Accumulate contact points to prevent objects sinking when using ODE - Waiting for comments #1832
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Signed-off-by: Steve Peters <computersthatmove@gmail.com> Co-authored-by: Jeongseok (JS) Lee <jslee02@users.noreply.github.com>
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Signed-off-by: Steve Peters <scpeters@openrobotics.org>
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…esn't include backends defs (cherry picked from commit d12b7aa0e1c2738fbfe817f59bb0424d4161bd02)
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Co-authored-by: jslee02 <4038467+jslee02@users.noreply.github.com>
Signed-off-by: Jeongseok (JS) Lee <jslee02@users.noreply.github.com>
henriquealrs
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This is a proposal PR attempting to fix #1654 - Capsule shapes sink through ground with ODE.
I tried to find some functionality in ODE similar to the one from Bullet used in #859 but couldn't find an analogous feature io ODE. So I tried manually implementing a limited contact history and a best effort to keep at least 3 contact points in order to make contact stable.
I worry about performance impact, but tests didn't get anything. I also ran gz-physics tests using DART with my changes and it seemed OK.
There is one failing test
test_ForceDependentSlip, but it also fails when using Bullet or DART collision detection, so I think we could reevaluate this test.Before creating a pull request
make format-DDART_TREAT_WARNINGS_AS_ERRORS=ONand resolve all the compile warningsBefore merging a pull request
CHANGELOG.md