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Bumps in fortress : ign-physics5 #246

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Apr 15, 2021
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Bumps in fortress : ign-physics5 #246

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2 changes: 1 addition & 1 deletion .github/ci/packages.apt
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Original file line number Diff line number Diff line change
Expand Up @@ -7,4 +7,4 @@ libignition-math6-eigen3-dev
libignition-plugin-dev
libignition-utils1-cli-dev
libignition-utils1-dev
libsdformat11-dev
libsdformat12-dev
2 changes: 1 addition & 1 deletion CMakeLists.txt
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Expand Up @@ -60,7 +60,7 @@ ign_find_package(EIGEN3 REQUIRED)

#--------------------------------------
# Find SDFormat for the SDF features
ign_find_package(sdformat11
ign_find_package(sdformat12
REQUIRED_BY sdf dartsim tpe)

#--------------------------------------
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2 changes: 1 addition & 1 deletion bitbucket-pipelines.yml
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Expand Up @@ -35,7 +35,7 @@ pipelines:
libdart6-dev
libdart6-utils-urdf-dev
libbenchmark-dev
libsdformat11-dev
libsdformat12-dev
# libsdformat (uncomment if a specific branch is needed)
#- apt install -y
# libtinyxml-dev
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6 changes: 3 additions & 3 deletions tutorials/06-physics-simulation-concepts.md
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Expand Up @@ -69,9 +69,9 @@ second in Z-axis.

Note that the mechanism to move the car is different depending on the used physics
engine. Using [dartsim](https://github.com/ignitionrobotics/ign-physics/tree/main/dartsim),
the car is moved by applying force on the joints, please see [DiffDrive.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo5/src/systems/diff_drive/DiffDrive.cc#L333) code.
the car is moved by applying force on the joints, please see [DiffDrive.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo6/src/systems/diff_drive/DiffDrive.cc#L333) code.
Using [TPE](https://github.com/ignitionrobotics/ign-physics/tree/main/tpe),
TPE directly sets model velocity in [VelocityControl.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo5/src/systems/velocity_control/VelocityControl.cc#L117) code.
TPE directly sets model velocity in [VelocityControl.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo6/src/systems/velocity_control/VelocityControl.cc#L117) code.

#### Monitoring the model and its links pose

Expand Down Expand Up @@ -136,7 +136,7 @@ and the blades will stop after some time due to friction.
The command applies a constant torque to the rotor rod, together with
the mechanism to compute the upward/downward lift and drag force due to the
wind pressure simulation supported by Ignition Physics, the cube is lifted.
For more detail, please see the [LiftDrag.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo5/src/systems/lift_drag/LiftDrag.cc)
For more detail, please see the [LiftDrag.cc](https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo6/src/systems/lift_drag/LiftDrag.cc)
code.

### Buoyancy
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