Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add GravityEnabled boolean component #2451

Merged
merged 2 commits into from
Jun 26, 2024
Merged

Add GravityEnabled boolean component #2451

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
070fed9
Add GravityEnabled boolean component
scpeters Jun 20, 2024
85231c7
change zero gravity vector to component gravityenabled
AzulRadio Jun 23, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 5 additions & 0 deletions include/gz/sim/components/Gravity.hh
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,11 @@ namespace components
/// \brief Store the gravity acceleration.
using Gravity = Component<math::Vector3d, class GravityTag>;
IGN_GAZEBO_REGISTER_COMPONENT("ign_gazebo_components.Gravity", Gravity)

/// \brief Store the gravity acceleration.
using GravityEnabled = Component<bool, class GravityEnabledTag>;
IGN_GAZEBO_REGISTER_COMPONENT(
"ign_gazebo_components.GravityEnabled", GravityEnabled)
}
}
}
Expand Down
5 changes: 2 additions & 3 deletions src/SdfEntityCreator.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -590,10 +590,9 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Link *_link)

if (!_link->EnableGravity())
{
// If disable gravity, create a gravity component to the entity
// This gravity will have value 0,0,0
// If disable gravity, create a GravityEnabled component to the entity
this->dataPtr->ecm->CreateComponent(
linkEntity, components::Gravity());
linkEntity, components::GravityEnabled(false));
}

// Visuals
Expand Down
21 changes: 6 additions & 15 deletions src/systems/physics/Physics.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1161,21 +1161,12 @@ void PhysicsPrivate::CreateLinkEntities(const EntityComponentManager &_ecm)
}

// get link gravity
const components::Gravity *gravity =
_ecm.Component<components::Gravity>(_entity);
if (nullptr != gravity)
{
// Entity has a gravity component that is all zeros when
// <gravity> is set to false
// See SdfEntityCreator::CreateEntities()
if (gravity->Data() == math::Vector3d::Zero)
{
link.SetEnableGravity(false);
}
else
{
link.SetEnableGravity(true);
}
const components::GravityEnabled *gravityEnabled =
_ecm.Component<components::GravityEnabled>(_entity);
if (nullptr != gravityEnabled)
{
// gravityEnabled set in SdfEntityCreator::CreateEntities()
link.SetEnableGravity(gravityEnabled->Data());
}

auto linkPtrPhys = modelPtrPhys->ConstructLink(link);
Expand Down