bullet-featherstone: Support empty links #665
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Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
Signed-off-by: Ian Chen <[email protected]>
mjcarroll
approved these changes
Jul 9, 2024
scpeters
reviewed
Jul 9, 2024
| /// \brief Create and initialze the link collider in link info | ||
| /// \param[in] _linkID ID of link to create the collider for | ||
| /// \param[in] _isStatic True if the link is static | ||
| /// \param[in] _shape Collision shape to attach to link |
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Suggested change
| /// \param[in] _shape Collision shape to attach to link | |
| /// \param[in] _shape Collision shape to attach to link | |
| /// \param[in] _shapeTF Pose offset for collision shape |
nit: add \param[in] for _shapeTF
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🦟 Bug fix
Summary
It was found that empty links connected by joints do not respond to joint commands as they do not have a collision object associated with it. This PR fixes the issue by initializing a link collider with an empty compound shape for links without collisions.
I refactored the code for creating a link collider into its own helper function.
To test
Previously collisions were added to empty links in test.world in #658 and that allowed joint vel control tests to pass. This is no longer necessary. I removed those collisions and the tests should still pass.
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.