[Citadel] Physics Plugin Documentation #36
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Signed-off-by: claireyywang <[email protected]>
Signed-off-by: claireyywang <[email protected]>
azeey
approved these changes
Apr 22, 2020
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| #### Feature Comparison | ||
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| The following is a table of implemented `Features` of Dartsim and TPE-Plugin. |
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| The following is a table of implemented `Features` of Dartsim and TPE-Plugin. | |
| The following is a table of implemented `Features` of Dartsim, TPE-Plugin, and Bullet. |
tutorials/03_physics_plugins.md
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| | Features | Dartsim | TPE-Plugin | Bullet | | ||
| |:-:|:-:|:-:|:-:| | ||
| | Base | ✓ | ✓ | ✓ | |
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I don't think Base is a feature.
tutorials/03_physics_plugins.md
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| | Features | Dartsim | TPE-Plugin | Bullet | | ||
| |:-:|:-:|:-:|:-:| | ||
| | Base | ✓ | ✓ | ✓ | | ||
| | RetrieveWorld | ✓ | ✓ | ✕ | |
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RetrieveWorld is a DART specific (maybe also TPE specific) feature used for testing internally. I'm not sure if it should be mentioned here.
added 2 commits
April 23, 2020 21:55
Signed-off-by: claireyywang <[email protected]>
iche033
reviewed
Apr 28, 2020
tutorials/03_physics_plugins.md
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| | Frame | Frame | N/A | N/A | | ||
| | Model | Skeleton | Model | MultiBody | | ||
| | Joint | Joint | N/A | MultiBodyJoint | | ||
| | Link | BodyNode | Link | Scalar | |
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I think our bullet implementation does not use any specific class for links since we just index into a MultiBody. Is this what you mean by Scalar?
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I got Scalar from the bullet engine source code. Should I change this to N/A then?
Signed-off-by: claireyywang <[email protected]>
iche033
approved these changes
Apr 29, 2020
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This doc focuses on a couple of things about Ignition Physics
dart,tpedartsimandtpe-pluginThe goal is to help users choose which physics engine to use, and gain insight in how physics plugins works and is implemented, thus also prepare them to write their own plugin.
I decided to remove
Bulletfrom doc since it is unlikely to be merged before Blueprint EOL.