Query ExtraContactData in gz-sim 2 gz-physics interface

[antbre]

🦟 Bug fix

Fixes #2037

Summary

Previously the data contained by the ContactSensorPlugin did not include ExtraContactData. Now the message is also populated with this data.
Now the EntityContactMap contains a deque of pairs of ContactPoint and ExtraContactData. That way the messages can be populated with Normals, Forces, and Depth. The force on body 2 is equal and opposite to the force on body 1.

Checklist

• Signed all commits for DCO
• Added tests
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

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[azeey]

Thanks for the contribution! I mostly have minor things to address. I'd also ask if you could add a test in test/integration/physics_system.cc.

[azeey]

Could also signoff your commits (See the DCO section in https://gazebosim.org/docs/garden/contributing#process)

[antbre]

Thanks for the contribution! I mostly have minor things to address. I'd also ask if you could add a test in test/integration/physics_system.cc.

Regarding the test: Since I'm effectively testing message transport e.g. whether messages are filled and published correctly, should it still be added to test/integration/physics_system.cc or rather somewhere else? Is there also already an example that is testing transport using a subscriber that I can orient myself on?

[azeey]

Thanks for the contribution! I mostly have minor things to address. I'd also ask if you could add a test in test/integration/physics_system.cc.

Regarding the test: Since I'm effectively testing message transport e.g. whether messages are filled and published correctly, should it still be added to test/integration/physics_system.cc or rather somewhere else? Is there also already an example that is testing transport using a subscriber that I can orient myself on?

Good point. test/integration/contact_system.cc might be more appropriate. It also already contains tests that use transport, so it should be a good reference.

[azeey]

LGTM! Just one more style issue.

Also, I think the test ActorFixture.ActorTrajectoryNoMesh is flaky. /cc @iche033.

[codecov]

Codecov Report

Merging #2050 (3f4b8db) into gz-sim7 (50a99e6) will increase coverage by 0.00%.
Report is 19 commits behind head on gz-sim7.
The diff coverage is 100.00%.

❗ Current head 3f4b8db differs from pull request most recent head ad6b339. Consider uploading reports for the commit ad6b339 to get more accurate results

@@           Coverage Diff            @@
##           gz-sim7    #2050   +/-   ##
========================================
  Coverage    65.00%   65.01%           
========================================
  Files          354      354           
  Lines        28667    28688   +21     
========================================
+ Hits         18636    18651   +15     
- Misses       10031    10037    +6     

Files Changed	Coverage Δ
include/gz/sim/ServerConfig.hh	100.00% <ø> (ø)
include/gz/sim/rendering/MarkerManager.hh	100.00% <ø> (ø)
src/LevelManager.cc	89.39% <ø> (ø)
src/systems/physics/Physics.cc	67.78% <100.00%> (+0.45%)	⬆️

... and 1 file with indirect coverage changes

[azeey]

All the CI failures seem unrelated. Merging!