Merge 7 -> 8

include/gz/sim/components/Gravity.hh

@@ -36,6 +36,11 @@ namespace components
   /// \brief Store the gravity acceleration.
   using Gravity = Component<math::Vector3d, class GravityTag>;
   GZ_SIM_REGISTER_COMPONENT("gz_sim_components.Gravity", Gravity)
+
+  /// \brief Store the gravity acceleration.
+  using GravityEnabled = Component<bool, class GravityEnabledTag>;
+  GZ_SIM_REGISTER_COMPONENT(
+      "gz_sim_components.GravityEnabled", GravityEnabled)
 }
 }
 }

src/Conversions.cc

@@ -268,6 +268,10 @@ msgs::Geometry gz::sim::convert(const sdf::Geometry &_in)
       }
     }
   }
+  else if (_in.Type() == sdf::GeometryType::EMPTY)
+  {
+    out.set_type(msgs::Geometry::EMPTY);
+  }
   else
   {
     gzerr << "Geometry type [" << static_cast<int>(_in.Type())

src/Conversions_TEST.cc

@@ -1203,3 +1203,13 @@ TEST(Conversions, MsgsPluginToSdf)
   EXPECT_EQ(innerXml, sdfPlugins[1].Contents()[0]->ToString(""));
   EXPECT_EQ(innerXml2, sdfPlugins[1].Contents()[1]->ToString(""));
 }
+
+/////////////////////////////////////////////////
+TEST(Conversions, GeometryEmpty)
+{
+  sdf::Geometry geometry;
+  geometry.SetType(sdf::GeometryType::EMPTY);
+
+  auto geometryMsg = convert<msgs::Geometry>(geometry);
+  EXPECT_EQ(msgs::Geometry::EMPTY, geometryMsg.type());
+}

src/ModelCommandAPI_TEST.cc

@@ -608,7 +608,7 @@ TEST(ModelCommandAPI, GZ_UTILS_TEST_DISABLED_ON_MAC(RgbdCameraSensor))
   // Run without blocking.
   server.Run(false, 0, false);
 
-  // Tested command: gz model -m altimeter_mode -l link -s altimeter_sensor
+  // Tested command: gz model -m rgbd_camera -l rgbd_camera_link -s rgbd_camera
   {
     const std::string cmd = kGzModelCommand
       + "-m rgbd_camera -l rgbd_camera_link -s rgbd_camera";

src/SdfEntityCreator.cc

@@ -572,6 +572,13 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Link *_link)
         linkEntity, components::WindMode(_link->EnableWind()));
   }
 
+  if (!_link->EnableGravity())
+  {
+    // If disable gravity, create a GravityEnabled component to the entity
+    this->dataPtr->ecm->CreateComponent(
+        linkEntity, components::GravityEnabled(false));
+  }
+
   // Visuals
   for (uint64_t visualIndex = 0; visualIndex < _link->VisualCount();
       ++visualIndex)

src/systems/logical_audio_sensor_plugin/LogicalAudioSensorPlugin.cc

@@ -405,12 +405,11 @@ void LogicalAudioSensorPluginPrivate::CreateAudioSource(
     };
 
   // create services for this source
-  const auto fullName = scopedName(entity, _ecm);
-  auto validName = transport::TopicUtils::AsValidTopic(fullName);
+  const auto validName = topicFromScopedName(entity, _ecm, false);
   if (validName.empty())
   {
     gzerr << "Failed to create valid topics with entity scoped name ["
-           << fullName << "]" << std::endl;
+           << scopedName(entity, _ecm) << "]" << std::endl;
     return;
   }
   if (!this->node.Advertise(validName + "/play", playSrvCb))
@@ -504,7 +503,7 @@ void LogicalAudioSensorPluginPrivate::CreateMicrophone(
 
   // create the detection publisher for this microphone
   auto pub = this->node.Advertise<msgs::Double>(
-      scopedName(entity, _ecm) + "/detection");
+      topicFromScopedName(entity, _ecm, false) + "/detection");
   if (!pub)
   {
     gzerr << "Error creating a detection publisher for microphone "

src/systems/physics/Physics.cc

@@ -622,6 +622,14 @@ class gz::sim::systems::PhysicsPrivate
   public: struct SolverFeatureList : gz::physics::FeatureList<
             gz::physics::Solver>{};
 
+  //////////////////////////////////////////////////
+  // CollisionPairMaxContacts
+  /// \brief Feature list for setting and getting the max total contacts for
+  /// collision pairs
+  public: struct CollisionPairMaxContactsFeatureList :
+            gz::physics::FeatureList<
+            gz::physics::CollisionPairMaxContacts>{};
+
   //////////////////////////////////////////////////
   // Nested Models
 
@@ -647,7 +655,8 @@ class gz::sim::systems::PhysicsPrivate
           NestedModelFeatureList,
           CollisionDetectorFeatureList,
           SolverFeatureList,
-          WorldModelFeatureList
+          WorldModelFeatureList,
+          CollisionPairMaxContactsFeatureList
           >;
 
   /// \brief A map between world entity ids in the ECM to World Entities in
@@ -1026,6 +1035,33 @@ void PhysicsPrivate::CreateWorldEntities(const EntityComponentManager &_ecm,
           }
         }
 
+        auto physicsComp =
+            _ecm.Component<components::Physics>(_entity);
+        if (physicsComp)
+        {
+          auto maxContactsFeature =
+              this->entityWorldMap.EntityCast<
+              CollisionPairMaxContactsFeatureList>(_entity);
+          if (!maxContactsFeature)
+          {
+            static bool informed{false};
+            if (!informed)
+            {
+              gzdbg << "Attempting to set physics options, but the "
+                     << "phyiscs engine doesn't support feature "
+                     << "[CollisionPairMaxContacts]. "
+                     << "Options will be ignored."
+                     << std::endl;
+              informed = true;
+            }
+          }
+          else
+          {
+            maxContactsFeature->SetCollisionPairMaxContacts(
+              physicsComp->Data().MaxContacts());
+          }
+        }
+
         // World Model proxy (used for joints directly under <world> in SDF)
         auto worldModelFeature =
             this->entityWorldMap.EntityCast<WorldModelFeatureList>(_entity);
@@ -1287,6 +1323,15 @@ void PhysicsPrivate::CreateLinkEntities(const EntityComponentManager &_ecm,
           link.SetInertial(inertial->Data());
         }
 
+        // get link gravity
+        const components::GravityEnabled *gravityEnabled =
+            _ecm.Component<components::GravityEnabled>(_entity);
+        if (nullptr != gravityEnabled)
+        {
+          // gravityEnabled set in SdfEntityCreator::CreateEntities()
+          link.SetEnableGravity(gravityEnabled->Data());
+        }
+
         auto constructLinkFeature =
           this->entityModelMap.EntityCast<ConstructSdfLinkFeatureList>(
             _parent->Data());

src/systems/pose_publisher/PosePublisher.cc

@@ -252,8 +252,7 @@ void PosePublisher::Configure(const Entity &_entity,
   this->dataPtr->usePoseV =
     _sdf->Get<bool>("use_pose_vector_msg", this->dataPtr->usePoseV).first;
 
-  std::string poseTopic = scopedName(_entity, _ecm) + "/pose";
-  poseTopic = transport::TopicUtils::AsValidTopic(poseTopic);
+  std::string poseTopic = topicFromScopedName(_entity, _ecm, false) + "/pose";
   if (poseTopic.empty())
   {
     poseTopic = "/pose";