Merge pull request #592 from gazebosim/6_to_7

Merge 6 ➡️ 7

.github/workflows/ci.yml

@@ -8,7 +8,7 @@ jobs:
     name: Ubuntu Jammy CI
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Compile and test
         id: ci
         uses: gazebo-tooling/action-gz-ci@jammy

.github/workflows/triage.yml

@@ -14,4 +14,3 @@ jobs:
         with:
           project-url: https://github.com/orgs/gazebosim/projects/7
           github-token: ${{ secrets.TRIAGE_TOKEN }}
-

Changelog.md

@@ -658,6 +658,19 @@
 
 ## Gazebo Physics 2.x
 
+### Gazebo Physics 2.6.2 (2024-01-05)
+
+1. dartsim: fix handling inertia matrix pose rotation
+    * [Pull request #351](https://github.com/gazebosim/gz-physics/pull/351)
+
+1. Fix a crash due to an invalid pointer
+    * [Pull request #486](https://github.com/gazebosim/gz-physics/pull/486)
+
+1. Infrastructure
+    * [Pull request #488](https://github.com/gazebosim/gz-physics/pull/488)
+    * [Pull request #487](https://github.com/gazebosim/gz-physics/pull/487)
+    * [Pull request #572](https://github.com/gazebosim/gz-physics/pull/572)
+
 ### Gazebo Physics 2.6.1 (2023-01-09)
 
 1. Fix build errors and warnings for DART 6.13.0

bullet-featherstone/src/SDFFeatures.cc

@@ -794,35 +794,40 @@ bool SDFFeatures::AddSdfCollision(
   double mu = 1.0;
   double mu2 = 1.0;
   double restitution = 0.0;
-
+  double torsionalCoefficient = 1.0;
   double rollingFriction = 0.0;
   if (const auto *surface = _collision.Surface())
   {
     if (const auto *friction = surface->Friction())
     {
       if (const auto frictionElement = friction->Element())
       {
-        if (const auto bullet = frictionElement->GetElement("bullet"))
+        if (const auto bullet = frictionElement->FindElement("bullet"))
         {
-          if (const auto f1 = bullet->GetElement("friction"))
+          if (const auto f1 = bullet->FindElement("friction"))
             mu = f1->Get<double>();
 
-          if (const auto f2 = bullet->GetElement("friction2"))
+          if (const auto f2 = bullet->FindElement("friction2"))
             mu2 = f2->Get<double>();
 
           // What is fdir1 for in the SDF's <bullet> spec?
 
-          if (const auto rolling = bullet->GetElement("rolling_friction"))
+          if (const auto rolling = bullet->FindElement("rolling_friction"))
             rollingFriction = rolling->Get<double>();
         }
+        if (const auto torsional = frictionElement->FindElement("torsional"))
+        {
+          if (const auto coefficient = torsional->FindElement("coefficient"))
+            torsionalCoefficient = coefficient->Get<double>();
+        }
       }
     }
 
     if (const auto surfaceElement = surface->Element())
     {
-      if (const auto bounce = surfaceElement->GetElement("bounce"))
+      if (const auto bounce = surfaceElement->FindElement("bounce"))
       {
-        if (const auto r = bounce->GetElement("restitution_coefficient"))
+        if (const auto r = bounce->FindElement("restitution_coefficient"))
           restitution = r->Get<double>();
       }
     }
@@ -873,6 +878,8 @@ bool SDFFeatures::AddSdfCollision(
       linkInfo->collider->setRestitution(static_cast<btScalar>(restitution));
       linkInfo->collider->setRollingFriction(
         static_cast<btScalar>(rollingFriction));
+      linkInfo->collider->setSpinningFriction(
+        static_cast<btScalar>(torsionalCoefficient));
       linkInfo->collider->setFriction(static_cast<btScalar>(mu));
       linkInfo->collider->setAnisotropicFriction(
         btVector3(static_cast<btScalar>(mu), static_cast<btScalar>(mu2), 1),

test/common_test/CMakeLists.txt

@@ -48,6 +48,10 @@ endfunction()
 
 set(GZ_PHYSICS_RESOURCE_DIR "${CMAKE_SOURCE_DIR}/resources")
 
+# Get bullet version using pkg_check_modules as it is not available
+# through the cmake module
+gz_pkg_check_modules_quiet(bullet_version_check "bullet")
+
 foreach(test ${tests})
   set(test_executable "${TEST_TYPE}_${test}")
   add_executable(${test_executable} ${test}.cc)
@@ -68,6 +72,12 @@ foreach(test ${tests})
     "GZ_PHYSICS_RESOURCE_DIR=\"${GZ_PHYSICS_RESOURCE_DIR}\""
   )
 
+  if (bullet_version_check_VERSION VERSION_LESS_EQUAL 3.25)
+    target_compile_definitions(${test_executable} PRIVATE
+      "BT_BULLET_VERSION_LE_325"
+    )
+  endif()
+
   if (DART_HAS_CONTACT_SURFACE_HEADER)
     target_compile_definitions(${test_executable} PRIVATE DART_HAS_CONTACT_SURFACE)
   endif()

test/common_test/joint_transmitted_wrench_features.cc

@@ -17,7 +17,6 @@
 #include <gtest/gtest.h>
 
 #include <chrono>
-#include <LinearMath/btScalar.h>
 
 #include <gz/common/Console.hh>
 #include <gz/plugin/Loader.hh>
@@ -225,12 +224,10 @@ TYPED_TEST(JointTransmittedWrenchFixture, PendulumAtZeroAngle)
 TYPED_TEST(JointTransmittedWrenchFixture, PendulumInMotion)
 {
   // This test requires https://github.com/bulletphysics/bullet3/pull/4462
-  // When removing this check, also remove
-  // `#include <LinearMath/btScalar.h>` at the top of this file, and
-  // `include_directories(${BULLET_INCLUDE_DIRS})` from
-  // test/common_test/CMakeLists.txt
-  if (this->engineName == "bullet-featherstone" && btGetVersion() <= 325)
+#ifdef BT_BULLET_VERSION_LE_325
+  if (this->engineName == "bullet-featherstone")
     GTEST_SKIP();
+#endif
 
   // Start pendulum at 90° (parallel to the ground) and stop at about 40°
   // so that we have non-trivial test expectations.
@@ -418,12 +415,10 @@ TYPED_TEST(JointTransmittedWrenchFixture, JointLosses)
 TYPED_TEST(JointTransmittedWrenchFixture, ContactForces)
 {
   // This test requires https://github.com/bulletphysics/bullet3/pull/4462
-  // When removing this check, also remove
-  // `#include <LinearMath/btScalar.h>` at the top of this file, and
-  // `include_directories(${BULLET_INCLUDE_DIRS})` from
-  // test/common_test/CMakeLists.txt
-  if (this->engineName == "bullet-featherstone" && btGetVersion() <= 325)
+#if BT_BULLET_VERSION_LE_325
+  if (this->engineName == "bullet-featherstone")
     GTEST_SKIP();
+#endif
 
   auto box = this->world->GetModel("box");
   ASSERT_NE(nullptr, box);