merge from ign-physics5

Signed-off-by: Ian Chen <ichen@openrobotics.org>
gazebosim · Jun 15, 2024 · 928a504 · 928a504
2 parents eb30b86 + 33bbf42
commit 928a504
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Showing 4 changed files with 30 additions and 1 deletion.
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -1,4 +1,4 @@
 # More info:
 # https://help.github.com/en/github/creating-cloning-and-archiving-repositories/about-code-owners
 
-*                     @azeey @mxgrey @scpeters
+*                     @azeey @scpeters
diff --git a/dartsim/src/SDFFeatures.cc b/dartsim/src/SDFFeatures.cc
@@ -654,6 +654,7 @@ Identity SDFFeatures::ConstructSdfLink(
 
   bodyProperties.mInertia.setLocalCOM(localCom);
 
+  bodyProperties.mGravityMode = _sdfLink.EnableGravity();
 
   dart::dynamics::FreeJoint::Properties jointProperties;
   jointProperties.mName = bodyProperties.mName + "_FreeJoint";

diff --git a/test/common_test/world_features.cc b/test/common_test/world_features.cc
@@ -123,6 +123,12 @@ TEST_F(WorldFeaturesTestGravity, GravityFeatures)
     auto link = model->GetLink(0);
     ASSERT_NE(nullptr, link);
 
+    auto modelNoGravity = world->GetModel("sphere_no_gravity");
+    ASSERT_NE(nullptr, modelNoGravity);
+
+    auto linkNoGravity = modelNoGravity->GetLink(0);
+    ASSERT_NE(nullptr, linkNoGravity);
+
     AssertVectorApprox vectorPredicate6(1e-6);
 
     // initial link pose
@@ -175,6 +181,16 @@ TEST_F(WorldFeaturesTestGravity, GravityFeatures)
       EXPECT_PRED_FORMAT2(vectorPredicate2,
                           Eigen::Vector3d(0.5, 0, 2.5),
                           pos);
+
+      if (this->PhysicsEngineName(name) == "dartsim")
+      {
+        // pose for link without gravity should not change
+        Eigen::Vector3d posNoGravity = linkNoGravity->FrameDataRelativeToWorld()
+                            .pose.translation();
+        EXPECT_PRED_FORMAT2(vectorPredicate2,
+                            Eigen::Vector3d(10, 10, 10),
+                            posNoGravity);
+      }
     }
   }
 }

diff --git a/test/common_test/worlds/falling.world b/test/common_test/worlds/falling.world
@@ -71,5 +71,17 @@
         </visual>
       </link>
     </model>
+    <model name='sphere_no_gravity'>
+      <link name='link'>
+        <gravity>false</gravity>
+        <pose>10 10 10 0 0 0</pose>
+        <visual name='visual'>
+          <geometry><sphere><radius>1</radius></sphere></geometry>
+        </visual>
+        <collision name='collision'>
+          <geometry><sphere><radius>1</radius></sphere></geometry>
+        </collision>
+      </link>
+    </model>
   </world>
 </sdf>