Buoyancy plugin refactor (#500)

* Wave plugin refactor. Signed-off-by: Carlos Agüero <[email protected]>
osrf · Sep 8, 2022 · 3fb3b62 · 3fb3b62
1 parent 2c28242
commit 3fb3b62
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Showing 13 changed files with 1,751 additions and 160 deletions.
diff --git a/vrx_ign/CMakeLists.txt b/vrx_ign/CMakeLists.txt
@@ -20,6 +20,8 @@ find_package(ignition-plugin1 REQUIRED COMPONENTS loader register)
 set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
 find_package(ignition-rendering6 REQUIRED)
 set(IGN_RENDERING_VER ${ignition-rendering6_VERSION_MAJOR})
+find_package(ignition-utils1 REQUIRED)
+set(IGN_UTILS_VER ${ignition-utils1_VERSION_MAJOR})
 find_package(sdformat12 REQUIRED)
 
 find_package(std_msgs REQUIRED)
@@ -44,6 +46,22 @@ install(
   TARGETS Waves
   DESTINATION lib)
 
+# Buoyancy
+add_library(PolyhedraBuoyancyDrag SHARED
+  src/PolyhedraBuoyancyDrag.cc
+  src/PolyhedronVolume.cc
+  src/ShapeVolume.cc
+)
+target_link_libraries(PolyhedraBuoyancyDrag PUBLIC
+  ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
+  ignition-gazebo${IGN_GAZEBO_VER}::core
+  ignition-math${IGN_MATH_VER}
+  Waves
+)
+install(
+  TARGETS PolyhedraBuoyancyDrag
+  DESTINATION lib)
+
 # Plugins
 list(APPEND VRX_IGN_PLUGINS
   SimpleHydrodynamics
@@ -57,8 +75,9 @@ foreach(PLUGIN ${VRX_IGN_PLUGINS})
     ignition-gazebo${IGN_GAZEBO_VER}::core
     ignition-plugin${IGN_PLUGIN_VER}::ignition-plugin${IGN_PLUGIN_VER}
     ignition-rendering${IGN_RENDERING_VER}::ignition-rendering${IGN_RENDERING_VER}
+    ignition-utils${IGN_UTILS_VER}::ignition-utils${IGN_UTILS_VER}
     Waves
-  )
+)
 endforeach()
 
 install(
@@ -78,5 +97,4 @@ install(DIRECTORY
   launch
   DESTINATION share/${PROJECT_NAME})
 
-
 ament_package()
diff --git a/vrx_ign/models/wam-v/model.sdf.erb b/vrx_ign/models/wam-v/model.sdf.erb
@@ -69,16 +69,48 @@ end
     <topic><%= $model_name%>/right/thruster/joint/cmd_pos</topic>
   </plugin>
 
+  <!-- Left hull -->
   <plugin
     filename="libSurface.so"
     name="vrx::Surface">
     <link_name>base_link</link_name>
-    <vehicle_length>4.9</vehicle_length>
-    <vehicle_width>2.4</vehicle_width>
+    <hull_length>4.9</hull_length>
     <hull_radius>0.213</hull_radius>
     <fluid_level>0</fluid_level>
+    <points>
+      <point>0.6 1.03 0</point>
+      <point>-1.4 1.03 0</point>
+    </points>
+    <wavefield>
+      <size><%= $wavefield_size%> <%= $wavefield_size%></size>
+      <cell_count><%= $wavefield_cell_count%> <%=$wavefield_cell_count%></cell_count>
+      <wave>
+        <model>PMS</model>
+        <period>5.0</period>
+        <number>3</number>
+        <scale>1.1</scale>
+        <gain>0.3</gain>
+        <direction>1 0</direction>
+        <angle>0.4</angle>
+        <tau>2.0</tau>
+        <amplitude>0.0</amplitude>
+        <steepness>0.0</steepness>
+      </wave>
+    </wavefield>
+  </plugin>
 
-    <!-- Waves -->
+  <!-- Right hull -->
+  <plugin
+    filename="libSurface.so"
+    name="vrx::Surface">
+    <link_name>base_link</link_name>
+    <hull_length>4.9</hull_length>
+    <hull_radius>0.213</hull_radius>
+    <fluid_level>0</fluid_level>
+    <points>
+      <point>0.6 -1.03 0</point>
+      <point>-1.4 -1.03 0</point>
+    </points>
     <wavefield>
       <size><%= $wavefield_size%> <%= $wavefield_size%></size>
       <cell_count><%= $wavefield_cell_count%> <%=$wavefield_cell_count%></cell_count>
@@ -87,7 +119,7 @@ end
         <period>5.0</period>
         <number>3</number>
         <scale>1.1</scale>
-        <gain>0.5</gain>
+        <gain>0.3</gain>
         <direction>1 0</direction>
         <angle>0.4</angle>
         <tau>2.0</tau>