Added Ellipsoid and Capsule geometries

[ahcorde]

This PR allows to visualize in Gazebo capsules and ellipsoides.

As you can see in the images I still have some issues with the collisions:

Related with

• ign-rendering Added Ellipsoid Geometry gz-rendering#203 and Added capsule geometry gz-rendering#200
• ign-msgs Added capsule and ellipsoid geom msgs gz-msgs#128
• ign-physics
  • dartsim: Added Ellipsoid and Capsule shapes to TPE gz-physics#203
  • tpe: Added Ellipsoid and Capsule shapes to TPE gz-physics#203

Signed-off-by: ahcorde [email protected]

[chapulina]

@ahcorde , I pushed commit ac55ced directly to this branch to add an ellipsoid and a capsule to the markers example. It works for me with gazebosim/gz-rendering#276:

[chapulina]

The capsule is currently rotated 90 degrees, this fixes it: gazebosim/gz-common#186

[chapulina]

Working well! I think the only thing left to solve is not requiring that all physics engines support these shapes. I think we may be able to separate the features on ign-physics and add some logic here to conditionally support these features.

[chapulina]

the only thing left to solve is not requiring that all physics engines support these shapes

Looking into it again now, I see that the current implementation doesn't prevent physics engines that don't support capsules and ellipsoids from being loaded. So I think this is good for now. We can always come back and move these shapes into a separate feature if we see the need.

Just pending the ign-physics PR 👍

[chapulina]

We're running out of space for so many features! I updated the top toolbar to look like this:

[codecov]

Codecov Report

Merging #581 (e01fa3a) into main (84ae007) will decrease coverage by 0.02%.
The diff coverage is 70.43%.

❗ Current head e01fa3a differs from pull request most recent head 3386838. Consider uploading reports for the commit 3386838 to get more accurate results

@@            Coverage Diff             @@
##             main     #581      +/-   ##
==========================================
- Coverage   65.36%   65.34%   -0.03%     
==========================================
  Files         240      240              
  Lines       17514    17601      +87     
==========================================
+ Hits        11448    11501      +53     
- Misses       6066     6100      +34     

Impacted Files	Coverage Δ
include/ignition/gazebo/SdfEntityCreator.hh	100.00% <ø> (ø)
src/ServerConfig.cc	89.68% <ø> (ø)
src/gui/plugins/shapes/Shapes.cc	22.72% <0.00%> (-5.06%)	⬇️
src/rendering/MarkerManager.cc	13.02% <0.00%> (-0.12%)	⬇️
src/rendering/RenderUtil.cc	42.14% <0.00%> (-0.32%)	⬇️
src/systems/physics/Physics.hh	100.00% <ø> (ø)
src/rendering/SceneManager.cc	25.00% <20.00%> (-0.06%)	⬇️
src/systems/physics/Physics.cc	69.40% <78.18%> (+0.36%)	⬆️
src/SdfEntityCreator.cc	87.22% <79.31%> (-1.02%)	⬇️
...nclude/ignition/gazebo/components/CanonicalLink.hh	100.00% <100.00%> (ø)
... and 1 more

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[chapulina]

There are no related failures on CI, merging!