bullet-featherstone: support off-diagonal inertia #544
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
The bullet APIs expect the moment of inertia matrix to already be diagonalized. This changes the bullet-featherstone plugin to compute the principal moments of inertia in the same manner as the bullet plugin. It will now load models with off-diagonal inertia values without giving errors. Signed-off-by: Steve Peters <[email protected]>
Codecov Report
@@ Coverage Diff @@
## gz-physics6 #544 +/- ##
===============================================
+ Coverage 77.02% 77.16% +0.14%
===============================================
Files 143 143
Lines 7321 7309 -12
===============================================
+ Hits 5639 5640 +1
+ Misses 1682 1669 -13
|
10 tasks
|
I've been working on a test for this, and while I'm not ready to add one to this branch, I've done enough testing that I'm confident enough about this change to merge once this has an approval. I will post the branches I have been using for testing once I have a chance to clean them up. cc @iche033 |
8 tasks
iche033
approved these changes
Nov 9, 2023
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
🦟 Bug fix
Allows loading models with off-diagonal inertia terms in bullet-featherstone
Summary
Currently gz-physics prints error messages and fails to load portions of models that contain links with off-diagonal inertia terms with magnitude larger than
0.001.The bullet APIs expect the moment of inertia matrix to already be diagonalized. This changes the bullet-featherstone plugin to compute the principal moments of inertia in the same manner as the bullet plugin (see bullet's SDFFeatures.cc). It will now load models with off-diagonal inertia values without giving errors.
I'd really like to add a test for this, but I'm having trouble figuring out a simple test.
Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.