Merge 6 -> 7 #602
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Merge 6 -> 7 #602
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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]>
Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## gz-physics7 #602 +/- ##
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+ Coverage 77.76% 78.32% +0.56%
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Files 140 140
Lines 7788 8069 +281
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+ Hits 6056 6320 +264
- Misses 1732 1749 +17 ☔ View full report in Codecov by Sentry. |
scpeters
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Mar 7, 2024
bullet-featherstone/src/Base.cc
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| // configuring split impulse and penetration threshold parameters. Instead the | ||
| // penentration impulse depends on the erp2 parameter so set to a small value | ||
| // (default is 0.2). | ||
| this->world->getSolverInfo().m_erp2 = 0.002; |
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windows compiler warning here
'=': truncation from 'double' to 'btScalar'
Signed-off-by: Ian Chen <[email protected]>
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scpeters
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Mar 7, 2024
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➡️ Forward port
Port gz-physics6 to gz-physics7
Branch comparison: gz-physics7...gz-physics6
Note to maintainers: Remember to Merge with commit (not squash-merge or rebase)