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Merged
iche033 merged 1 commit into from
Mar 4, 2026
Merged

Parse category bitmask SDF element in Surface DOM (backport #1630) #1634

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12 changes: 12 additions & 0 deletions include/sdf/Surface.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,9 @@
#ifndef SDF_SURFACE_HH_
#define SDF_SURFACE_HH_

#include <cstdint>
#include <optional>

#include <gz/math/Vector3.hh>
#include <gz/utils/ImplPtr.hh>
#include "sdf/Element.hh"
Expand Down Expand Up @@ -53,8 +56,17 @@ namespace sdf
public: uint16_t CollideBitmask() const;

/// \brief Set the collide bitmask parameter.
/// \param[in] _bitmask Category bitmask to set
public: void SetCollideBitmask(const uint16_t _bitmask);

/// \brief Get the category bitmask parameter.
/// \return The category bitmask parameter.
public: std::optional<uint16_t> CategoryBitmask() const;

/// \brief Set the category bitmask parameter.
/// \param[in] _bitmask Category bitmask to set
public: void SetCategoryBitmask(const uint16_t _bitmask);

/// \brief Private data pointer.
GZ_UTILS_IMPL_PTR(dataPtr)
};
Expand Down
6 changes: 6 additions & 0 deletions python/src/sdf/pySurface.cc
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Expand Up @@ -16,6 +16,7 @@
#include "pySurface.hh"

#include <pybind11/pybind11.h>
#include <pybind11/stl.h>

#include "sdf/Surface.hh"

Expand All @@ -37,6 +38,11 @@ void defineContact(pybind11::object module)
"Get the collide bitmask parameter.")
.def("set_collide_bitmask", &sdf::Contact::SetCollideBitmask,
"Set the collide bitmask parameter.")
.def("category_bitmask", &sdf::Contact::CategoryBitmask,
"Get the category bitmask parameter.")
.def("set_category_bitmask", &sdf::Contact::SetCategoryBitmask,
"Set the category bitmask parameter.")

.def("__copy__", [](const sdf::Contact &self) {
return sdf::Contact(self);
})
Expand Down
19 changes: 19 additions & 0 deletions python/test/pySurface_TEST.py
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Expand Up @@ -24,6 +24,7 @@ class SurfaceTEST(unittest.TestCase):
def test_default_construction(self):
surface = Surface()
self.assertEqual(surface.contact().collide_bitmask(), 0xFF)
self.assertFalse(surface.contact().category_bitmask())


def test_assigment_construction(self):
Expand Down Expand Up @@ -54,11 +55,13 @@ def test_assigment_construction(self):
friction.set_bullet_friction(bullet)
friction.set_torsional(torsional)
contact.set_collide_bitmask(0x12)
contact.set_category_bitmask(0x22)
surface1.set_contact(contact)
surface1.set_friction(friction)

surface2 = surface1
self.assertEqual(surface2.contact().collide_bitmask(), 0x12)
self.assertEqual(surface2.contact().category_bitmask(), 0x22)
self.assertEqual(surface2.friction().ode().mu(), 0.1)
self.assertEqual(surface2.friction().ode().mu2(), 0.2)
self.assertEqual(surface2.friction().ode().slip1(), 3)
Expand All @@ -78,9 +81,12 @@ def test_assigment_construction(self):
self.assertEqual(surface2.friction().torsional().ode_slip(), 0.01)

contact.set_collide_bitmask(0x21)
contact.set_category_bitmask(0x33)
surface1.set_contact(contact)
self.assertEqual(surface1.contact().collide_bitmask(), 0x21)
self.assertEqual(surface2.contact().collide_bitmask(), 0x21)
self.assertEqual(surface1.contact().category_bitmask(), 0x33)
self.assertEqual(surface2.contact().category_bitmask(), 0x33)

ode.set_mu(1.1)
ode.set_mu2(1.2)
Expand Down Expand Up @@ -165,11 +171,13 @@ def test_copy_construction(self):
friction.set_bullet_friction(bullet)
friction.set_torsional(torsional)
contact.set_collide_bitmask(0x12)
contact.set_category_bitmask(0x22)
surface1.set_contact(contact)
surface1.set_friction(friction)

surface2 = Surface(surface1)
self.assertEqual(surface2.contact().collide_bitmask(), 0x12)
self.assertEqual(surface2.contact().category_bitmask(), 0x22)
self.assertEqual(surface2.friction().ode().mu(), 0.1)
self.assertEqual(surface2.friction().ode().mu2(), 0.2)
self.assertEqual(surface2.friction().ode().slip1(), 3)
Expand All @@ -189,9 +197,12 @@ def test_copy_construction(self):
self.assertEqual(surface2.friction().torsional().ode_slip(), 0.01)

