Merge 5 to 6

Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org>
gazebosim · Jan 6, 2023 · f0b2012 · f0b2012
2 parents 2a93515 + 79e0aef
commit f0b2012
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diff --git a/dartsim/src/Base.hh b/dartsim/src/Base.hh
@@ -41,6 +41,13 @@
 
 #include <sdf/Types.hh>
 
+#if DART_VERSION_AT_LEAST(6, 13, 0)
+// The BodyNode::getShapeNodes method was deprecated in dart 6.13.0
+// in favor of an iterator approach with BodyNode::eachShapeNode
+// See https://github.com/dartsim/dart/pull/1644 for more info
+#define DART_HAS_EACH_SHAPE_NODE_API
+#endif
+
 namespace gz {
 namespace physics {
 namespace dartsim {
@@ -528,10 +535,17 @@ class Base : public Implements3d<FeatureList<Feature>>
     }
     for (auto &bn : skel->getBodyNodes())
     {
+#ifdef DART_HAS_EACH_SHAPE_NODE_API
+      bn->eachShapeNode([this](dart::dynamics::ShapeNode *_sn)
+      {
+        this->shapes.RemoveEntity(_sn);
+      });
+#else
       for (auto &sn : bn->getShapeNodes())
       {
         this->shapes.RemoveEntity(sn);
       }
+#endif
       this->links.RemoveEntity(bn);
       this->linksByName.erase(::sdf::JoinName(
           world->getName(), ::sdf::JoinName(skel->getName(), bn->getName())));

diff --git a/dartsim/src/SimulationFeatures.cc b/dartsim/src/SimulationFeatures.cc
@@ -38,6 +38,15 @@
 
 #include "SimulationFeatures.hh"
 
+#if DART_VERSION_AT_LEAST(6, 13, 0)
+// The ContactSurfaceParams class was first added to version 6.10 of our fork
+// of dart, and then merged upstream and released in version 6.13.0 with
+// different public member variable names.
+// See https://github.com/dartsim/dart/pull/1626 and
+// https://github.com/gazebo-forks/dart/pull/22 for more info.
+#define DART_HAS_UPSTREAM_FRICTION_VARIABLE_NAMES
+#endif
+
 namespace gz {
 namespace physics {
 namespace dartsim {
@@ -233,9 +242,17 @@ dart::constraint::ContactSurfaceParams GzContactSurfaceHandler::createParams(
   typedef FeaturePolicy3d P;
   typename F::ContactSurfaceParams<P> pGz;
 
+#ifdef DART_HAS_UPSTREAM_FRICTION_VARIABLE_NAMES
+  pGz.frictionCoeff = pDart.mPrimaryFrictionCoeff;
+#else
   pGz.frictionCoeff = pDart.mFrictionCoeff;
+#endif
   pGz.secondaryFrictionCoeff = pDart.mSecondaryFrictionCoeff;
+#ifdef DART_HAS_UPSTREAM_FRICTION_VARIABLE_NAMES
+  pGz.slipCompliance = pDart.mPrimarySlipCompliance;
+#else
   pGz.slipCompliance = pDart.mSlipCompliance;
+#endif
   pGz.secondarySlipCompliance = pDart.mSecondarySlipCompliance;
   pGz.restitutionCoeff = pDart.mRestitutionCoeff;
   pGz.firstFrictionalDirection = pDart.mFirstFrictionalDirection;
@@ -248,11 +265,23 @@ dart::constraint::ContactSurfaceParams GzContactSurfaceHandler::createParams(
                                 _numContactsOnCollisionObject, pGz);
 
     if (pGz.frictionCoeff)
+    {
+#ifdef DART_HAS_UPSTREAM_FRICTION_VARIABLE_NAMES
+      pDart.mPrimaryFrictionCoeff = pGz.frictionCoeff.value();
+#else
       pDart.mFrictionCoeff = pGz.frictionCoeff.value();
+#endif
+    }
     if (pGz.secondaryFrictionCoeff)
       pDart.mSecondaryFrictionCoeff = pGz.secondaryFrictionCoeff.value();
     if (pGz.slipCompliance)
+    {
+#ifdef DART_HAS_UPSTREAM_FRICTION_VARIABLE_NAMES
+      pDart.mPrimarySlipCompliance = pGz.slipCompliance.value();
+#else
       pDart.mSlipCompliance = pGz.slipCompliance.value();
+#endif
+    }
     if (pGz.secondarySlipCompliance)
       pDart.mSecondarySlipCompliance = pGz.secondarySlipCompliance.value();
     if (pGz.restitutionCoeff)