Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

dartsim: fdir1 expressed_in frame from SDFormat #224

Merged
merged 7 commits into from
Mar 24, 2021
Merged

dartsim: fdir1 expressed_in frame from SDFormat #224

Changes from 5 commits
Commits
Show all changes
7 commits
Select commit Hold shift + click to select a range
7811d7b
dartsim: fdir1 expressed_in frame from SDFormat
scpeters Mar 14, 2021
09c23a1
Use ignition as xml namespace
scpeters Mar 19, 2021
0d39c38
Merge branch 'main' into fdir1_expressed_in
chapulina Mar 22, 2021
d4ef71a
Merge branch 'main' into fdir1_expressed_in
scpeters Mar 23, 2021
4648e74
Merge branch 'main' into fdir1_expressed_in
azeey Mar 23, 2021
6f61a92
Check if there's a bodynode
chapulina Mar 24, 2021
f53ba64
Merge branch 'main' into fdir1_expressed_in
chapulina Mar 24, 2021
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
12 changes: 11 additions & 1 deletion dartsim/src/SDFFeatures.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -773,8 +773,18 @@ Identity SDFFeatures::ConstructSdfCollision(
}
if (odeFriction->HasElement("fdir1"))
{
math::Vector3d fdir1 = odeFriction->Get<math::Vector3d>("fdir1");
auto frictionDirectionElem = odeFriction->GetElement("fdir1");
math::Vector3d fdir1 = frictionDirectionElem->Get<math::Vector3d>();
aspect->setFirstFrictionDirection(math::eigen3::convert(fdir1));

const std::string kExpressedIn = "ignition:expressed_in";
if (frictionDirectionElem->HasAttribute(kExpressedIn))
{
auto skeleton = bn->getSkeleton();
auto directionFrameBodyNode = skeleton->getBodyNode(
frictionDirectionElem->Get<std::string>(kExpressedIn));
aspect->setFirstFrictionDirectionFrame(directionFrameBodyNode);
}
}

const auto &surfaceBounce = _collision.Element()
Expand Down