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DetachableJoint plugin: Reattached model when world is resetted #2131

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DetachableJoint plugin: Reattached model when world is resetted #2131

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16 changes: 13 additions & 3 deletions src/systems/detachable_joint/DetachableJoint.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -212,6 +212,15 @@ void DetachableJoint::Configure(const Entity &_entity,
this->validConfig = true;
}

void DetachableJoint::Reset(const gz::sim::UpdateInfo &/*_info*/,
gz::sim::EntityComponentManager &/*_ecm*/)
{
// When the physics engine is resetted the detachable joint is removed
// We need to reattach it
this->attachRequested = true;
this->isAttached = false;
}

//////////////////////////////////////////////////
void DetachableJoint::PreUpdate(
const UpdateInfo &/*_info*/,
Expand Down Expand Up @@ -314,9 +323,10 @@ void DetachableJoint::OnDetachRequest(const msgs::Empty &)
}

GZ_ADD_PLUGIN(DetachableJoint,
System,
DetachableJoint::ISystemConfigure,
DetachableJoint::ISystemPreUpdate)
System,
DetachableJoint::ISystemConfigure,
DetachableJoint::ISystemPreUpdate,
DetachableJoint::ISystemReset)

GZ_ADD_PLUGIN_ALIAS(DetachableJoint,
"gz::sim::systems::DetachableJoint")
7 changes: 6 additions & 1 deletion src/systems/detachable_joint/DetachableJoint.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -73,7 +73,8 @@ namespace systems
class DetachableJoint
: public System,
public ISystemConfigure,
public ISystemPreUpdate
public ISystemPreUpdate,
public ISystemReset
{
/// Documentation inherited
public: DetachableJoint() = default;
Expand All @@ -89,6 +90,10 @@ namespace systems
const gz::sim::UpdateInfo &_info,
gz::sim::EntityComponentManager &_ecm) final;

/// Documentation inherited
public: void Reset(const gz::sim::UpdateInfo &_info,
gz::sim::EntityComponentManager &_ecm) final;

/// \brief Gazebo communication node.
private: transport::Node node;

Expand Down