Accumulate contact points to prevent objects sinking when using ODE - Waiting for comments #1832
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
(cherry picked from commit e1e31a7)
(cherry picked from commit 24b2c72)
Signed-off-by: Steve Peters <[email protected]> Co-authored-by: Jeongseok (JS) Lee <[email protected]>
(cherry picked from commit 15c5150)
(cherry picked from commit 75c5565cd6a45bb143ba1fe95137000f2610d03b)
(cherry picked from commit ad9a8a1)
Signed-off-by: Steve Peters <[email protected]>
(cherry picked from commit b2c4e06)
(cherry picked from commit 94380de)
(cherry picked from commit cf20b0e)
(cherry picked from commit 17724f8)
…esn't include backends defs (cherry picked from commit d12b7aa0e1c2738fbfe817f59bb0424d4161bd02)
(cherry picked from commit a9da476)
(cherry picked from commit c857f6c)
(cherry picked from commit 7918a9c)
(cherry picked from commit b27d020f01ae37fbe63478180d0ae85efc2551b7)
(cherry picked from commit b09da38)
Co-authored-by: jslee02 <[email protected]>
Signed-off-by: Jeongseok (JS) Lee <[email protected]>
henriquealrs
changed the title
2 tasks
|
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
3 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This is a proposal PR attempting to fix #1654 - Capsule shapes sink through ground with ODE.
I tried to find some functionality in ODE similar to the one from Bullet used in #859 but couldn't find an analogous feature io ODE. So I tried manually implementing a limited contact history and a best effort to keep at least 3 contact points in order to make contact stable.
I worry about performance impact, but tests didn't get anything. I also ran gz-physics tests using DART with my changes and it seemed OK.
There is one failing test
test_ForceDependentSlip, but it also fails when using Bullet or DART collision detection, so I think we could reevaluate this test.Before creating a pull request
make format-DDART_TREAT_WARNINGS_AS_ERRORS=ONand resolve all the compile warningsBefore merging a pull request
CHANGELOG.md