Merge branch 'gz-physics6' into 6_to_7again

.github/workflows/ci.yml

@@ -1,6 +1,12 @@
 name: Ubuntu CI
 
-on: [push, pull_request]
+on:
+  pull_request:
+  push:
+    branches:
+      - 'ign-physics[0-9]'
+      - 'gz-physics[0-9]?'
+      - 'main'
 
 jobs:
   jammy-ci:

BUILD.bazel

@@ -0,0 +1,130 @@
+load(
+    "@gz//bazel/skylark:build_defs.bzl",
+    "GZ_FEATURES",
+    "GZ_ROOT",
+    "GZ_VISIBILITY",
+    "gz_configure_header",
+    "gz_export_header",
+    "gz_include_header",
+)
+
+package(
+    default_visibility = GZ_VISIBILITY,
+    features = GZ_FEATURES,
+)
+
+licenses(["notice"])  # Apache-2.0
+
+exports_files(["LICENSE"])
+
+gz_configure_header(
+    name = "physics_config_hh",
+    src = "include/gz/physics/config.hh.in",
+    cmakelists = ["CMakeLists.txt"],
+    defines = {
+        # These definitions are unused,
+        # this is merely to suppress generator warnings
+        "GZ_PHYSICS_ENGINE_INSTALL_DIR": "unused",
+    },
+    package = "physics",
+)
+
+gz_export_header(
+    name = "include/gz/physics/Export.hh",
+    export_base = "GZ_PHYSICS",
+    lib_name = "gz-physics",
+    visibility = ["//visibility:private"],
+)
+
+public_headers_no_gen = glob([
+    "include/gz/physics/*.hh",
+    "include/gz/physics/detail/*.hh",
+])
+
+sources = glob(
+    ["src/*.cc"],
+    exclude = [
+        "src/*_TEST.cc",
+    ],
+)
+
+gz_include_header(
+    name = "physics_hh_genrule",
+    out = "include/gz/physics.hh",
+    hdrs = public_headers_no_gen + [
+        "include/gz/physics/config.hh",
+        "include/gz/physics/Export.hh",
+    ],
+)
+
+public_headers = public_headers_no_gen + [
+    "include/gz/physics/config.hh",
+    "include/gz/physics/Export.hh",
+    "include/gz/physics.hh",
+]
+
+cc_library(
+    name = "physics",
+    srcs = sources,
+    hdrs = public_headers,
+    defines = [
+        'GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR=\\"unused\\"',
+        "GZ_PHYSICS_BAZEL_BUILD=true",
+    ],
+    includes = ["include"],
+    deps = [
+        GZ_ROOT + "math",
+        GZ_ROOT + "math/eigen3",
+        GZ_ROOT + "plugin:core",
+        GZ_ROOT + "plugin:loader",
+        GZ_ROOT + "utils",
+    ],
+)
+
+cc_library(
+    name = "heightmap",
+    hdrs = [
+        "heightmap/include/gz/physics/heightmap/HeightmapShape.hh",
+        "heightmap/include/gz/physics/heightmap/detail/HeightmapShape.hh",
+    ],
+    includes = ["heightmap/include"],
+)
+
+cc_library(
+    name = "mesh",
+    hdrs = [
+        "mesh/include/gz/physics/mesh/MeshShape.hh",
+        "mesh/include/gz/physics/mesh/detail/MeshShape.hh",
+    ],
+    includes = ["mesh/include"],
+)
+
+cc_library(
+    name = "sdf",
+    hdrs = glob([
+        "sdf/include/gz/physics/sdf/*.hh",
+    ]),
+    includes = ["sdf/include"],
+    deps = [
+        GZ_ROOT + "sdformat",
+    ],
+)
+
+test_sources = glob(
+    include = ["src/*_TEST.cc"],
+)
+
+[cc_test(
+    name = src.replace("/", "_").replace(".cc", "").replace("src_", ""),
+    srcs = [src],
+    env = {
+        "GZ_BAZEL": "1",
+        "GZ_BAZEL_PATH": "physics",
+    },
+    deps = [
+        ":physics",
+        GZ_ROOT + "physics/test:test_headers",
+        "@gtest",
+        "@gtest//:gtest_main",
+    ],
+) for src in test_sources]

CMakeLists.txt

@@ -42,6 +42,9 @@ gz_find_package(gz-common5
   REQUIRED_BY heightmap mesh dartsim tpe tpelib bullet)
 set(GZ_COMMON_VER ${gz-common5_VERSION_MAJOR})
 
