BulletFriction object.
+    public: void SetBulletFriction(const sdf::BulletFriction &_bullet);
+
+    /// \brief Get the torsional friction
+    /// \return Pointer to the torsional friction
+    /// nullptr if the Surface doesn't contain a torsional friction element.
+    public: const sdf::Torsional *Torsional() const;
+
+    /// \brief Set the torsional friction
+    /// \param[in] _torsional The torsional friction.
+    public: void SetTorsional(const sdf::Torsional &_torsional);
+
     /// \brief Get a pointer to the SDF element that was used during
     /// load.
     /// \return SDF element pointer. The value will be nullptr if Load has

python/src/sdf/_gz_sdformat_pybind11.cc

@@ -83,6 +83,7 @@ PYBIND11_MODULE(BINDINGS_MODULE_NAME, m) {
   sdf::python::defineAltimeter(m);
   sdf::python::defineAtmosphere(m);
   sdf::python::defineBox(m);
+  sdf::python::defineBulletFriction(m);
   sdf::python::defineCamera(m);
   sdf::python::defineCapsule(m);
   sdf::python::defineCollision(m);
@@ -134,6 +135,7 @@ PYBIND11_MODULE(BINDINGS_MODULE_NAME, m) {
   sdf::python::defineSky(m);
   sdf::python::defineSphere(m);
   sdf::python::defineSurface(m);
+  sdf::python::defineTorsional(m);
   sdf::python::defineVisual(m);
   sdf::python::defineWorld(m);
 

python/src/sdf/pyLink.cc

@@ -172,6 +172,13 @@ void defineLink(pybind11::object module)
     .def("set_enable_wind",
          &sdf::Link::SetEnableWind,
          "Set whether this link should be subject to wind.")
+    .def("enable_gravity",
+         &sdf::Link::EnableGravity,
+         "Check if this link should be subject to gravity. "
+         "If true, this link should be affected by gravity.")
+    .def("set_enable_gravity",
+         &sdf::Link::SetEnableGravity,
+         "Set whether this link should be subject to gravity.")
     .def("add_collision",
          &sdf::Link::AddCollision,
          "Add a collision to the link.")

