Iterate through changed links only in UpdateSim (#678)

Signed-off-by: Ashton Larkin <[email protected]>

src/systems/physics/EntityFeatureMap.hh

@@ -137,6 +137,7 @@ namespace systems::physics_system
         return castEntity;
       }
     }
+
     /// \brief Helper function to cast from an entity type with minimum features
     /// to an entity with a different set of features. This overload takes a
     /// physics entity as input
@@ -187,6 +188,21 @@ namespace systems::physics_system
       return kNullEntity;
     }
 
+    /// \brief Get the physics entity with required features that has a
+    /// particular ID
+    /// \param[in] _id The ID of the desired physics entity
+    /// \return If found, returns the corresponding physics entity. Otherwise,
+    /// nullptr
+    public: RequiredEntityPtr GetPhysicsEntityPtr(std::size_t _id) const
+    {
+      auto it = this->physEntityById.find(_id);
+      if (it != this->physEntityById.end())
+      {
+        return it->second;
+      }
+      return nullptr;
+    }
+
     /// \brief Check whether there is a physics entity associated with the given
     /// Gazebo entity
     /// \param[in] _entity Gazebo entity.
@@ -215,6 +231,7 @@ namespace systems::physics_system
     {
       this->entityMap[_entity] = _physicsEntity;
       this->reverseMap[_physicsEntity] = _entity;
+      this->physEntityById[_physicsEntity->EntityID()] = _physicsEntity;
     }
 
     /// \brief Remove entity from all associated maps
@@ -226,8 +243,9 @@ namespace systems::physics_system
       if (it != this->entityMap.end())
       {
         this->reverseMap.erase(it->second);
-        this->entityMap.erase(it);
+        this->physEntityById.erase(it->second->EntityID());
         this->castCache.erase(_entity);
+        this->entityMap.erase(it);
         return true;
       }
       return false;
@@ -242,8 +260,9 @@ namespace systems::physics_system
       if (it != this->reverseMap.end())
       {
         this->entityMap.erase(it->second);
-        this->reverseMap.erase(it);
+        this->physEntityById.erase(it->first->EntityID());
         this->castCache.erase(it->second);
+        this->reverseMap.erase(it);
         return true;
       }
       return false;
@@ -257,13 +276,13 @@ namespace systems::physics_system
       return this->entityMap;
     }
 
-    /// \brief Get the total number of entries in the three maps. Only used for
+    /// \brief Get the total number of entries in the maps. Only used for
     /// testing.
     /// \return Number of entries in all the maps.
     public: std::size_t TotalMapEntryCount() const
     {
       return this->entityMap.size() + this->reverseMap.size() +
-             this->castCache.size();
+             this->castCache.size() + this->physEntityById.size();
     }
 
     /// \brief Map from Gazebo entity to physics entities with required features
@@ -272,6 +291,10 @@ namespace systems::physics_system
     /// \brief Reverse map of entityMap
     private: std::unordered_map<RequiredEntityPtr, Entity> reverseMap;
 
+    /// \brief Map of physics entity IDs to the corresponding physics entity
+    /// with required features
+    private: std::unordered_map<std::size_t, RequiredEntityPtr> physEntityById;
+
     /// \brief Cache map from Gazebo entity to physics entities with optional
     /// features
     private: mutable std::unordered_map<Entity, ValueType> castCache;

src/systems/physics/EntityFeatureMap_TEST.cc

@@ -118,8 +118,8 @@ TEST_F(EntityFeatureMapFixture, AddCastRemoveEntity)
 
   testMap.AddEntity(gazeboWorld1Entity, testWorld1);
 
-  // After adding the entity, there should be one entry each in two maps
-  EXPECT_EQ(2u, testMap.TotalMapEntryCount());
+  // After adding the entity, there should be one entry each in three maps
+  EXPECT_EQ(3u, testMap.TotalMapEntryCount());
   EXPECT_EQ(testWorld1, testMap.Get(gazeboWorld1Entity));
   EXPECT_EQ(gazeboWorld1Entity, testMap.Get(testWorld1));
 
@@ -128,42 +128,42 @@ TEST_F(EntityFeatureMapFixture, AddCastRemoveEntity)
       testMap.EntityCast<TestOptionalFeatures1>(gazeboWorld1Entity);
   ASSERT_NE(nullptr, testWorld1Feature1);
   // After the cast, there should be one more entry in the cache map.
-  EXPECT_EQ(3u, testMap.TotalMapEntryCount());
+  EXPECT_EQ(4u, testMap.TotalMapEntryCount());
 
   // Cast to optional feature2
   auto testWorld1Feature2 =
       testMap.EntityCast<TestOptionalFeatures2>(gazeboWorld1Entity);
   ASSERT_NE(nullptr, testWorld1Feature2);
   // After the cast, the number of entries should remain the same because we
   // have not added an entity.
-  EXPECT_EQ(3u, testMap.TotalMapEntryCount());
+  EXPECT_EQ(4u, testMap.TotalMapEntryCount());
 
   // Add another entity
   WorldPtrType testWorld2 = this->engine->ConstructEmptyWorld("world2");
   testMap.AddEntity(gazeboWorld2Entity, testWorld2);
-  EXPECT_EQ(5u, testMap.TotalMapEntryCount());
+  EXPECT_EQ(7u, testMap.TotalMapEntryCount());
   EXPECT_EQ(testWorld2, testMap.Get(gazeboWorld2Entity));
   EXPECT_EQ(gazeboWorld2Entity, testMap.Get(testWorld2));
 
   auto testWorld2Feature1 =
       testMap.EntityCast<TestOptionalFeatures1>(testWorld2);
   ASSERT_NE(nullptr, testWorld2Feature1);
   // After the cast, there should be one more entry in the cache map.
-  EXPECT_EQ(6u, testMap.TotalMapEntryCount());
+  EXPECT_EQ(8u, testMap.TotalMapEntryCount());
 
   auto testWorld2Feature2 =
       testMap.EntityCast<TestOptionalFeatures2>(testWorld2);
   ASSERT_NE(nullptr, testWorld2Feature2);
   // After the cast, the number of entries should remain the same because we
   // have not added an entity.
-  EXPECT_EQ(6u, testMap.TotalMapEntryCount());
+  EXPECT_EQ(8u, testMap.TotalMapEntryCount());
 
   // Remove entitites
   testMap.Remove(gazeboWorld1Entity);
   EXPECT_FALSE(testMap.HasEntity(gazeboWorld1Entity));
   EXPECT_EQ(nullptr, testMap.Get(gazeboWorld1Entity));
   EXPECT_EQ(gazebo::kNullEntity, testMap.Get(testWorld1));
-  EXPECT_EQ(3u, testMap.TotalMapEntryCount());
+  EXPECT_EQ(4u, testMap.TotalMapEntryCount());
 
   testMap.Remove(testWorld2);
   EXPECT_FALSE(testMap.HasEntity(gazeboWorld2Entity));