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Added support in JointsManipulationComponent for classic prismatic joints #409

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merged 3 commits into from
Jul 20, 2023
Merged

Added support in JointsManipulationComponent for classic prismatic joints #409

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60f15c8
Added support in JointsManipulationComponent for classic prismatic jo…
Antoni-Robotec Jul 13, 2023
85f8e25
Clang format
Antoni-Robotec Jul 13, 2023
21f9dee
Added casts to make classic joint variables be of the same type, fixe…
Antoni-Robotec Jul 17, 2023
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16 changes: 13 additions & 3 deletions Gems/ROS2/Code/Source/Manipulation/JointsManipulationComponent.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,12 +18,13 @@
#include <ROS2/Utilities/ROS2Names.h>
#include <Source/ArticulationLinkComponent.h>
#include <Source/HingeJointComponent.h>
#include <Source/PrismaticJointComponent.h>

namespace ROS2
{
namespace Internal
{
void AddHingeJointInfo(const AZ::EntityComponentIdPair& idPair, const AZStd::string& jointName, ManipulationJoints& joints)
void Add1DOFJointInfo(const AZ::EntityComponentIdPair& idPair, const AZStd::string& jointName, ManipulationJoints& joints)
{
if (joints.find(jointName) != joints.end())
{
Expand Down Expand Up @@ -118,10 +119,12 @@ namespace ROS2
const AZStd::string jointName(frameComponent->GetJointName().GetCStr());

auto* hingeComponent = Utils::GetGameOrEditorComponent<PhysX::HingeJointComponent>(entity);
auto* prismaticComponent = Utils::GetGameOrEditorComponent<PhysX::PrismaticJointComponent>(entity);
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auto* articulationComponent = Utils::GetGameOrEditorComponent<PhysX::ArticulationLinkComponent>(entity);
bool classicJoint = hingeComponent && prismaticComponent;
AZ_Warning(
"JointsManipulationComponent",
(hingeComponent && supportsClassicJoints) || !hingeComponent,
(classicJoint && supportsClassicJoints) || !classicJoint,
"Found classic joints but the controller does not support them!");
AZ_Warning(
"JointsManipulationComponent",
Expand All @@ -132,7 +135,14 @@ namespace ROS2
if (supportsClassicJoints && hingeComponent)
{
auto idPair = AZ::EntityComponentIdPair(hingeComponent->GetEntityId(), hingeComponent->GetId());
Internal::AddHingeJointInfo(idPair, jointName, manipulationJoints);
Internal::Add1DOFJointInfo(idPair, jointName, manipulationJoints);
}

// See if there is a Prismatic Joint in the entity, add it to map.
if (supportsClassicJoints && prismaticComponent)
{
auto idPair = AZ::EntityComponentIdPair(prismaticComponent->GetEntityId(), prismaticComponent->GetId());
Internal::Add1DOFJointInfo(idPair, jointName, manipulationJoints);
}

// See if there is an Articulation Link in the entity, add it to map.
Expand Down