Merge branch 'main' into bump_edifice_ign-common

Signed-off-by: Louise Poubel <[email protected]>

.github/CODEOWNERS

@@ -3,4 +3,3 @@
 
 *                     @mxgrey
 include/*             @scpeters
-tpe/*                 @claireyywang

.github/ISSUE_TEMPLATE/bug_report.md

@@ -0,0 +1,29 @@
+---
+name: Bug report
+about: Report a bug
+labels: bug
+---
+
+<!-- If you're not sure whether your problem is a bug, please ask a question at
+http://answers.gazebosim.org instead.-->
+
+## Environment
+* OS Version: <!-- e.g, Ubuntu 20.04 -->
+* Source or binary build?
+  <!-- If binary, which version? -->
+  <!-- If source, which branch and what is the latest commit? -->
+
+## Description
+* Expected behavior: <!-- Tell us what you expected to happen -->
+* Actual behavior: <!-- What happened instead -->
+
+## Steps to reproduce
+<!-- Provide steps so we can try to reproduce this issue -->
+
+1.
+2.
+3.
+
+## Output
+<!-- Provide screenshots, console logs, backtraces, and/or anything that could
+be useful to us resolving this issue -->

.github/ISSUE_TEMPLATE/feature_request.md

@@ -0,0 +1,23 @@
+---
+name: Feature request
+about: Request a new feature
+labels: enhancement
+---
+
+<!-- If you're not sure on the specifics of the feature or would like a broader
+discussion, please ask consider posting a proposal to
+http://community.gazebosim.org/ instead.-->
+
+## Desired behavior
+<!-- Describe the current problem and the feature you want implemented.-->
+
+## Alternatives considered
+<!-- Describe alternate solutions or features you've considered.-->
+
+## Implementation suggestion
+<!-- Provide a suggestion on how to implement this feature, which could help us
+expedite this implementation.-->
+
+## Additional context
+<!-- Provide any other additional context (e.g., screenshots) about your feature
+request.-->

.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,52 @@
+<!-- Please remove the appropriate section.
+For example, if this is a new feature, remove the "Bug Report" section -->
+
+# Bug Report
+
+Fixes issue #<NUMBER>
+
+## Summary
+<!-- Describe your fix, including an explanation of how to reproduce the bug
+before and after the PR.-->
+
+## Checklist
+- [ ] Signed all commits for DCO
+- [ ] Added tests
+- [ ] Updated documentation (as needed)
+- [ ] Updated migration guide (as needed)
+- [ ] `codecheck` passed (See
+  [contributing](https://ignitionrobotics.org/docs/all/contributing#contributing-code))
+- [ ] All tests passed (See
+  [test coverage](https://ignitionrobotics.org/docs/all/contributing#test-coverage))
+- [ ] While waiting for a review on your PR, please help review
+[another open pull request](https://github.com/pulls?q=is%3Aopen+is%3Apr+user%3Aignitionrobotics+archived%3Afalse+)
+to support the maintainers
+
+**Note to maintainers**: Remember to use **Squash-Merge**
+
+---
+
+# New feature
+
+Closes #<NUMBER>
+
+## Summary
+<!--Explain changes made, the expected behavior, and provide any other additional
+context (e.g., screenshots, gifs) if appropriate.-->
+
+## Test it
+<!--Explain how reviewers can test this new feature manually.-->
+
+## Checklist
+- [ ] Signed all commits for DCO
+- [ ] Added tests
+- [ ] Added example world and/or tutorial
+- [ ] Updated documentation (as needed)
+- [ ] Updated migration guide (as needed)
+- [ ] `codecheck` passed (See [contributing](https://ignitionrobotics.org/docs/all/contributing#contributing-code))
+- [ ] All tests passed (See [test coverage](https://ignitionrobotics.org/docs/all/contributing#test-coverage))
+- [ ] While waiting for a review on your PR, please help review
+[another open pull request](https://github.com/pulls?q=is%3Aopen+is%3Apr+user%3Aignitionrobotics+archived%3Afalse+)
+to support the maintainers
+
+**Note to maintainers**: Remember to use **Squash-Merge**

.github/PULL_REQUEST_TEMPLATE/port.md

@@ -0,0 +1,6 @@
+Port <FROM_BRANCH> to <TO_BRANCH>
+
+Branch comparison: https://github.com/ignitionrobotics/ign-physics/compare/<FROM_BRANCH>...<TO_BRANCH>
+
+**Note to maintainers**: Remember to **Merge** with commit (not squash-merge
+or rebase)

.github/ci/packages.apt

@@ -5,4 +5,5 @@ libignition-common4-dev
 libignition-math6-dev
 libignition-math6-eigen3-dev
 libignition-plugin-dev
+libignition-utils-dev
 libsdformat11-dev

CMakeLists.txt

@@ -50,6 +50,11 @@ set(IGN_MATH_VER ${ignition-math6_VERSION_MAJOR})
 ign_find_package(ignition-plugin1 REQUIRED COMPONENTS all VERSION 1.1)
 set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
 
+#--------------------------------------
+# Find ignition-utils
+ign_find_package(ignition-utils1 REQUIRED COMPONENTS cli)
+set(IGN_UTILS_VER ${ignition-utils1_VERSION_MAJOR})
+
 #--------------------------------------
 # Find Eigen
 ign_find_package(EIGEN3 REQUIRED)

Migration.md

@@ -5,6 +5,20 @@ Deprecated code produces compile-time warnings. These warning serve as
 notification to users that their code should be upgraded. The next major
 release will remove the deprecated code.
 
