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[bullet]: Fix how changed link poses are computed #460

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Dec 8, 2022
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[bullet]: Fix how changed link poses are computed #460

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3 changes: 3 additions & 0 deletions bullet-featherstone/src/SimulationFeatures.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
#include <unordered_map>
#include <vector>

#include <gz/physics/CanWriteData.hh>
#include <gz/physics/ForwardStep.hh>
#include <gz/physics/GetContacts.hh>

Expand All @@ -36,6 +37,8 @@ struct SimulationFeatureList : gz::physics::FeatureList<
> { };

class SimulationFeatures :
public CanWriteExpectedData<SimulationFeatures,
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@ahcorde ahcorde Dec 6, 2022 •
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is this happenning in featherstone too ? I can reproduce the issue only with bullet, featherstone should be fine without this changes, is there any other reason to add this here?

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No, this is not happening on featherstone, but inheriting from CanWriteExpectedData adds a compile-time check that the class implements Write for the expected data type. It's not strictly necessary.

ExpectData<ChangedWorldPoses>>,
public virtual Base,
public virtual Implements3d<SimulationFeatureList>
{
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20 changes: 20 additions & 0 deletions bullet/src/Base.hh
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Expand Up @@ -143,6 +143,25 @@ inline Eigen::Vector3d convert(btVector3 vec)
return val;
}

inline math::Vector3d convertToGz(const btVector3 &_vec)
{
return math::Vector3d(_vec[0], _vec[1], _vec[2]);
}

inline math::Quaterniond convertToGz(const btMatrix3x3 &_mat)
{
return math::Quaterniond(math::Matrix3d(_mat[0][0], _mat[0][1], _mat[0][2],
_mat[1][0], _mat[1][1], _mat[1][2],
_mat[2][0], _mat[2][1], _mat[2][2]));
}

inline math::Pose3d convertToGz(const btTransform &_pose)
{
return math::Pose3d(convertToGz(_pose.getOrigin()),
convertToGz(_pose.getBasis()));
}


class Base : public Implements3d<FeatureList<Feature>>
{
public: std::size_t entityCount = 0;
Expand All @@ -156,6 +175,7 @@ class Base : public Implements3d<FeatureList<Feature>>
{
const auto id = this->GetNextEntity();
assert(id == 0);
(void)id;

return this->GenerateIdentity(0);
}
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3 changes: 2 additions & 1 deletion bullet/src/SimulationFeatures.cc
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Expand Up @@ -60,7 +60,8 @@ void SimulationFeatures::Write(ChangedWorldPoses &_changedPoses) const
if (info)
{
WorldPose wp;
wp.pose = info->pose;
wp.pose = convertToGz(info->link->getCenterOfMassTransform()) *
info->inertialPose.Inverse();
wp.body = id;

auto iter = this->prevLinkPoses.find(id);
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3 changes: 3 additions & 0 deletions bullet/src/SimulationFeatures.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
#include <unordered_map>
#include <vector>

#include <gz/physics/CanWriteData.hh>
#include <gz/physics/ForwardStep.hh>

#include "Base.hh"
Expand All @@ -34,6 +35,8 @@ struct SimulationFeatureList : gz::physics::FeatureList<
> { };

class SimulationFeatures :
public CanWriteExpectedData<SimulationFeatures,
ExpectData<ChangedWorldPoses>>,
public virtual Base,
public virtual Implements3d<SimulationFeatureList>
{
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