Merge branch 'sdf12' into merge_12_13_20240530

include/sdf/Link.hh

@@ -374,12 +374,22 @@ namespace sdf
     /// \sa bool Model::EnableWind
     public: bool EnableWind() const;
 
+    /// \brief Check if this link should be subject to gravity.
+    /// If true, this link should be affected by gravity.
+    /// \return true if the model should be subject to gravity, false otherwise.
+    public: bool EnableGravity() const;
+
     /// \brief Set whether this link should be subject to wind.
     /// \param[in] _enableWind True or false depending on whether the link
     /// should be subject to wind.
     /// \sa Model::SetEnableWind(bool)
     public: void SetEnableWind(bool _enableWind);
 
+    /// \brief Set whether this link should be subject to gravity.
+    /// \param[in] _enableGravity True or false depending on whether the link
+    /// should be subject to gravity.
+    public: void SetEnableGravity(bool _enableGravity);
+
     /// \brief Add a collision to the link.
     /// \param[in] _collision Collision to add.
     /// \return True if successful, false if a collision with the name already

include/sdf/Surface.hh

@@ -17,6 +17,7 @@
 #ifndef SDF_SURFACE_HH_
 #define SDF_SURFACE_HH_
 
+#include <gz/math/Vector3.hh>
 #include <gz/utils/ImplPtr.hh>
 #include "sdf/Element.hh"
 #include "sdf/Types.hh"
@@ -122,6 +123,132 @@ namespace sdf
     GZ_UTILS_IMPL_PTR(dataPtr)
   };
 
+  /// \brief BulletFriction information for a friction.
+  class SDFORMAT_VISIBLE BulletFriction
+  {
+    /// \brief Default constructor
+    public: BulletFriction();
+
+    /// \brief Load BulletFriction friction based on a element pointer. This is
+    /// *not* the usual entry point. Typical usage of the SDF DOM is through
+    /// the Root object.
+    /// \param[in] _sdf The SDF Element pointer
+    /// \return Errors, which is a vector of Error objects. Each Error includes
+    /// an error code and message. An empty vector indicates no error.
+    public: Errors Load(ElementPtr _sdf);
+
+    /// \brief Get the friction coefficient in first friction pyramid direction.
+    /// \returns Friction coefficient
+    public: double Friction() const;
+
+    /// \brief Set friction coefficient in first friction pyramid direction.
+    /// \param[in] _fricton Friction coefficient
+    public: void SetFriction(double _friction);
+
+    /// \brief Get the friction coefficient in second friction pyramid
+    /// direction.
+    /// \return Second friction coefficient
+    public: double Friction2() const;
+
+    /// \brief Set friction coefficient in second friction pyramid direction.
+    /// \param[in] _fricton Friction coefficient
+    public: void SetFriction2(double _friction);
+
+    /// \brief Get the first friction pyramid direction in collision-fixed
+    /// reference
+    /// \return First friction pyramid direction.
+    public: const gz::math::Vector3d &Fdir1() const;
+
+    /// \brief Set the first friction pyramid direction in collision-fixed
+    /// reference
+    /// \param[in] _fdir First friction pyramid direction.
+    public: void SetFdir1(const gz::math::Vector3d &_fdir);
+
+    /// \brief Get the rolling friction coefficient
+    /// \return Rolling friction coefficient
+    public: double RollingFriction() const;
+
+    /// \brief Set the rolling friction coefficient
+    /// \param[in] _slip1 Rolling friction coefficient
+    public: void SetRollingFriction(double _friction);
+
+    /// \brief Get a pointer to the SDF element that was used during
+    /// load.
+    /// \return SDF element pointer. The value will be nullptr if Load has
+    /// not been called.
+    public: sdf::ElementPtr Element() const;
+
+    /// \brief Private data pointer.
+    IGN_UTILS_IMPL_PTR(dataPtr)
+  };
+
+  /// \brief Torsional friction
+  class SDFORMAT_VISIBLE Torsional
+  {
+    /// \brief Default constructor
+    public: Torsional();
+
+    /// \brief Load torsional friction based on a element pointer. This is *not*
+    /// the usual entry point. Typical usage of the SDF DOM is through the Root
+    /// object.
+    /// \param[in] _sdf The SDF Element pointer
+    /// \return Errors, which is a vector of Error objects. Each Error includes
+    /// an error code and message. An empty vector indicates no error.
+    public: Errors Load(ElementPtr _sdf);
+
+    /// \brief Get the torsional friction coefficient.
+    /// \return Torsional friction coefficient
+    public: double Coefficient() const;
+
+    /// \brief Set the torsional friction coefficient.
+    /// \param[in] _fricton Torsional friction coefficient
+    public: void SetCoefficient(double _coefficient);
+
+    /// \brief Get whether the patch radius is used to calculate torsional
+    /// friction.
+    /// \return True if patch radius is used.
+    public: bool UsePatchRadius() const;
+
+    /// \brief Set whether to use patch radius for torsional friction
+    /// calculation.
+    /// \param[in] _usePatchRadius True to use patch radius.
+    /// False to use surface radius.
+    public: void SetUsePatchRadius(bool _usePatchRadius);
+
+    /// \brief Get the radius of contact patch surface.
+    /// \return Patch radius
+    public: double PatchRadius() const;
+
+    /// \brief Set the radius of contact patch surface.
+    /// \param[in] _radius Patch radius
+    public: void SetPatchRadius(double _radius);
+
+    /// \brief Get the surface radius on the contact point
+    /// \return Surface radius
+    public: double SurfaceRadius() const;
+
+    /// \brief Set the surface radius on the contact point.
+    /// \param[in] _radius Surface radius
+    public: void SetSurfaceRadius(double _radius);
+
+    /// \brief Get the ODE force dependent slip for torsional friction
+    /// \return Force dependent slip for torsional friction.
+    public: double ODESlip() const;
+
+    /// \brief Set the ODE force dependent slip for torsional friction
+    /// \param[in] _slip Force dependent slip for torsional friction.
+    public: void SetODESlip(double _slip);
+
+    /// \brief Get a pointer to the SDF element that was used during
+    /// load.
+    /// \return SDF element pointer. The value will be nullptr if Load has
+    /// not been called.
+    public: sdf::ElementPtr Element() const;
+
+    /// \brief Private data pointer.
+    IGN_UTILS_IMPL_PTR(dataPtr)
+  };
+
   /// \brief Friction information for a surface.
   class SDFORMAT_VISIBLE Friction
   {
@@ -145,6 +272,24 @@ namespace sdf
     /// \param[in] _ode The ODE object.
     public: void SetODE(const sdf::ODE &_ode);
 
