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dartsim: Add support for category bitmask - #885

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iche033 merged 21 commits into
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iche033/dart_category_bitmask
Mar 12, 2026
Merged

dartsim: Add support for category bitmask#885
iche033 merged 21 commits into
mainfrom
iche033/dart_category_bitmask

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@iche033 iche033 commented Mar 4, 2026

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🎉 New feature

Depends on

  1. bullet-feathersone: Add support for collision filtering based on collide bitmasks #804
  2. bullet-featherstone: Add support for category bitmask #884

Please review the above 2 pull requests first, in the listed order.

Summary

Similar to #884, this PR adds category bitmask support for the dartsim engine.

Test it

The common test added in #884 should pass with the dartsim physics engine:

cd build/gz-physics
ctest -R simulation_features_dartsim

Checklist

  • Signed all commits for DCO
  • Added a screen capture or video to the PR description that demonstrates the feature
  • Added tests
  • Added example and/or tutorial
  • Updated documentation (as needed)
  • Updated migration guide (as needed)
  • Consider updating Python bindings (if the library has them)
  • codecheck passed (See contributing)
  • All tests passed (See test coverage)
  • Updated Bazel files (if adding new files). Created an issue otherwise.
  • While waiting for a review on your PR, please help review another open pull request to support the maintainers
  • Was GenAI used to generate this PR? If so, make sure to add "Generated-by" to your commits. (See this policy for more info.)

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by and Generated-by messages.

Backports: If this is a backport, please use Rebase and Merge instead.

