Allow to enable/disable static and gravity #3007
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Signed-off-by: Alejandro Hernandez Cordero <[email protected]>
Signed-off-by: Alejandro Hernández Cordero <[email protected]>
caguero
reviewed
Aug 27, 2025
| @@ -41,6 +41,10 @@ namespace components | |||
| using GravityEnabled = Component<bool, class GravityEnabledTag>; | |||
| GZ_SIM_REGISTER_COMPONENT( | |||
| "gz_sim_components.GravityEnabled", GravityEnabled) | |||
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| /// \brief Store the gravity acceleration. | |||
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Nit: Update indentation. Also, is the comment correct? I'd expect something about store whether we want to enable gravity or not.
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| /// \brief Set a new state to change the model's gravity. | ||
| /// \param[in] _ecm Entity-component manager. | ||
| /// \param[in] _gravity New model state. |
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Replace _gravity with _enabled?
| /// deleted the following iteration. | ||
| public: std::unordered_set<Entity> staticStateCmdsToRemove; | ||
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| public: std::unordered_set<Entity> gravityEnabledCmdsToRemove; |
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| ////////////////////////////////////////////////// | ||
| // enabled gravity | ||
| /// \brief Feature list for model static state. |
| @@ -2101,6 +2122,30 @@ void PhysicsPrivate::RemovePhysicsEntities(const EntityComponentManager &_ecm) | |||
| void PhysicsPrivate::UpdatePhysics(EntityComponentManager &_ecm) | |||
| { | |||
| GZ_PROFILE("PhysicsPrivate::UpdatePhysics"); | |||
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| // _ecm.Each<components::Model, components::Name, components::Static>( | |||
| @@ -2743,6 +2923,7 @@ void PhysicsPrivate::ResetPhysics(EntityComponentManager &_ecm) | |||
| this->canonicalLinkModelTracker = CanonicalLinkModelTracker(); | |||
| this->modelWorldPoses.clear(); | |||
| this->worldPoseCmdsToRemove.clear(); | |||
| this->staticStateCmdsToRemove.clear(); | |||
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Should we also clear gravityEnabledCmdStoreremove?
| void Model::SetStaticStateCmd(EntityComponentManager &_ecm, | ||
| bool _state) | ||
| { | ||
| std::cout << "SetStaticState " << std::endl; |
| @@ -219,6 +220,44 @@ void Model::SetWorldPoseCmd(EntityComponentManager &_ecm, | |||
| } | |||
| } | |||
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| void Model::SetStaticStateCmd(EntityComponentManager &_ecm, | |||
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Nit: Add //////////////////////////////////////////////////
| } | ||
| } | ||
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| void Model::SetGravityEnabledCmd(EntityComponentManager &_ecm, |
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Nit: Add //////////////////////////////////////////////////
| void Model::SetGravityEnabledCmd(EntityComponentManager &_ecm, | ||
| bool _enabled) | ||
| { | ||
| std::cout << "SetGravityEnabledCmd " << std::endl; |
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🎉 New feature
Summary
Requires gazebosim/gz-physics#764
Allow to enable/disable gravity and static state
Test it
Checklist
codecheckpassed (See contributing)Generated-by: Remove this if GenAI was not used.
Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-byandGenerated-bymessages.