+    /// \brief Get the associated BulletFriction object
+    /// \return Pointer to the associated BulletFriction object,
+    /// nullptr if the Surface doesn't contain a BulletFriction element.
+    public: const sdf::BulletFriction *BulletFriction() const;
+
+    /// \brief Set the associated BulletFriction object.
+    /// \param[in] _bullet The BulletFriction object.
+    public: void SetBulletFriction(const sdf::BulletFriction &_bullet);
+
+    /// \brief Get the torsional friction
+    /// \return Pointer to the torsional friction
+    /// nullptr if the Surface doesn't contain a torsional friction element.
+    public: const sdf::Torsional *Torsional() const;
+
+    /// \brief Set the torsional friction
+    /// \param[in] _torsional The torsional friction.
+    public: void SetTorsional(const sdf::Torsional &_torsional);
+
     /// \brief Get a pointer to the SDF element that was used during
     /// load.
     /// \return SDF element pointer. The value will be nullptr if Load has

src/Link.cc

@@ -78,6 +78,9 @@ class sdf::Link::Implementation
   /// \brief True if this link should be subject to wind, false otherwise.
   public: bool enableWind = false;
 
+  /// \brief True if this link should be subject to gravity, false otherwise.
+  public: bool enableGravity = true;
+
   /// \brief Scoped Pose Relative-To graph at the parent model scope.
   public: sdf::ScopedGraph<sdf::PoseRelativeToGraph> poseRelativeToGraph;
 };
@@ -261,6 +264,9 @@ Errors Link::Load(ElementPtr _sdf, const ParserConfig &_config)
   this->dataPtr->enableWind = _sdf->Get<bool>("enable_wind",
       this->dataPtr->enableWind).first;
 
+  this->dataPtr->enableGravity = _sdf->Get<bool>("gravity",
+      this->dataPtr->enableGravity).first;
+
   return errors;
 }
 
@@ -712,11 +718,23 @@ bool Link::EnableWind() const
 }
 
 /////////////////////////////////////////////////
-void Link::SetEnableWind(const bool _enableWind)
+bool Link::EnableGravity() const
+{
+  return this->dataPtr->enableGravity;
+}
+
+/////////////////////////////////////////////////
+void Link::SetEnableWind(bool _enableWind)
 {
   this->dataPtr->enableWind = _enableWind;
 }
 
+/////////////////////////////////////////////////
+void Link::SetEnableGravity(bool _enableGravity)
+{
+  this->dataPtr->enableGravity = _enableGravity;
+}
+
 //////////////////////////////////////////////////
 bool Link::AddCollision(const Collision &_collision)
 {

src/Link_TEST.cc

@@ -68,6 +68,10 @@ TEST(DOMLink, Construction)
   link.SetEnableWind(true);
   EXPECT_TRUE(link.EnableWind());
 
+  EXPECT_TRUE(link.EnableGravity());
+  link.SetEnableGravity(false);
+  EXPECT_FALSE(link.EnableGravity());
+
   EXPECT_EQ(0u, link.SensorCount());
   EXPECT_EQ(nullptr, link.SensorByIndex(0));
   EXPECT_EQ(nullptr, link.SensorByIndex(1));