@iche033
iche033 requested review from azeey and scpeters as code owners March 4, 2026 02:11
caguero
caguero reviewed Mar 6, 2026
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Comment thread dartsim/src/EntityManagementFeatures.cc
Comment thread dartsim/src/EntityManagementFeatures.cc Outdated
iche033 and others added 5 commits March 7, 2026 00:02
@iche033
use uint16_t, remove virtual
02be379 
Signed-off-by: Ian Chen <iche@intrinsic.ai>
@iche033
add category bitmask
4bd3e1f 
Signed-off-by: Ian Chen <iche@intrinsic.ai>
@iche033
style and add test world
3cf5375 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
@iche033
remove debug output
f813b9f 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
@iche033
fix typos, use uint16_t
3231ed1 
Signed-off-by: Ian Chen <iche@intrinsic.ai>
@iche033
iche033 force-pushed the iche033/bullet_category_bitmask branch from 70a581c to 3231ed1 Compare March 7, 2026 00:14
iche033 and others added 6 commits March 7, 2026 00:30
@iche033
more uint16_t
0901efd 
Signed-off-by: Ian Chen <iche@intrinsic.ai>
@iche033
fix get
2705a0b 
Signed-off-by: Ian Chen <iche@intrinsic.ai>
@iche033
fix get
8f5f8a3 
Signed-off-by: Ian Chen <iche@intrinsic.ai>
@iche033
merge from iche033/bullet_collide_bitmask
a242c02 
Signed-off-by: Ian Chen <iche@intrinsic.ai>
@iche033
add category bitmask support in dartsim
48a011c 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
@iche033
fix typo
d567fe8 
Signed-off-by: Ian Chen <iche@intrinsic.ai>
@iche033
iche033 force-pushed the iche033/dart_category_bitmask branch from bbefb8c to d567fe8 Compare March 7, 2026 00:43
@iche033
remove category bitmask when removing skeleton
eeda0b3 
Signed-off-by: Ian Chen <iche@intrinsic.ai>
@github-project-automation github-project-automation Bot moved this from Inbox to In review in Core development Mar 11, 2026
Base automatically changed from iche033/bullet_category_bitmask to main March 12, 2026 16:16
@iche033
iche033 merged commit 60b1b37 into main Mar 12, 2026
12 checks passed
@iche033
iche033 deleted the iche033/dart_category_bitmask branch March 12, 2026 18:59
@github-project-automation github-project-automation Bot moved this from In review to Done in Core development Mar 12, 2026
iche033 added a commit that referenced this pull request Mar 12, 2026
@iche033
dartsim: Add support for category bitmask (#885)
21087f6 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <iche@intrinsic.ai>
Co-authored-by: Ian Chen <iche@intrinsic.ai>
@iche033 iche033 mentioned this pull request Mar 13, 2026
Merged
12 tasks
iche033 added a commit that referenced this pull request Mar 18, 2026
@iche033
dartsim: Add support for category bitmask (#885)
6b423ca 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <iche@intrinsic.ai>
Co-authored-by: Ian Chen <iche@intrinsic.ai>
Signed-off-by: Ian Chen <iche@intrinsic.ai>
iche033 added a commit that referenced this pull request Mar 19, 2026
@iche033
dartsim: Add support for category bitmask (#885)
e608ccf 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <iche@intrinsic.ai>
Co-authored-by: Ian Chen <iche@intrinsic.ai>
Signed-off-by: Ian Chen <iche@intrinsic.ai>
mergify Bot pushed a commit that referenced this pull request Mar 19, 2026
@iche033 @mergify
dartsim: Add support for category bitmask (#885)
098913a 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <iche@intrinsic.ai>
Co-authored-by: Ian Chen <iche@intrinsic.ai>
Signed-off-by: Ian Chen <iche@intrinsic.ai>
(cherry picked from commit e608ccf)
@mergify mergify Bot mentioned this pull request Mar 19, 2026
Merged
12 tasks
mergify Bot pushed a commit that referenced this pull request Mar 19, 2026
@iche033 @mergify
dartsim: Add support for category bitmask (#885)
8fd8eb4 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <iche@intrinsic.ai>
Co-authored-by: Ian Chen <iche@intrinsic.ai>
Signed-off-by: Ian Chen <iche@intrinsic.ai>
(cherry picked from commit e608ccf)
@mergify mergify Bot mentioned this pull request Mar 19, 2026
Merged
12 tasks
iche033 added a commit that referenced this pull request Mar 19, 2026
@iche033
dartsim: Add support for category bitmask (#885)
4cee391 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <iche@intrinsic.ai>
Co-authored-by: Ian Chen <iche@intrinsic.ai>
Signed-off-by: Ian Chen <iche@intrinsic.ai>
(cherry picked from commit e608ccf)
iche033 added a commit that referenced this pull request Mar 20, 2026
@iche033
dartsim: Add support for category bitmask (#885)
499990d 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <iche@intrinsic.ai>
Co-authored-by: Ian Chen <iche@intrinsic.ai>
Signed-off-by: Ian Chen <iche@intrinsic.ai>
(cherry picked from commit e608ccf)
iche033 added a commit that referenced this pull request Mar 23, 2026
@iche033
dartsim: Add support for category bitmask (#885)
fb64b56 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <iche@intrinsic.ai>
Co-authored-by: Ian Chen <iche@intrinsic.ai>
Signed-off-by: Ian Chen <iche@intrinsic.ai>
(cherry picked from commit e608ccf)
@azeey azeey moved this from Done to Highlights in Core development Mar 25, 2026
@iche033 iche033 mentioned this pull request Mar 31, 2026
Merged
12 tasks
mderbaso-deepx pushed a commit to DeepX-inc/gz-physics that referenced this pull request Apr 13, 2026
@iche033 @mderbaso-deepx
dartsim: Add support for category bitmask (gazebosim#885)
7da4b68 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <iche@intrinsic.ai>
Co-authored-by: Ian Chen <iche@intrinsic.ai>
Signed-off-by: Ian Chen <iche@intrinsic.ai>
(cherry picked from commit e608ccf)
j-rivero pushed a commit that referenced this pull request Apr 28, 2026
@iche033
dartsim: Add support for category bitmask (#885)
af30639 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <iche@intrinsic.ai>
Co-authored-by: Ian Chen <iche@intrinsic.ai>
yaswanth1701 pushed a commit to yaswanth1701/gz-physics that referenced this pull request May 21, 2026
@iche033 @yaswanth1701
dartsim: Add support for category bitmask (gazebosim#885)
9d1bce4 
Signed-off-by: Ian Chen <ichen@openrobotics.org>
Signed-off-by: Ian Chen <iche@intrinsic.ai>
Co-authored-by: Ian Chen <iche@intrinsic.ai>
Signed-off-by: Ian Chen <iche@intrinsic.ai>
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Reviewers

@caguero caguero caguero approved these changes
@azeey azeey Awaiting requested review from azeey azeey is a code owner
@scpeters scpeters Awaiting requested review from scpeters scpeters is a code owner

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