Added Friction and ODE classes #955
Conversation
Signed-off-by: ahcorde <ahcorde@gmail.com>
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@azeey this might be the right time to try to clean up our friction parameters, per #31 and specifically this comment: #31 (comment) |
I think @ahcorde is pressed for time and needs this for the USD-SDF work. But yeah, we might be able to make time for it in the next couple months. |
oh I didn't look at the labels and thought this was for mujoco. Since this PR is creating an API, I'd like to think a little extra about its design |
my main concern is that the fact that all friction parameters are in the so, do we want to encode the hacky SDFormat structure in our C++ API in libsdformat12 and then deprecate it in libsdformat13? The advantage of that would be that we could get it merged faster, and that it maintains a transparent mapping between the DOM API and the SDFormat data structure. Or do we want to try for a better API now? |
after discussing offline, it sounds reasonable to proceed with this approach for |
Codecov Report
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## sdf12 gazebosim/sdformat#955 +/- ##
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Coverage 65.38% 65.38%
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Files 2 2
Lines 26 26
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Hits 17 17
Misses 9 9 Continue to review full report at Codecov.
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src/Surface.cc
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| // \todo(nkoenig) Parse the remaining collide properties. |
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Is this TODO needed? If so, can you update it?
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Signed-off-by: Alejandro Hernández <ahcorde@gmail.com>
src/Surface.cc
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| // \todo(nkoenig) Parse the remaining collide properties. |
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Signed-off-by: Alejandro Hernández <ahcorde@gmail.com>
Signed-off-by: ahcorde ahcorde@gmail.com
🎉 New feature
related with this issue https://github.com/ignitionrobotics/sdformat/issues/954
Summary
Added Friction and ODE classes
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