+# This is only used for test support
+gz_find_package(gz-common5 REQUIRED COMPONENTS testing)
+
 #--------------------------------------
 # Find gz-math
 gz_find_package(gz-math7 REQUIRED COMPONENTS eigen3)
@@ -90,8 +93,6 @@ gz_find_package(GzBullet
 
 message(STATUS "-------------------------------------------\n")
 
-set(GZ_PHYSICS_RESOURCE_DIR "${CMAKE_SOURCE_DIR}/resources")
-
 # Plugin install dirs
 set(GZ_PHYSICS_ENGINE_RELATIVE_INSTALL_DIR
   ${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/engine-plugins

bullet-featherstone/BUILD.bazel

@@ -0,0 +1,45 @@
+load(
+    "@gz//bazel/skylark:build_defs.bzl",
+    "GZ_FEATURES",
+    "GZ_ROOT",
+    "GZ_VISIBILITY",
+)
+
+private_headers = glob(["src/*.hh"])
+
+sources = glob(
+    ["src/*.cc"],
+    exclude = [
+        "src/*_TEST.cc",
+        "src/plugin.cc",
+    ],
+)
+
+cc_library(
+    name = "bullet-featherstone",
+    srcs = sources + private_headers,
+    includes = ["include"],
+    visibility = GZ_VISIBILITY,
+    deps = [
+        GZ_ROOT + "common",
+        GZ_ROOT + "common/graphics",
+        GZ_ROOT + "math/eigen3",
+        GZ_ROOT + "physics",
+        GZ_ROOT + "physics:sdf",
+        GZ_ROOT + "third_party/bullet3:BulletCollision",
+        GZ_ROOT + "third_party/bullet3:BulletDynamics",
+    ],
+)
+
+cc_binary(
+    name = "libgz-physics-bullet-featherstone-plugin.so",
+    srcs = [
+        "src/plugin.cc",
+    ],
+    linkshared = True,
+    visibility = GZ_VISIBILITY,
+    deps = [
+        ":bullet-featherstone",
+        GZ_ROOT + "plugin:register",
+    ],
+)

dartsim/BUILD.bazel

@@ -0,0 +1,55 @@
+load(
+    "@gz//bazel/skylark:build_defs.bzl",
+    "GZ_FEATURES",
+    "GZ_ROOT",
+    "GZ_VISIBILITY",
+    "gz_configure_header",
+    "gz_export_header",
+    "gz_include_header",
+)
+
+public_headers = ["include/gz/physics/dartsim/World.hh"]
+
+private_headers = glob(["src/*.hh"])
+
+sources = glob(
+    ["src/*.cc"],
+    exclude = [
+        "src/*_TEST.cc",
+        "src/plugin.cc",
+    ],
+)
+
+cc_library(
+    name = "dartsim",
+    srcs = sources + private_headers,
+    hdrs = public_headers,
+    includes = ["include"],
+    visibility = GZ_VISIBILITY,
+    deps = [
+        GZ_ROOT + "common",
+        GZ_ROOT + "common/geospatial",
+        GZ_ROOT + "common/profiler",
+        GZ_ROOT + "math/eigen3",
+        GZ_ROOT + "physics",
+        GZ_ROOT + "physics:heightmap",
+        GZ_ROOT + "physics:mesh",
+        GZ_ROOT + "physics:sdf",
+        GZ_ROOT + "third_party/dart:simulation",
+        GZ_ROOT + "third_party/dart:collision-bullet",
+        GZ_ROOT + "third_party/dart:collision-ode",
+    ],
+)
+
+cc_binary(
+    name = "libgz-physics-dartsim-plugin.so",
+    srcs = [
+        "src/plugin.cc",
+    ],
+    linkshared = True,
+    visibility = GZ_VISIBILITY,
+    deps = [
+        ":dartsim",
+        GZ_ROOT + "plugin:register",
+    ],
+)

dartsim/CMakeLists.txt

@@ -80,22 +80,21 @@ gz_build_tests(
   LIB_DEPS
     ${features}
     ${dartsim_plugin}
-    gz-plugin${GZ_PLUGIN_VER}::loader
-    gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
+    gz-physics-test
     gz-common${GZ_COMMON_VER}::geospatial
     ${PROJECT_LIBRARY_TARGET_NAME}-sdf
     ${PROJECT_LIBRARY_TARGET_NAME}-heightmap
     ${PROJECT_LIBRARY_TARGET_NAME}-mesh
   TEST_LIST tests
   ENVIRONMENT
-    GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX})
+    GZ_PHYSICS_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+  INCLUDE_DIRS
+    ${CMAKE_CURRENT_SOURCE_DIR}/src
+)
 
