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Fix buoyancy not being applied for one iteration #1211

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Merged
merged 5 commits into from
Nov 30, 2021
Merged

Fix buoyancy not being applied for one iteration #1211

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e42e306
Don't waite on new inertia
arjo129 Nov 16, 2021
adfb751
codecheck
arjo129 Nov 24, 2021
eb842e0
fix unit tests
arjo129 Nov 24, 2021
18d3e67
Merge branch 'ign-gazebo6' into arjo/fix/uniform_buoyancy
arjo129 Nov 24, 2021
4d9c500
Merge branch 'ign-gazebo6' into arjo/fix/uniform_buoyancy
arjo129 Nov 30, 2021
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23 changes: 13 additions & 10 deletions src/systems/buoyancy/Buoyancy.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -441,11 +441,6 @@ void Buoyancy::PreUpdate(const ignition::gazebo::UpdateInfo &_info,
{
auto newPose = enableComponent<components::Inertial>(_ecm, _entity);
newPose |= enableComponent<components::WorldPose>(_ecm, _entity);
if (newPose)
{
// Skip entity if WorldPose and inertial are not yet ready
return true;
}

// World pose of the link.
math::Pose3d linkWorldPose = worldPose(_entity, _ecm);
Expand Down Expand Up @@ -477,6 +472,13 @@ void Buoyancy::PreUpdate(const ignition::gazebo::UpdateInfo &_info,
else if (this->dataPtr->buoyancyType
== BuoyancyPrivate::BuoyancyType::GRADED_BUOYANCY)
{
if (newPose)
{
// Skip entity if WorldPose and inertial are not yet ready
// TODO(arjo): Find a way of disabling gravity effects for
// this first iteration.
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I think we may be able to avoid this skip if we use gazebo::worldPose instead of the WorldPose component. That function should provide the world pose straight away.

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Hmm, but we need to use link::WorldInertialPose...

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Ahh I see, maybe the implementation of that method can be improved 🤔

return true;
}
std::vector<Entity> collisions = _ecm.ChildrenByComponents(
_entity, components::Collision());
this->dataPtr->buoyancyForces.clear();
Expand Down Expand Up @@ -521,12 +523,13 @@ void Buoyancy::PreUpdate(const ignition::gazebo::UpdateInfo &_info,
}
}
}
}
auto [force, torque] = this->dataPtr->ResolveForces(
auto [force, torque] = this->dataPtr->ResolveForces(
link.WorldInertialPose(_ecm).value());
// Apply the wrench to the link. This wrench is applied in the
// Physics System.
link.AddWorldWrench(_ecm, force, torque);
// Apply the wrench to the link. This wrench is applied in the
// Physics System.
link.AddWorldWrench(_ecm, force, torque);
}

return true;
});
}
Expand Down
2 changes: 1 addition & 1 deletion test/integration/buoyancy.cc
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Expand Up @@ -57,7 +57,7 @@ TEST_F(BuoyancyTest, UniformWorldMovement)
using namespace std::chrono_literals;
server.SetUpdatePeriod(1ns);

std::size_t iterations = 1001;
std::size_t iterations = 1000;

bool finished = false;
test::Relay testSystem;
Expand Down