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Fix build errors and warnings for DART 6.13.0 #465

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merged 2 commits into from
Jan 5, 2023
Merged

Fix build errors and warnings for DART 6.13.0 #465

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1b9d528
Fix build errors and warnings for DART 6.13.0
azeey Jan 2, 2023
51a7fed
Define verbose macros for dart version check
scpeters Jan 4, 2023
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14 changes: 14 additions & 0 deletions dartsim/src/Base.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,13 @@
#include <gz/common/Console.hh>
#include <gz/physics/Implements.hh>

#if DART_VERSION_AT_LEAST(6, 13, 0)
// The BodyNode::getShapeNodes method was deprecated in dart 6.13.0
// in favor of an iterator approach with BodyNode::eachShapeNode
// See https://github.com/dartsim/dart/pull/1644 for more info
#define DART_HAS_EACH_SHAPE_NODE_API
#endif

namespace ignition {
namespace physics {
namespace dartsim {
Expand Down Expand Up @@ -339,10 +346,17 @@ class Base : public Implements3d<FeatureList<Feature>>
}
for (auto &bn : skel->getBodyNodes())
{
#ifdef DART_HAS_EACH_SHAPE_NODE_API
bn->eachShapeNode([this](dart::dynamics::ShapeNode *_sn)
{
this->shapes.RemoveEntity(_sn);
});
#else
for (auto &sn : bn->getShapeNodes())
{
this->shapes.RemoveEntity(sn);
}
#endif
this->links.RemoveEntity(bn);
}
this->models.RemoveEntity(skel);
Expand Down
29 changes: 29 additions & 0 deletions dartsim/src/SimulationFeatures.cc
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Expand Up @@ -32,6 +32,15 @@
#include "gz/common/Profiler.hh"
#include "gz/physics/GetContacts.hh"

#if DART_VERSION_AT_LEAST(6, 13, 0)
// The ContactSurfaceParams class was first added to version 6.10 of our fork
// of dart, and then merged upstream and released in version 6.13.0 with
// different public member variable names.
// See https://github.com/dartsim/dart/pull/1626 and
// https://github.com/gazebo-forks/dart/pull/22 for more info.
#define DART_HAS_UPSTREAM_FRICTION_VARIABLE_NAMES
#endif

namespace ignition {
namespace physics {
namespace dartsim {
Expand Down Expand Up @@ -170,9 +179,17 @@ dart::constraint::ContactSurfaceParams IgnContactSurfaceHandler::createParams(
typedef FeaturePolicy3d P;
typename F::ContactSurfaceParams<P> pIgn;

#ifdef DART_HAS_UPSTREAM_FRICTION_VARIABLE_NAMES
pIgn.frictionCoeff = pDart.mPrimaryFrictionCoeff;
#else
pIgn.frictionCoeff = pDart.mFrictionCoeff;
#endif
pIgn.secondaryFrictionCoeff = pDart.mSecondaryFrictionCoeff;
#ifdef DART_HAS_UPSTREAM_FRICTION_VARIABLE_NAMES
pIgn.slipCompliance = pDart.mPrimarySlipCompliance;
#else
pIgn.slipCompliance = pDart.mSlipCompliance;
#endif
pIgn.secondarySlipCompliance = pDart.mSecondarySlipCompliance;
pIgn.restitutionCoeff = pDart.mRestitutionCoeff;
pIgn.firstFrictionalDirection = pDart.mFirstFrictionalDirection;
Expand All @@ -185,11 +202,23 @@ dart::constraint::ContactSurfaceParams IgnContactSurfaceHandler::createParams(
_numContactsOnCollisionObject, pIgn);

if (pIgn.frictionCoeff)
{
#ifdef DART_HAS_UPSTREAM_FRICTION_VARIABLE_NAMES
pDart.mPrimaryFrictionCoeff = pIgn.frictionCoeff.value();
#else
pDart.mFrictionCoeff = pIgn.frictionCoeff.value();
#endif
}
if (pIgn.secondaryFrictionCoeff)
pDart.mSecondaryFrictionCoeff = pIgn.secondaryFrictionCoeff.value();
if (pIgn.slipCompliance)
{
#ifdef DART_HAS_UPSTREAM_FRICTION_VARIABLE_NAMES
pDart.mPrimarySlipCompliance = pIgn.slipCompliance.value();
#else
pDart.mSlipCompliance = pIgn.slipCompliance.value();
#endif
}
if (pIgn.secondarySlipCompliance)
pDart.mSecondarySlipCompliance = pIgn.secondarySlipCompliance.value();
if (pIgn.restitutionCoeff)
Expand Down