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dartsim: fdir1 expressed_in frame from SDFormat #224

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merged 7 commits into from
Mar 24, 2021
Merged

dartsim: fdir1 expressed_in frame from SDFormat #224

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7811d7b
dartsim: fdir1 expressed_in frame from SDFormat
scpeters Mar 14, 2021
09c23a1
Use ignition as xml namespace
scpeters Mar 19, 2021
0d39c38
Merge branch 'main' into fdir1_expressed_in
chapulina Mar 22, 2021
d4ef71a
Merge branch 'main' into fdir1_expressed_in
scpeters Mar 23, 2021
4648e74
Merge branch 'main' into fdir1_expressed_in
azeey Mar 23, 2021
6f61a92
Check if there's a bodynode
chapulina Mar 24, 2021
f53ba64
Merge branch 'main' into fdir1_expressed_in
chapulina Mar 24, 2021
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20 changes: 19 additions & 1 deletion dartsim/src/SDFFeatures.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -826,8 +826,26 @@ Identity SDFFeatures::ConstructSdfCollision(
}
if (odeFriction->HasElement("fdir1"))
{
math::Vector3d fdir1 = odeFriction->Get<math::Vector3d>("fdir1");
auto frictionDirectionElem = odeFriction->GetElement("fdir1");
math::Vector3d fdir1 = frictionDirectionElem->Get<math::Vector3d>();
aspect->setFirstFrictionDirection(math::eigen3::convert(fdir1));

const std::string kExpressedIn = "ignition:expressed_in";
if (frictionDirectionElem->HasAttribute(kExpressedIn))
{
auto skeleton = bn->getSkeleton();
auto directionFrameBodyNode = skeleton->getBodyNode(
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frictionDirectionElem->Get<std::string>(kExpressedIn));
if (nullptr != directionFrameBodyNode)
{
aspect->setFirstFrictionDirectionFrame(directionFrameBodyNode);
}
else
{
ignwarn << "Failed to get body node for [" << _collision.Name()
<< "], not setting friction direction frame." << std::endl;
}
}
}

const auto &surfaceBounce = _collision.Element()
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