python/src/sdf/pySurface.cc

@@ -55,6 +55,16 @@ void defineFriction(pybind11::object module)
          "Get the ODE object.")
     .def("set_ode", &sdf::Friction::SetODE,
          "Set the ODE object.")
+    .def("bullet_friction", &sdf::Friction::BulletFriction,
+         pybind11::return_value_policy::reference_internal,
+         "Get the bullet friction object.")
+    .def("set_bullet_friction", &sdf::Friction::SetBulletFriction,
+         "Set the bullet friction object.")
+    .def("torsional", &sdf::Friction::Torsional,
+         pybind11::return_value_policy::reference_internal,
+         "Get the torsional friction object.")
+    .def("set_torsional", &sdf::Friction::SetTorsional,
+         "Set the torsional friction object.")
     .def("__copy__", [](const sdf::Friction &self) {
       return sdf::Friction(self);
     })
@@ -118,6 +128,68 @@ void defineSurface(pybind11::object module)
       return sdf::Surface(self);
     }, "memo"_a);
 }
+/////////////////////////////////////////////////
+void defineBulletFriction(pybind11::object module)
+{
+  pybind11::class_<sdf::BulletFriction>(module, "BulletFriction")
+    .def(pybind11::init<>())
+    .def(pybind11::init<sdf::BulletFriction>())
+    .def("friction", &sdf::BulletFriction::Friction,
+         "Get the friction parameter.")
+    .def("set_friction", &sdf::BulletFriction::SetFriction,
+         "Set the friction parameter.")
+    .def("friction2", &sdf::BulletFriction::Friction2,
+         "Get the friction parameter.")
+    .def("set_friction2", &sdf::BulletFriction::SetFriction2,
+         "Set the friction2 parameter.")
+    .def("fdir1", &sdf::BulletFriction::Fdir1,
+         "Get the fdir1 parameter.")
+    .def("set_fdir1", &sdf::BulletFriction::SetFdir1,
+         "Set the fdir1 parameter.")
+    .def("rolling_friction", &sdf::BulletFriction::RollingFriction,
+         "Get the rolling fricion parameter.")
+    .def("set_rolling_friction", &sdf::BulletFriction::SetRollingFriction,
+         "Set the rolling friction parameter.")
+    .def("__copy__", [](const sdf::BulletFriction &self) {
+      return sdf::BulletFriction(self);
+    })
+    .def("__deepcopy__", [](const sdf::BulletFriction &self, pybind11::dict) {
+      return sdf::BulletFriction(self);
+    }, "memo"_a);
+}
+/////////////////////////////////////////////////
+void defineTorsional(pybind11::object module)
+{
+  pybind11::class_<sdf::Torsional>(module, "Torsional")
+    .def(pybind11::init<>())
+    .def(pybind11::init<sdf::Torsional>())
+    .def("coefficient", &sdf::Torsional::Coefficient,
+         "Get the coefficient parameter.")
+    .def("set_coefficient", &sdf::Torsional::SetCoefficient,
+         "Set the coefficient parameter.")
+    .def("use_patch_radius", &sdf::Torsional::UsePatchRadius,
+         "Get whether to use patch radius for torsional friction calculation.")
+    .def("set_use_patch_radius", &sdf::Torsional::SetUsePatchRadius,
+         "Set whether to use patch radius for torsional friction calculation.")
+    .def("patch_radius", &sdf::Torsional::PatchRadius,
+         "Get the radius of contact patch surface.")
+    .def("set_patch_radius", &sdf::Torsional::SetPatchRadius,
+         "Set the radius of contact patch surface.")
+    .def("surface_radius", &sdf::Torsional::SurfaceRadius,
+         "Get the surface radius on the contact point.")
+    .def("set_surface_radius", &sdf::Torsional::SetSurfaceRadius,
+         "Set the surface radius on the contact point.")
+    .def("ode_slip", &sdf::Torsional::ODESlip,
+         "Get the ODE force dependent slip for torsional friction.")
+    .def("set_ode_slip", &sdf::Torsional::SetODESlip,
+         "Set the ODE force dependent slip for torsional friction.")
+    .def("__copy__", [](const sdf::Torsional &self) {
+      return sdf::Torsional(self);
+    })
+    .def("__deepcopy__", [](const sdf::Torsional &self, pybind11::dict) {
+      return sdf::Torsional(self);
+    }, "memo"_a);
+}
 }  // namespace python
 }  // namespace SDF_VERSION_NAMESPACE
 }  // namespace sdf

python/src/sdf/pySurface.hh

@@ -52,6 +52,18 @@ void defineODE(pybind11::object module);
  * \param[in] module a pybind11 module to add the definition to
  */
 void defineSurface(pybind11::object module);
+
+/// Define a pybind11 wrapper for an sdf::BulletFriction
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ */
+void defineBulletFriction(pybind11::object module);
+
+/// Define a pybind11 wrapper for an sdf::Torsional
+/**
+ * \param[in] module a pybind11 module to add the definition to
+ */
+void defineTorsional(pybind11::object module);
 }  // namespace python
 }  // namespace SDF_VERSION_NAMESPACE
 }  // namespace sdf

python/test/pyLink_TEST.py

@@ -61,6 +61,10 @@ def test_default_construction(self):
         link.set_enable_wind(True)
         self.assertTrue(link.enable_wind())
 
+        self.assertTrue(link.enable_gravity())
+        link.set_enable_gravity(False)
+        self.assertFalse(link.enable_gravity())
+
         self.assertFalse(link.auto_inertia_saved())
         link.set_auto_inertia_saved(True)
         self.assertTrue(link.auto_inertia_saved())