Set friction params in DARTCollision for dart 6.10

[scpeters]

They are currently being set in DARTLink; set them in DARTCollision instead if dart 6.10 is in use. Also for 6.10, set the friction direction parameter for DART and enable corresponding tests.

[scpeters]

I tinkered with enabling the DirectionNaN for dart in scpeters@b2623da, but it has a weird behavior. @azeey if you have a chance to review this PR, perhaps you might have some ideas about why that test is failing?

[azeey]

I tinkered with enabling the DirectionNaN for dart in scpeters@b2623da, but it has a weird behavior. @azeey if you have a chance to review this PR, perhaps you might have some ideas about why that test is failing?

Setting the collision detector to Bullet fixes the test for me. It's probably another one of those issues where FCL converts simple shapes to meshes. We can fix this by enabling this test only if HAVE_DART_BULLET is true and set the collision detector using DARTPhysics::SetParam. Alternatively, since this test uses boxes, we can use DART's builtin collision detector dart.

[scpeters]

I tinkered with enabling the DirectionNaN for dart in scpeters@b2623da, but it has a weird behavior. @azeey if you have a chance to review this PR, perhaps you might have some ideas about why that test is failing?

Setting the collision detector to Bullet fixes the test for me. It's probably another one of those issues where FCL converts simple shapes to meshes. We can fix this by enabling this test only if HAVE_DART_BULLET is true and set the collision detector using DARTPhysics::SetParam. Alternatively, since this test uses boxes, we can use DART's builtin collision detector dart.

ok, I've enabled the test in 9f706fe

[scpeters]

I tinkered with enabling the DirectionNaN for dart in scpeters@b2623da, but it has a weird behavior. @azeey if you have a chance to review this PR, perhaps you might have some ideas about why that test is failing?

Setting the collision detector to Bullet fixes the test for me. It's probably another one of those issues where FCL converts simple shapes to meshes. We can fix this by enabling this test only if HAVE_DART_BULLET is true and set the collision detector using DARTPhysics::SetParam. Alternatively, since this test uses boxes, we can use DART's builtin collision detector dart.

ok, I've enabled the test in 9f706fe

I don't check HAVE_DART_BULLET, so if the dart-bullet component is not installed, I think the test will fail, but I think that's ok

[azeey]

@osrf-jenkins run tests

[scpeters]

test look ok; the only semi-related test failure was from the MaximumDissipation friction test, but I've seen that flake multiple times:

• https://build.osrfoundation.org/job/gazebo-ci-pr_any-homebrew-amd64/2168/testReport/junit/(root)/PhysicsEngines_PhysicsFrictionTest/MaximumDissipation_0/

[scpeters]

also, I believe all these tests were with dart 6.9.4, so none of the new tests actually ran in CI, though I've tested them locally