Bump to 2.1 ⬆️

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(ignition-physics2 VERSION 2.0.0)
+project(ignition-physics2 VERSION 2.1.0)
 
 #============================================================================
 # Find ignition-cmake

Changelog.md

@@ -2,6 +2,8 @@
 
 ### Ignition Physics 2.x.x (20XX-XX-XX)
 
+### Ignition Physics 2.1.0 (2020-05-07)
+
 1. Add RequestFeatures API for casting the features of an entity to a new feature set when possible.
     * [BitBucket pull request 130](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/130)
 
@@ -17,6 +19,39 @@
 1. Added support for collision bitmasks for collision filtering
     * [BitBucket pull request 116](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/116)
 
+1. Clean up internal resources when a model gets removed
+    * [BitBucket pull request 115](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/115)
+
+1. Trivial Physics Engine - partial implementation
+    * [BitBucket pull request 125](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/125)
+    * [BitBucket pull request 126](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/126)
+    * [Pull request 30](https://github.com/ignitionrobotics/ign-physics/pull/30)
+    * [Pull request 45](https://github.com/ignitionrobotics/ign-physics/pull/45)
+
+1. Add simple example of physics plugin and loader
+    * [BitBucket pull request 115](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/115)
+
+1. Update BitBucket links, add .gitignore, CODEOWNERS, workflow
+    * [Pull request 34](https://github.com/ignitionrobotics/ign-physics/pull/34)
+    * [Pull request 39](https://github.com/ignitionrobotics/ign-physics/pull/39)
+    * [Pull request 47](https://github.com/ignitionrobotics/ign-physics/pull/47)
+    * [Pull request 52](https://github.com/ignitionrobotics/ign-physics/pull/52)
+
+1. Physics Plugin Documentation
+    * [Pull request 36](https://github.com/ignitionrobotics/ign-physics/pull/36)
+
+1. Reduce the symbol load caused by feature templates
+    * [Pull request 41](https://github.com/ignitionrobotics/ign-physics/pull/41)
+
+1. Fix collision issue with detachable joints
+    * [Pull request 31](https://github.com/ignitionrobotics/ign-physics/pull/31)
+
+1. Add PlaneShape feature and implement in dartsim with test.
+    * [BitBucket pull request 66](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/66)
+
+1. Restore detached BodyNodes to original skeleton
+    * [Pull request 42](https://github.com/ignitionrobotics/ign-physics/pull/42)
+
 ### Ignition Physics 2.0.0 (2019-12-10)
 
 1. Support compiling against dart 6.9.
@@ -36,6 +71,17 @@
 
 ### Ignition Physics 1.x.x (20XX-XX-XX)
 
+1. Restore detached BodyNodes to original skeleton
+    * [Pull request 42](https://github.com/ignitionrobotics/ign-physics/pull/42)
+
+1. Fix collision issue with detachable joints
+    * [Pull request 31](https://github.com/ignitionrobotics/ign-physics/pull/31)
+
+1. Add PlaneShape feature and implement in dartsim with test.
+    * [BitBucket pull request 66](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/66)
+
+### Ignition Physics 1.7.0 (2020-04-13)
+
 1. Add RequestFeatures API for casting the features of an entity to a new feature set when possible.
     * [BitBucket pull request 130](https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/130)
 

dartsim/src/Base.hh

@@ -57,6 +57,10 @@ struct ModelInfo
 struct LinkInfo
 {
   dart::dynamics::BodyNodePtr link;
+  /// \brief It may be necessary for dartsim to rename a BodyNode (eg. when
+  /// moving the BodyNode to a new skeleton), so we store the Gazebo-specified
+  /// name of the Link here.
+  std::string name;
 };
 
 struct JointInfo
@@ -125,6 +129,16 @@ struct EntityStorage
     return idToObject.at(_id);
   }
 
+  Value1 &at(const Key2 &_key)
+  {
+    return idToObject.at(objectToID.at(_key));
+  }
+
+  const Value1 &at(const Key2 &_key) const
+  {
+    return idToObject.at(objectToID.at(_key));
+  }
+
   std::size_t size() const
   {
     return idToObject.size();
@@ -275,6 +289,9 @@ class Base : public Implements3d<FeatureList<Feature>>
     const std::size_t id = this->GetNextEntity();
     this->links.idToObject[id] = std::make_shared<LinkInfo>();
     this->links.idToObject[id]->link = _bn;
+    // The name of the BodyNode during creation is assumed to be the
+    // Gazebo-specified name.
+    this->links.idToObject[id]->name = _bn->getName();
     this->links.objectToID[_bn] = id;
     this->frames[id] = _bn;
 

