Fix collision issue with detachable joints #31
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The issue occurs if a model is spawned and is attached to a parent model without a call to `step()` in between. This should be fixed in DART, but in the meantime, we can just call `incrementVersion` after `moveTo` is called on a DART BodyNode.
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Just to clarify, what's the issue that occurs? Does one of the models fall through the floor? |
mxgrey
approved these changes
Apr 20, 2020
5 tasks
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Yes, the child model falls through the floor. It appears that the moved BodyNode and its descendants are not added to a CollisionGroup in DART which prevents any collision between the moved BodyNodes and other BodyNodes from being detected. Sorry, I should described the issue better. |
nkoenig
reviewed
Apr 20, 2020
nkoenig
approved these changes
Apr 22, 2020
Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
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azeey
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Jun 24, 2021
…268) When a joint is created between BodyNodes in different skeletons, the child BodyNode is moved to the skeleton of the parent BodyNode. When this happens, the BodyNode version of the child needs to be incremented. This is actually fixed by dartsim/dart#1445, but we don't have that merged into our fork. So in the meantime, we call incrementVersion after moveTo is called similar to #31. Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> Co-authored-by: Louise Poubel <louise@openrobotics.org>
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The issue occurs if a model is spawned and is attached to a parent model without a call to
step()in between. This should be fixed in DART, but in the meantime, we can just callincrementVersionaftermoveTois called on a DART BodyNode.