 foreach(test ${tests})
-
   target_compile_definitions(${test} PRIVATE
-    "dartsim_plugin_LIB=\"$<TARGET_FILE:${dartsim_plugin}>\""
-    "TEST_WORLD_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/worlds/\""
-    "GZ_PHYSICS_RESOURCE_DIR=\"${GZ_PHYSICS_RESOURCE_DIR}\"")
+    "dartsim_plugin_LIB=\"$<TARGET_FILE:${dartsim_plugin}>\"")
 
   if (DART_HAS_CONTACT_SURFACE_HEADER)
     target_compile_definitions(${test} PRIVATE DART_HAS_CONTACT_SURFACE)
@@ -104,10 +103,3 @@ foreach(test ${tests})
   # Helps when we want to build a single test after making changes to dartsim_plugin
   add_dependencies(${test} ${dartsim_plugin})
 endforeach()
-
-foreach(test UNIT_FindFeatures_TEST UNIT_RequestFeatures_TEST)
-  if(TARGET ${test})
-    target_compile_definitions(${test} PRIVATE
-      "dartsim_plugin_LIB=\"$<TARGET_FILE:${dartsim_plugin}>\"")
-  endif()
-endforeach()

dartsim/src/AddedMassFeatures_TEST.cc

@@ -38,6 +38,7 @@
 #include <sdf/World.hh>
 
 #include <test/Utils.hh>
+#include "Worlds.hh"
 
 #include "World.hh"
 
@@ -122,7 +123,7 @@ TEST(AddedMassFeatures, AddedMass)
     0, 0, 0, 0, 1, 0,
     0, 0, 0, 0, 0, 1;
 
-  auto world = LoadWorld(TEST_WORLD_DIR"/added_mass.sdf");
+  const auto world = LoadWorld(dartsim::worlds::kAddedMassSdf);
   ASSERT_NE(nullptr, world);
 
   auto dartWorld = world->GetDartsimWorld();

dartsim/src/Base_TEST.cc

@@ -38,8 +38,9 @@
 #include "EntityManagementFeatures.hh"
 #include "SDFFeatures.hh"
 
-using namespace gz::physics;
+#include "test/Resources.hh"
 
+using namespace gz::physics;
 
 
 TEST(BaseClass, RemoveModel)
@@ -166,7 +167,7 @@ TEST(BaseClass, SdfConstructionBookkeeping)
 
   ::sdf::Root root;
 
-  auto errors = root.Load(GZ_PHYSICS_RESOURCE_DIR "/rrbot.xml");
+  auto errors = root.Load(gz::physics::test::resources::kRrbotXml);
   ASSERT_TRUE(errors.empty());
   const ::sdf::Model *sdfModel = root.Model();
   ASSERT_NE(nullptr, sdfModel);

dartsim/src/EntityManagementFeatures.cc

@@ -22,13 +22,14 @@
 #include <unordered_map>
 
 #include <dart/config.hpp>
-#include <dart/collision/ode/OdeCollisionDetector.hpp>
 #include <dart/constraint/ConstraintSolver.hpp>
 #include <dart/dynamics/FreeJoint.hpp>
 
 #include <dart/collision/CollisionFilter.hpp>
 #include <dart/collision/CollisionObject.hpp>
 
+#include "GzOdeCollisionDetector.hh"
+
 namespace gz {
 namespace physics {
 namespace dartsim {
@@ -724,11 +725,12 @@ Identity EntityManagementFeatures::ConstructEmptyWorld(
     const Identity &/*_engineID*/, const std::string &_name)
 {
   const auto &world = std::make_shared<dart::simulation::World>(_name);
-  world->getConstraintSolver()->setCollisionDetector(
-        dart::collision::OdeCollisionDetector::create());
+  auto collisionDetector = dart::collision::GzOdeCollisionDetector::create();
+  world->getConstraintSolver()->setCollisionDetector(collisionDetector);
 
-  // TODO(anyone) We need a machanism to configure maxNumContacts at runtime.
   auto &collOpt = world->getConstraintSolver()->getCollisionOption();
+  // Set the max number of contacts for all collision objects
+  // in the world
   collOpt.maxNumContacts = 10000;
 
   world->getConstraintSolver()->getCollisionOption().collisionFilter =