Merge branch 'add-bullet-featherstone' into ahcorde/add-bullet-feathe…

…rstone/shapesFeatures

Signed-off-by: Michael Carroll <michael@openrobotics.org>

CMakeLists.txt

@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR)
 #============================================================================
 # Initialize the project
 #============================================================================
-project(gz-physics7 VERSION 7.0.0)
+project(gz-physics6 VERSION 6.0.0)
 
 #============================================================================
 # Find gz-cmake

Changelog.md

@@ -1,7 +1,3 @@
-## Gazebo Physics 7.x
-
-### Gazebo Physics 7.x.x (202X-XX-XX)
-
 ## Gazebo Physics 6.x
 
 ### Gazebo Physics 6.x.x (202X-XX-XX)

README.md

@@ -9,10 +9,10 @@
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-physics/branch/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-physics/branch/main)
-Ubuntu Focal | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_physics-ci-main-focal-amd64)](https://build.osrfoundation.org/job/ignition_physics-ci-main-focal-amd64)
-Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_physics-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_physics-ci-main-homebrew-amd64)
-Windows       | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ign_physics-ci-win)](https://build.osrfoundation.org/job/ign_physics-ci-win)
+Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-physics/branch/gz-physics6/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-physics/branch/gz-physics6)
+Ubuntu Focal | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_physics-ci-gz-physics6-focal-amd64)](https://build.osrfoundation.org/job/ignition_physics-ci-gz-physics6-focal-amd64)
+Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_physics-ci-gz-physics6-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_physics-ci-gz-physics6-homebrew-amd64)
+Windows       | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ign_physics-gz-6-win)](https://build.osrfoundation.org/job/ign_physics-gz-6-win)
 
 Gazebo Physics, a component of [Gazebo](https://gazebosim.org), provides an abstract physics interface
 designed to support simulation and rapid development of robot applications.
@@ -73,7 +73,7 @@ See the [installation tutorial](https://gazebosim.org/api/physics/5.0/installati
 
 # Usage
 
-Please refer to the [examples directory](https://github.com/gazebosim/gz-physics/raw/main/examples/).
+Please refer to the [examples directory](https://github.com/gazebosim/gz-physics/raw/gz-physics6/examples/).
 
 # Documentation
 
@@ -90,7 +90,7 @@ You can also generate the documentation from a clone of this repository by follo
 2. Clone the repository
 
     ```
-    git clone https://github.com/gazebosim/gz-physics -b main
+    git clone https://github.com/gazebosim/gz-physics -b gz-physics6 
     ```
 
 3. Configure and build the documentation.

bullet/CMakeLists.txt

@@ -49,31 +49,3 @@ else()
 endif()
 EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${versioned} ${unversioned})
 INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${GZ_PHYSICS_ENGINE_INSTALL_DIR})
-
-# Testing
-gz_build_tests(
-  TYPE UNIT_bullet
-  SOURCES ${test_sources}
-  LIB_DEPS
-    ${features}
-    gz-plugin${GZ_PLUGIN_VER}::loader
-    gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
-    ${PROJECT_LIBRARY_TARGET_NAME}-sdf
-    ${PROJECT_LIBRARY_TARGET_NAME}-mesh
-  TEST_LIST tests)
-
-foreach(test ${tests})
-
-  target_compile_definitions(${test} PRIVATE
-    "bullet_plugin_LIB=\"$<TARGET_FILE:${bullet_plugin}>\""
-    "TEST_WORLD_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/worlds/\""
-    "GZ_PHYSICS_RESOURCE_DIR=\"${GZ_PHYSICS_RESOURCE_DIR}\"")
-
-endforeach()
-
-if(TARGET UNIT_FindFeatures_TEST)
-
-  target_compile_definitions(UNIT_FindFeatures_TEST PRIVATE
-    "bullet_plugin_LIB=\"$<TARGET_FILE:${bullet_plugin}>\"")
-
-endif()

bullet/src/JointFeatures.cc

@@ -297,6 +297,15 @@ void JointFeatures::SetJointForce(
   {
     const JointInfoPtr &jointInfo = this->joints.at(_id.id);
     const int jointType = jointInfo->constraintType;
+
+    if (!std::isfinite(_value))
+    {
+      gzerr << "Invalid joint force value [" << _value << "] set on joint ["
+             << jointInfo->name << " DOF " << _dof
+             << "]. The value will be ignored\n";
+      return;
+    }
+
     switch(jointInfo->constraintType)
     {
       case static_cast<int>(::sdf::JointType::REVOLUTE) :