+## Ignition Physics 3.X to 4.X
+
+### Modifications
+
+1. Depends on ignition-utils1.
+
+1. Depends on sdformat11.
+
+## Ignition Physics 2.X to 3.X
+
+### Modifications
+
+1. Depends on sdformat10.
+
 ## Ignition Physics 1.X to 2.X
 
 ### Modifications

README.md

@@ -28,10 +28,6 @@ designed to support simulation and rapid development of robot applications.
 
 [Usage](#usage)
 
-[Documentation](#documentation)
-
-[Testing](#testing)
-
 [Folder Structure](#folder-structure)
 
 [Code of Conduct](#code-of-conduct)
@@ -93,7 +89,7 @@ You can also generate the documentation from a clone of this repository by follo
 2. Clone the repository
 
     ```
-    git clone https://github.com/ignitionrobotics/ign-physics -b master
+    git clone https://github.com/ignitionrobotics/ign-physics -b ign-physics3
     ```
 
 3. Configure and build the documentation.

dartsim/src/Base.hh

@@ -33,6 +33,8 @@
 #include <ignition/common/Console.hh>
 #include <ignition/physics/Implements.hh>
 
+#include <sdf/Types.hh>
+
 namespace ignition {
 namespace physics {
 namespace dartsim {
@@ -256,6 +258,7 @@ class Base : public Implements3d<FeatureList<Feature>>
     this->worlds.idToContainerID[id] = 0;
 
     _world->setName(_name);
+    this->frames[id] = dart::dynamics::Frame::World();
 
     return id;
   }
@@ -278,6 +281,7 @@ class Base : public Implements3d<FeatureList<Feature>>
     world->addSkeleton(entry.model);
 
     this->models.idToContainerID[id] = _worldID;
+    this->frames[id] = _info.frame.get();
 
     assert(indexInContainerToID.size() == world->getNumSkeletons());
 
@@ -341,12 +345,71 @@ class Base : public Implements3d<FeatureList<Feature>>
     world->removeSkeleton(skel);
   }
 
+  static bool SkeletonNameEndsWithModelName(
+      const std::string &_skeletonName, const std::string &_modelName)
+  {
+    if (_modelName.empty())
+      return true;
+
+    if (_skeletonName.size() < _modelName.size())
+      return false;
+
+    // If _modelName comes from a nested model, it might actually be shorter
+    // than _skeletonName. E.g -> _skeletonName = a::b::c, _modelName = b::c
+    const size_t compareStartPosition =
+      _skeletonName.size() - _modelName.size();
+    return _skeletonName.compare(
+      compareStartPosition, _modelName.size(), _modelName) == 0;
+  }
+
+  /// \brief Finds the skeleton in the world that matches the qualified name
+  /// If more than one match exists, it will return null
+  /// \param[in] _worldID Which world to search.
+  /// \param[in] _name Name of entity.
+  /// \return Pointer to skeleton if exactly one match was found, otherwise null
+  public: DartSkeletonPtr FindContainingSkeletonFromName(
+      const dart::simulation::WorldPtr &_world, const std::string &_name)
+  {
+    if (_world == nullptr)
+      return nullptr;
+
+    if (_name == "world")
+      return nullptr;
+
+    const auto[skeletonName, entityName] = ::sdf::SplitName(_name);
+    std::vector<DartSkeletonPtr> matches;
+    for (size_t i = 0; i < _world->getNumSkeletons(); ++i)
+    {
+      auto candidateSkeleton = _world->getSkeleton(i);
+      if (SkeletonNameEndsWithModelName(
+        candidateSkeleton->getName(), skeletonName))
+      {
+        // There may be multiple skeletons that match the model name, only match
+        // those that contain a matching entity
+        auto * node = candidateSkeleton->getBodyNode(entityName);
+        if (nullptr != node)
+          matches.push_back(candidateSkeleton);
+      }
+    }
+
+    // It's possible there was more than 1 match
+    // (e.g. b::c matches both a::b::c and d::b::c)
+    if (matches.size() == 1)
+      return matches.front();
+    else if (matches.size() > 1)
+    {
+      ignerr << "Found " << matches.size() << " for " << _name << std::endl;
+      return nullptr;
+    }
+    return nullptr;
+  }
+
   public: EntityStorage<DartWorldPtr, std::string> worlds;
   public: EntityStorage<ModelInfoPtr, DartConstSkeletonPtr> models;
   public: EntityStorage<LinkInfoPtr, const DartBodyNode*> links;
   public: EntityStorage<JointInfoPtr, const DartJoint*> joints;
   public: EntityStorage<ShapeInfoPtr, const DartShapeNode*> shapes;
-  public: std::unordered_map<std::size_t, const dart::dynamics::Frame*> frames;
+  public: std::unordered_map<std::size_t, dart::dynamics::Frame*> frames;
 };
 
 }