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Populate names of colliding entities in contact points message #1351

Merged
merged 10 commits into from
Feb 28, 2022
Merged

Populate names of colliding entities in contact points message #1351

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e5d4de8
Add names to collision entities
adityapande-1995 Feb 18, 2022
c549793
Add complete names of entities
adityapande-1995 Feb 18, 2022
04e0439
Added test case
adityapande-1995 Feb 19, 2022
b683fe7
Changed delimiter, removed entity types from name, minor cleanup
adityapande-1995 Feb 22, 2022
e08983e
Added parameter to disable populating colliding entity names
adityapande-1995 Feb 24, 2022
ed305a9
Minor refactoring, added docstring
adityapande-1995 Feb 25, 2022
9cc5fab
Merge branch 'ign-gazebo6' into aditya/contact_pts_set_entity_names
adityapande-1995 Feb 25, 2022
8fd3463
Merge branch 'ign-gazebo6' into aditya/contact_pts_set_entity_names
adityapande-1995 Feb 25, 2022
d915bef
Merge branch 'ign-gazebo6' into aditya/contact_pts_set_entity_names
azeey Feb 25, 2022
84faae9
Added default value of parameter, test case without the sdf tag
adityapande-1995 Feb 26, 2022
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4 changes: 4 additions & 0 deletions src/systems/physics/Physics.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -3259,7 +3259,11 @@ void PhysicsPrivate::UpdateCollisions(EntityComponentManager &_ecm)
{
msgs::Contact *contactMsg = contactsComp.add_contact();
contactMsg->mutable_collision1()->set_id(_collEntity1);
contactMsg->mutable_collision1()->set_name(
removeParentScope(scopedName(_collEntity1, _ecm, "::", 0), "::"));
contactMsg->mutable_collision2()->set_id(collEntity2);
contactMsg->mutable_collision2()->set_name(
removeParentScope(scopedName(collEntity2, _ecm, "::", 0), "::"));
for (const auto &contact : contactData)
{
auto *position = contactMsg->add_position();
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6 changes: 6 additions & 0 deletions test/integration/contact_system.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -100,6 +100,12 @@ TEST_F(ContactSystemTest,
EXPECT_NEAR(0.25, std::abs(contact.position(0).x()), 5e-2);
EXPECT_NEAR(1, std::abs(contact.position(0).y()), 5e-2);
EXPECT_NEAR(1, contact.position(0).z(), 5e-2);
bool entityNameFound =
contact.collision1().name() ==
"contact_model::link::collision_sphere1" ||
contact.collision1().name() ==
"contact_model::link::collision_sphere2";
EXPECT_TRUE(entityNameFound);
}
}

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