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Support setting max contacts in dart's bullet collision detector #593

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merged 6 commits into from
Dec 20, 2024
Merged

Support setting max contacts in dart's bullet collision detector #593

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8c4474e
port changes to gz-physics8
iche033 Dec 18, 2024
3f93d63
simplified cast
iche033 Dec 18, 2024
572540b
update test
iche033 Dec 18, 2024
15f0f0b
add missing files
iche033 Dec 18, 2024
f708237
simplified cast
iche033 Dec 19, 2024
a3754b7
Merge branch 'gz-physics8' into max_contacts_dart_bullet
iche033 Dec 19, 2024
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simplified cast 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
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@iche033
iche033 committed Dec 19, 2024
commit f708237a61aa5202e72d6e45405db2fe90942ecd
18 changes: 7 additions & 11 deletions dartsim/src/WorldFeatures.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -126,22 +126,18 @@ std::size_t WorldFeatures::GetWorldCollisionPairMaxContacts(
auto world = this->ReferenceInterface<dart::simulation::World>(_id);
auto collisionDetector =
world->getConstraintSolver()->getCollisionDetector();
auto odeCollisionDetector =
std::dynamic_pointer_cast<dart::collision::GzOdeCollisionDetector>(

auto gzCollisionDetector =
std::dynamic_pointer_cast<dart::collision::GzCollisionDetector>(
collisionDetector);
if (odeCollisionDetector)
if (gzCollisionDetector)
{
return odeCollisionDetector->GetCollisionPairMaxContacts();
return gzCollisionDetector->GetCollisionPairMaxContacts();
}
else
{
auto bulletCollisionDetector =
std::dynamic_pointer_cast<dart::collision::GzBulletCollisionDetector>(
collisionDetector);
if (bulletCollisionDetector)
{
return bulletCollisionDetector->GetCollisionPairMaxContacts();
}
gzwarn << "Currently max contacts feature is only supported by the "
<< "bullet and ode collision detector in dartsim." << std::endl;
}

return 0u;
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