Unexpected behaviour with Transform Control Tool

[BigMassive]

Environment

Ubuntu 20.04.2 on real hardware (TR 1950X, Nvidia 970, 3840x21600 display, Fractional scaling on / set to 100%)
Fresh install of Ignition Edifice (following Binary Ubuntu Install)

Description

• Expected behaviour: Models selected by Transform Control Tool take part in simulation
• Actual behaviour: Visual element of model selected by Transform Control Tool does not move, albeit other models react as if it has.

Steps to reproduce

1. Fresh install of Ignition:Edifice
2. ign gazebo shapes.sdf
3. Use transform control tool to move a model in Z (in screenshots below, move laterally over another model) leave it selected.
4. Run simulation

Before

Simulation has run for a while

The blue ball model has moved as if it has reacted to being struck by the falling red box, although the red box visual has not moved.

Deselecting Transform Control Tool

Once de-selected, the red box interacts with the simulation. Hard to reproduce, but sometimes the red box seems to jump to the expected position and sometimes it seems to be being animated in the engine.

Also note 1: The blue ball and the purple ellipsoid now intersect. When this happens the RTF% drops to ~3% from ~99%.
Also note 2: Also experiencing occasional segfaults (but I think this is related to your #725 )
Also note 3: Unable to select translation arrows using Transform Control Tool without limiting the axes by pressing x,y,z keys. (Your #147, comment added there).

[chapulina]

I can't reproduce the main issue anymore with Gazebo 5.2.0:

The blue ball and the purple ellipsoid now intersect. When this happens the RTF% drops to ~3% from ~99%.

This is probably an issue in the DART physics engine.

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I'll close this issue, please reopen if it reappears.