Physics System populates link bounding boxes (backport #2821) #2964
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Computes the link bounding boxes for all link entities that have components::AxisAlignedBox present. The computation follows the same logic as the models bbox, but falls back to the SDF calculation introduced in #2787 in case the feature is not present for the selected physics plugin. --------- Signed-off-by: Gabriel Pacheco <gabriel.fpacheco@gmail.com> Co-authored-by: Ian Chen <ichen@openrobotics.org> (cherry picked from commit 716de42)
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@osrf-jenkins run tests please |
iche033
approved these changes
Jul 8, 2025
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🎉 New feature
Follow-up of #2787
Summary
Computes the link bounding boxes for all link entities that have
components::AxisAlignedBoxpresent. The computation follows the same logic as the models bbox, but falls back to the SDF calculation introduced in #2787 in case the feature is not present for the selected physics plugin.Test it
Run the following integration test:
./build/gz-sim9/bin/INTEGRATION_physics_system --gtest_filter=*LinkBoundingBox*It will load
bounding_boxes.sdfworld (see below) and perform link AABB checks while the models free-fall until reaching the ground.Checklist
codecheckpassed (See contributing)Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining
Signed-off-bymessages.This is an automatic backport of pull request #2821 done by [Mergify](https://mergify.com).