dartsim/src/Collisions_TEST.cc

@@ -0,0 +1,163 @@
+/*
+ * Copyright (C) 2019 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+#include <gtest/gtest.h>
+
+#include <test/PhysicsPluginsList.hh>
+
+#include <ignition/physics/FindFeatures.hh>
+#include <ignition/physics/RequestEngine.hh>
+#include <ignition/plugin/Loader.hh>
+
+// Features
+#include <ignition/physics/ConstructEmpty.hh>
+#include <ignition/physics/ForwardStep.hh>
+#include <ignition/physics/FrameSemantics.hh>
+#include <ignition/physics/FreeJoint.hh>
+#include <ignition/physics/GetEntities.hh>
+#include <ignition/physics/mesh/MeshShape.hh>
+#include <ignition/physics/PlaneShape.hh>
+#include <ignition/physics/FixedJoint.hh>
+
+#include <ignition/common/MeshManager.hh>
+
+using TestFeatureList = ignition::physics::FeatureList<
+  ignition::physics::LinkFrameSemantics,
+  ignition::physics::ForwardStep,
+  ignition::physics::GetEntities,
+  ignition::physics::ConstructEmptyWorldFeature,
+  ignition::physics::ConstructEmptyModelFeature,
+  ignition::physics::ConstructEmptyLinkFeature,
+  ignition::physics::mesh::AttachMeshShapeFeature,
+  ignition::physics::AttachPlaneShapeFeature,
+  ignition::physics::SetFreeJointRelativeTransformFeature,
+  ignition::physics::AttachFixedJointFeature
+>;
+
+using TestWorldPtr = ignition::physics::World3dPtr<TestFeatureList>;
+using TestEnginePtr = ignition::physics::Engine3dPtr<TestFeatureList>;
+
+using WorldConstructor = std::function<TestWorldPtr(const TestEnginePtr&)>;
+
+std::unordered_set<TestWorldPtr> LoadWorlds(
+    const std::string &_library,
+    const WorldConstructor &_constructor)
+{
+  ignition::plugin::Loader loader;
+  loader.LoadLib(_library);
+
+  const std::set<std::string> pluginNames =
+      ignition::physics::FindFeatures3d<TestFeatureList>::From(loader);
+
+  std::unordered_set<TestWorldPtr> worlds;
+  for (const std::string &name : pluginNames)
+  {
+    ignition::plugin::PluginPtr plugin = loader.Instantiate(name);
+
+    std::cout << " -- Plugin name: " << name << std::endl;
+
+    auto engine =
+        ignition::physics::RequestEngine3d<TestFeatureList>::From(plugin);
+    EXPECT_NE(nullptr, engine);
+
+    worlds.insert(_constructor(engine));
+  }
+
+  return worlds;
+}
+
+class Collisions_TEST
+    : public ::testing::Test,
+      public ::testing::WithParamInterface<std::string>
+{};
+
+INSTANTIATE_TEST_CASE_P(PhysicsPlugins, Collisions_TEST,
+    ::testing::ValuesIn(ignition::physics::test::g_PhysicsPluginLibraries),); // NOLINT
+
+TestWorldPtr ConstructMeshPlaneWorld(
+    const ignition::physics::Engine3dPtr<TestFeatureList> &_engine,
+    const ignition::common::Mesh &_mesh)
+{
+  auto world = _engine->ConstructEmptyWorld("world");
+
+  Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();
+  tf.translation()[2] = 2.0;
+
+  auto model = world->ConstructEmptyModel("mesh");
+  auto link = model->ConstructEmptyLink("link");
+  // TODO(anyone): This test is somewhat awkward because we lift up the mesh
+  // from the center of the link instead of lifting up the link or the model.
+  // We're doing this because we don't currently have an API for moving models
+  // or links around. See the conversation here for more:
+  // https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/46/page/1#comment-87592809
+  link->AttachMeshShape("mesh", _mesh, tf);
+
+  model = world->ConstructEmptyModel("plane");
+  link = model->ConstructEmptyLink("link");
+
+  link->AttachPlaneShape("plane", ignition::physics::LinearVector3d::UnitZ());
+  link->AttachFixedJoint(nullptr);
+
+  return world;
+}
+
+TEST_P(Collisions_TEST, MeshAndPlane)
+{
+  const std::string library = GetParam();
+  if (library.empty())
+    return;
+
+  const std::string meshFilename = IGNITION_PHYSICS_RESOURCE_DIR "/chassis.dae";
+  auto &meshManager = *ignition::common::MeshManager::Instance();
+  auto *mesh = meshManager.Load(meshFilename);
+
+  std::cout << "Testing library " << library << std::endl;
+  auto worlds = LoadWorlds(library, [&](const TestEnginePtr &_engine)
+  {
+    return ConstructMeshPlaneWorld(_engine, *mesh);
+  });
+
+  for (const auto &world : worlds)
+  {
+    const auto link = world->GetModel(0)->GetLink(0);
+
+    EXPECT_NEAR(
+          0.0, link->FrameDataRelativeToWorld().pose.translation()[2], 1e-6);
+
+    ignition::physics::ForwardStep::Output output;
+    ignition::physics::ForwardStep::State state;
+    ignition::physics::ForwardStep::Input input;
+    for (std::size_t i = 0; i < 1000; ++i)
+    {
+      world->Step(output, state, input);
+    }
+
+    // Make sure the mesh was stopped by the plane. In 2000 time steps at the
+    // default step size of 0.001, a free falling body should drop approximately
+    // 19.6 meters. As long as the body is somewhere near 1.91, then it has been
+    // stopped by the plane (the exact value might vary because the body might
+    // be rocking side-to-side after falling).
+    EXPECT_NEAR(
+          -1.91, link->FrameDataRelativeToWorld().pose.translation()[2], 0.05);
+  }
+}
+
+int main(int argc, char *argv[])
+{
+  ::testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}

dartsim/src/EntityManagementFeatures.cc

@@ -384,7 +384,7 @@ Identity EntityManagementFeatures::GetJoint(
 const std::string &EntityManagementFeatures::GetLinkName(
     const Identity &_linkID) const
 {
-  return this->ReferenceInterface<LinkInfo>(_linkID)->link->getName();
+  return this->ReferenceInterface<LinkInfo>(_linkID)->name;
 }
 
 /////////////////////////////////////////////////