Add bullet-featherstone plugin

CMakeLists.txt

@@ -100,7 +100,7 @@ set(GZ_PHYSICS_ENGINE_INSTALL_DIR
 # Configure the build
 #============================================================================
 gz_configure_build(QUIT_IF_BUILD_ERRORS
-  COMPONENTS sdf heightmap mesh dartsim tpe bullet)
+  COMPONENTS sdf heightmap mesh dartsim tpe bullet bullet-featherstone)
 
 
 #============================================================================

bullet-featherstone/CMakeLists.txt

@@ -0,0 +1,74 @@
+# This component expresses custom features of the bullet plugin, which can
+# expose native bullet data types.
+gz_add_component(bullet-featherstone INTERFACE
+  DEPENDS_ON_COMPONENTS sdf mesh
+  GET_TARGET_NAME features)
+
+link_directories(${BULLET_LIBRARY_DIRS})
+target_link_libraries(${features} INTERFACE IgnBullet::IgnBullet)
+
+gz_get_libsources_and_unittests(sources test_sources)
+
+# TODO(MXG): Think about an gz_add_plugin(~) macro for ign-cmake
+set(engine_name bullet-featherstone-plugin)
+gz_add_component(${engine_name}
+  SOURCES ${sources}
+  DEPENDS_ON_COMPONENTS bullet-featherstone
+  GET_TARGET_NAME bullet_plugin)
+
+target_link_libraries(${bullet_plugin}
+  PUBLIC
+    ${features}
+    ${PROJECT_LIBRARY_TARGET_NAME}-sdf
+    ${PROJECT_LIBRARY_TARGET_NAME}-mesh
+    gz-common${GZ_COMMON_VER}::gz-common${GZ_COMMON_VER}
+    gz-math${GZ_MATH_VER}::eigen3)
+
+# Note that plugins are currently being installed in 2 places: /lib and the engine-plugins dir
+install(TARGETS ${bullet_plugin} DESTINATION ${GZ_PHYSICS_ENGINE_INSTALL_DIR})
+
+# The library created by `gz_add_component` includes the ign-physics version
+# (i.e. libgz-physics1-name-plugin.so), but for portability,
+# we also install an unversioned symlink into the same versioned folder.
+set(versioned ${CMAKE_SHARED_LIBRARY_PREFIX}${bullet_plugin}${CMAKE_SHARED_LIBRARY_SUFFIX})
+set(unversioned ${CMAKE_SHARED_LIBRARY_PREFIX}${PROJECT_NAME_NO_VERSION_LOWER}-${engine_name}${CMAKE_SHARED_LIBRARY_SUFFIX})
+if (WIN32)
+  # disable MSVC inherit via dominance warning
+  target_compile_options(${bullet_plugin} PUBLIC "/wd4250")
+  INSTALL(CODE "EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E copy
+      ${GZ_PHYSICS_ENGINE_INSTALL_DIR}\/${versioned}
+      ${GZ_PHYSICS_ENGINE_INSTALL_DIR}\/${unversioned})")
+else()
+  EXECUTE_PROCESS(COMMAND ${CMAKE_COMMAND} -E create_symlink ${versioned} ${unversioned})
+  INSTALL(FILES ${PROJECT_BINARY_DIR}/${unversioned} DESTINATION ${GZ_PHYSICS_ENGINE_INSTALL_DIR})
+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_featherstone
+  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-featherstone/src/Base.cc

@@ -0,0 +1,45 @@
+/*
+ * Copyright (C) 2022 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 "Base.hh"
+
+namespace gz {
+namespace physics {
+namespace bullet_featherstone {
+
+/////////////////////////////////////////////////
+WorldInfo::WorldInfo(std::string name_)
+  : name(std::move(name_))
+{
+  this->collisionConfiguration =
+    std::make_unique<btDefaultCollisionConfiguration>();
+  this->dispatcher =
+    std::make_unique<btCollisionDispatcher>(collisionConfiguration.get());
+  this->broadphase = std::make_unique<btDbvtBroadphase>();
+  this->solver = std::make_unique<btMultiBodyConstraintSolver>();
+  this->world = std::make_unique<btMultiBodyDynamicsWorld>(
+    dispatcher.get(), broadphase.get(), solver.get(),
+    collisionConfiguration.get());
+
+  /* TO-DO(Lobotuerk): figure out what this line does*/
+  world->getSolverInfo().m_globalCfm = 0;
+  btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher.get());
+}
+
+} // namespace bullet_featherstone
+} // namespace physics
+} // namespace gz