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bullet-featherstone: support multiple kinematic tree roots in a single model #550

Open
Tracked by #545
azeey opened this issue Sep 22, 2023 · 0 comments
Open
Tracked by #545

bullet-featherstone: support multiple kinematic tree roots in a single model #550

azeey opened this issue Sep 22, 2023 · 0 comments
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Bullet Bullet engine enhancement New feature or request

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@azeey
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azeey commented Sep 22, 2023

Part of #545

Desired behavior

SDFormat allows specifying multiple kinematic trees or multiple floating links in a single model. This is supported in dart, but not in bullet-featherstone

Implementation suggestion

Since bullet-featherstone doesn't support this natively, we'd have to create multiple root Mutlibody objects and do the necessary bookkeeping so that the gz-physics user facing API can present it as a single model.
@azeey azeey added the enhancement New feature or request label Sep 22, 2023
@azeey azeey changed the title bullet-featherstone: support multiple kinematic trees in a single model bullet-featherstone: support multiple kinematic tree roots in a single model Sep 22, 2023
@azeey azeey added the Bullet Bullet engine label Sep 22, 2023
@azeey azeey mentioned this issue Sep 22, 2023
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@mjcarroll mjcarroll moved this from Inbox to To do in Core development Oct 30, 2023
@iche033 iche033 mentioned this issue Nov 14, 2023
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Bullet Bullet engine enhancement New feature or request
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@azeey