add dummy GetContactsFromLastStepFeature

Signed-off-by: claireyywang <[email protected]>
gazebosim · Apr 23, 2020 · c4972c2 · c4972c2
1 parent 344f7f4
commit c4972c2
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Showing 2 changed files with 15 additions and 1 deletion.
diff --git a/tpe/plugin/src/SimulationFeatures.cc b/tpe/plugin/src/SimulationFeatures.cc
@@ -55,3 +55,11 @@ void SimulationFeatures::WorldForwardStep(
   }
   world->Step();
 }
+
+std::vector<SimulationFeatures::ContactInternal>
+SimulationFeatures::GetContactsFromLastStep(const Identity &_worldID) const
+{
+  std::vector<SimulationFeatures::ContactInternal> outContacts;
+  std::shared_ptr<tpelib::World> world = this->worlds.at(_worldID)->world;
+  return outContacts;
+}
diff --git a/tpe/plugin/src/SimulationFeatures.hh b/tpe/plugin/src/SimulationFeatures.hh
@@ -18,7 +18,9 @@
 #ifndef IGNITION_PHYSICS_TPE_PLUGIN_SRC_SIMULATIONFEATURES_HH_
 #define IGNITION_PHYSICS_TPE_PLUGIN_SRC_SIMULATIONFEATURES_HH_
 
+#include <vector>
 #include <ignition/physics/ForwardStep.hh>
+#include <ignition/physics/GetContacts.hh>
 
 #include "Base.hh"
 
@@ -27,7 +29,8 @@ namespace physics {
 namespace tpeplugin {
 
 struct SimulationFeatureList : FeatureList<
-  ForwardStep
+  ForwardStep,
+  GetContactsFromLastStepFeature
 > { };
 
 class SimulationFeatures :
@@ -39,6 +42,9 @@ class SimulationFeatures :
     ForwardStep::Output &_h,
     ForwardStep::State &_x,
     const ForwardStep::Input &_u) override;
+
+  public: std::vector<ContactInternal> GetContactsFromLastStep(
+    const Identity &_worldID) const override;
 };
 
 }