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Implement AddXXXForce for Bullet #1476

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osrf-migration opened this issue Mar 2, 2015 · 9 comments
Closed

Implement AddXXXForce for Bullet #1476

osrf-migration opened this issue Mar 2, 2015 · 9 comments
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all minor physics::BulletPhysics proposal

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@osrf-migration
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Original report (archived issue) by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

Related ODE pull request #1456
@osrf-migration
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Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

  • set version to "all"

@osrf-migration
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Original comment by Silvio Traversaro (Bitbucket: traversaro).

Related to that, it would be convenient to mention in http://gazebosim.org/tutorials?tut=apply_force_torque that the Apply Force Torque dialog is not working for Bullet.

@osrf-migration
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Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

+1 to adding a note to the tutorial. I believe it only works for ODE at the moment.

@osrf-migration
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Original comment by George ZP (Bitbucket: Georacer).

I wonder why this neither fixed and of low priority.
To my eyes, addForce is essential for plugin development with Bullet. The lack of support for addForce renders Bullet useless for plugin development.

Is the fix harder than it looks?

@osrf-migration
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Original comment by Steve Peters (Bitbucket: Steven Peters, GitHub: scpeters).

We would be happy to review a pull request, but we have been focusing our current development on ign-physics so we are not actively trying to fix this at the moment.

@osrf-migration
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Original comment by George ZP (Bitbucket: Georacer).

I see. Yes, this is a major feature. It's just that this issue was open for so long. Now I kind of understand why.

@jeduardo211
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I am thinking about working on a series of PRs to implement or correct the implementation of the methods to add and set forces and torques in order to ensure that the behavior of theses methods is consistent across all physics engines, but I would like to ask two questions before starting to work on this:

  1. Would such PRs be acceptable and able to be merged in the last version of Gazebo classic (v11)?
  2. Is there any tests for these methods, I cannot find them in the physics directory, can anyone point me to their location?

@chapulina Are you be able to answer these two questions or can you point me to anyone who can answer them?

@scpeters
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  1. Would such PRs be acceptable and able to be merged in the last version of Gazebo classic (v11)?

Yes! I would be happy to review these pull requests.

  1. Is there any tests for these methods, I cannot find them in the physics directory, can anyone point me to their location?

There are related tests in physics_link.cc. If you update the logic in that linked code block you can enable the bullet tests, which should fail until the implementation is fixed

jeduardo211 added a commit to jeduardo211/gazebo that referenced this issue Sep 4, 2022
@jeduardo211
Implement methods for adding and setting forces and torques in bullet
ba42b4b 
The following methods are now implemented in the BulletLink class:

- AddForce
- AddRelativeForce
- AddForceAtWorldPosition
- AddForceAtRelativePosition
- AddLinkForce
- AddTorque
- AddRelativeTorque
- SetForce
- SetTorque
- WorldTorque

Additionally, the UpdateMass method was modified to also update the CoG position.

In order to test the above methods, the AddForce test of the physics_link integration tests is now enabled for Bullet.

Solves issue gazebosim#1476.
@jeduardo211 jeduardo211 mentioned this issue Sep 4, 2022
Merged
scpeters pushed a commit that referenced this issue Sep 14, 2022
@jeduardo211
BulletLink: add and set force and torque (#3255)
0e8e34d 
The following methods are now implemented in BulletLink:

- AddForce
- AddRelativeForce
- AddForceAtWorldPosition
- AddForceAtRelativePosition
- AddLinkForce
- AddTorque
- AddRelativeTorque
- SetForce
- SetTorque
- WorldTorque

Additionally, the UpdateMass method was modified to also
update the CoG position.

In order to test the above methods, the AddForce test of the
physics_link integration tests is now enabled for Bullet.

Solves issue #1476.
@scpeters
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fixed by #3255

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@scpeters @jeduardo211 @osrf-migration