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Signed-off-by: Nate Koenig <nate@openrobotics.org>
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| # This component expresses custom features of the bullet plugin, which can | ||
| # expose native bullet data types. | ||
| gz_add_component(bullet-featherstone INTERFACE | ||
| DEPENDS_ON_COMPONENTS sdf mesh | ||
| GET_TARGET_NAME features) | ||
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| link_directories(${BULLET_LIBRARY_DIRS}) | ||
| target_link_libraries(${features} INTERFACE GzBullet::GzBullet) | ||
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| gz_get_libsources_and_unittests(sources test_sources) | ||
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| # TODO(MXG): Think about an gz_add_plugin(~) macro for ign-cmake | ||
| set(engine_name bullet-featherstone-plugin) | ||
| gz_add_component(${engine_name} | ||
| SOURCES ${sources} | ||
| DEPENDS_ON_COMPONENTS bullet-featherstone | ||
| GET_TARGET_NAME bullet_plugin) | ||
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| target_link_libraries(${bullet_plugin} | ||
| PUBLIC | ||
| ${features} | ||
| ${PROJECT_LIBRARY_TARGET_NAME}-sdf | ||
| ${PROJECT_LIBRARY_TARGET_NAME}-mesh | ||
| gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER} | ||
| gz-math${GZ_MATH_VER}::eigen3) | ||
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| # Note that plugins are currently being installed in 2 places: /lib and the engine-plugins dir | ||
| install(TARGETS ${bullet_plugin} DESTINATION ${GZ_PHYSICS_ENGINE_INSTALL_DIR}) | ||
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| # The library created by `gz_add_component` includes the ign-physics version | ||
| # (i.e. libgz-physics1-name-plugin.so), but for portability, | ||
| # we also install an unversioned symlink into the same versioned folder. | ||
| set(versioned ${CMAKE_SHARED_LIBRARY_PREFIX}${bullet_plugin}${CMAKE_SHARED_LIBRARY_SUFFIX}) | ||
| set(unversioned ${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_NAME_NO_VERSION_LOWER}-${engine_name}${CMAKE_SHARED_LIBRARY_SUFFIX}) | ||
| if (WIN32) | ||
| # disable MSVC inherit via dominance warning | ||
| target_compile_options(${bullet_plugin} PUBLIC "/wd4250") | ||
| INSTALL(CODE "EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E copy | ||
| ${GZ_PHYSICS_ENGINE_INSTALL_DIR}\/${versioned} | ||
| ${GZ_PHYSICS_ENGINE_INSTALL_DIR}\/${unversioned})") | ||
| else() | ||
| EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${versioned} ${unversioned}) | ||
| INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${GZ_PHYSICS_ENGINE_INSTALL_DIR}) | ||
| endif() | ||
| EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${versioned} ${unversioned}) | ||
| INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${GZ_PHYSICS_ENGINE_INSTALL_DIR}) |
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| # Bullet Featherstone Physics Plugin | ||
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| This component enables the use of this [Bullet Physics](https://github.com/bulletphysics/bullet3) `btMultiBody` Featherstone implementation. | ||
| The Featherstone uses minimal coordinates to represent articulated bodies and efficiently simulate them. | ||
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| # Features | ||
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| Originally tracked via: [Bullet featherstone meta-ticket](https://github.com/gazebosim/gz-physics/issues/423) | ||
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| ## High-level feature list | ||
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| * Constructing SDF Models | ||
| * Constructing SDF Worlds | ||
| * Joint Types: | ||
| * Fixed | ||
| * Prismatic | ||
| * Revolute | ||
| * Ball Joint | ||
| * Stepping the simulation world | ||
| * Applying external forces/torques | ||
| * Free Groups | ||
| * Contact sensor | ||
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| ## Physics features list | ||
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| These are the specific physics API features implemented. | ||
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| * Entity Management Features | ||
| * ConstructEmptyWorldFeature | ||
| * GetEngineInfo | ||
| * GetJointFromModel | ||
| * GetLinkFromModel | ||
| * GetModelFromWorld | ||
| * GetShapeFromLink | ||
| * GetWorldFromEngine | ||
| * RemoveModelFromWorld | ||
| * FreeGroupFeatures | ||
| * FindFreeGroupFeature | ||
| * SetFreeGroupWorldPose | ||
| * SetFreeGroupWorldVelocity | ||
| * Kinematics Features | ||
| * LinkFrameSemantics | ||
| * ModelFrameSemantics | ||
| * FreeGroupFrameSemantics | ||
| * Joint Features | ||
| * GetBasicJointState | ||
| * SetBasicJointState | ||
| * GetBasicJointProperties | ||
| * SetJointVelocityCommandFeature | ||
| * SetJointTransformFromParentFeature | ||
| * AttachFixedJointFeature | ||
| * DetachJointFeature | ||
| * GetRevoluteJointProperties | ||
| * GetPrismaticJointProperties | ||
| * FixedJointCast | ||
| * Link Features | ||
| * AddLinkExternalForceTorque | ||
| * Sdf Features | ||
| * sdf::ConstructSDFModel | ||
| * sdf::ConstructSDFWorld | ||
| * sdf::ConstructSDFCollision | ||
| * Shapes Features | ||
| * GetShapeBoundingBox | ||
| * GetBoxShapeProperties | ||
| * AttachBoxShapeFeature | ||
| * GetCapsuleShapeProperties | ||
| * AttachCapsuleShapeFeature | ||
| * GetCylinderShapeProperties | ||
| * AttachCylinderShapeFeature | ||
| * GetEllipsoidShapeProperties | ||
| * AttachEllipsoidShapeFeature | ||
| * GetSphereShapeProperties | ||
| * AttachSphereShapeFeature | ||
| * Simulation Features | ||
| * ForwardStep | ||
| * GetContactsFromLastStepFeature | ||
| * World Features | ||
| * Gravity | ||
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| # Caveats | ||
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| * All links _must_ have a collision element. | ||
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| In order for links to be active, bullet checks for the presence of collision elements. | ||
| In the case that collisions aren't available, adding a small sphere at the link origin is sufficient (but won't get good collision behavior) | ||
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| * All links/joints of a model must be constructed with the model | ||
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| Additional links/joints cannot be added to a model after initial construction. | ||
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| * Ellipse axis-aligned bounding box returns invalid values on Ubuntu Focal | ||
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| Tracked via: https://github.com/gazebosim/gz-physics/issues/440 | ||
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| * Joint transmitted wrench doesn't accurately report forces/torques | ||
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| Tracked via: https://github.com/gazebosim/gz-physics/pull/434 |
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