contact.set_collide_bitmask(0x21)
contact.set_category_bitmask(0x33)
surface1.set_contact(contact)
self.assertEqual(surface1.contact().collide_bitmask(), 0x21)
self.assertEqual(surface2.contact().collide_bitmask(), 0x12)
self.assertEqual(surface1.contact().category_bitmask(), 0x33)
self.assertEqual(surface2.contact().category_bitmask(), 0x22)

ode.set_mu(1.1)
ode.set_mu2(1.2)
Expand Down Expand Up @@ -276,11 +287,13 @@ def test_deepcopy(self):
friction.set_bullet_friction(bullet)
friction.set_torsional(torsional)
contact.set_collide_bitmask(0x12)
contact.set_category_bitmask(0x22)
surface1.set_contact(contact)
surface1.set_friction(friction)

surface2 = copy.deepcopy(surface1)
self.assertEqual(surface2.contact().collide_bitmask(), 0x12)
self.assertEqual(surface2.contact().category_bitmask(), 0x22)
self.assertEqual(surface2.friction().ode().mu(), 0.1)
self.assertEqual(surface2.friction().ode().mu2(), 0.2)
self.assertEqual(surface2.friction().ode().slip1(), 3)
Expand All @@ -300,9 +313,12 @@ def test_deepcopy(self):
self.assertEqual(surface2.friction().torsional().ode_slip(), 0.01)

contact.set_collide_bitmask(0x21)
contact.set_category_bitmask(0x33)
surface1.set_contact(contact)
self.assertEqual(surface1.contact().collide_bitmask(), 0x21)
self.assertEqual(surface2.contact().collide_bitmask(), 0x12)
self.assertEqual(surface1.contact().category_bitmask(), 0x33)
self.assertEqual(surface2.contact().category_bitmask(), 0x22)

ode.set_mu(1.1)
ode.set_mu2(1.2)
Expand Down Expand Up @@ -363,14 +379,17 @@ def test_deepcopy(self):
def test_default_contact_construction(self):
contact = Contact()
self.assertEqual(contact.collide_bitmask(), 0xFF)
self.assertFalse(contact.category_bitmask())


def test_copy_contact_construction(self):
contact1 = Contact()
contact1.set_collide_bitmask(0x12)
contact1.set_category_bitmask(0x21)

contact2 = Contact(contact1)
self.assertEqual(contact2.collide_bitmask(), 0x12)
self.assertEqual(contact2.category_bitmask(), 0x21)

def test_default_ode_construction(self):
ode = ODE()
Expand Down
29 changes: 28 additions & 1 deletion src/Surface.cc
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Expand Up @@ -30,9 +30,12 @@ using namespace sdf;

class sdf::Contact::Implementation
{
// \brief The bitmask used to filter collisions.
// \brief The collide bitmask used to filter collisions.
public: uint16_t collideBitmask = 0xff;

// \brief The category bitmask used to filter collisions.
public: std::optional<uint16_t> categoryBitmask;

/// \brief The SDF element pointer used during load.
public: sdf::ElementPtr sdf{nullptr};
};
Expand Down Expand Up @@ -605,6 +608,13 @@ Errors Contact::Load(ElementPtr _sdf)
errors, "collide_bitmask"));
}

if (_sdf->HasElement("category_bitmask"))
{
this->dataPtr->categoryBitmask =
static_cast<uint16_t>(_sdf->Get<unsigned int>(
errors, "category_bitmask"));
}

// \todo(nkoenig) Parse the remaining collide properties.
return errors;
}
Expand All @@ -627,6 +637,18 @@ void Contact::SetCollideBitmask(const uint16_t _bitmask)
this->dataPtr->collideBitmask = _bitmask;
}

/////////////////////////////////////////////////
std::optional<uint16_t> Contact::CategoryBitmask() const
{
return this->dataPtr->categoryBitmask;
}

/////////////////////////////////////////////////
void Contact::SetCategoryBitmask(const uint16_t _bitmask)
{
this->dataPtr->categoryBitmask = _bitmask;
}

/////////////////////////////////////////////////
Surface::Surface()
: dataPtr(gz::utils::MakeImpl<Implementation>())
Expand Down Expand Up @@ -724,6 +746,11 @@ sdf::ElementPtr Surface::ToElement(sdf::Errors &_errors) const
sdf::ElementPtr contactElem = elem->GetElement("contact", _errors);
contactElem->GetElement("collide_bitmask", _errors)->Set(
_errors, this->dataPtr->contact.CollideBitmask());
if (this->dataPtr->contact.CategoryBitmask().has_value())
{
contactElem->GetElement("category_bitmask", _errors)->Set(
_errors, this->dataPtr->contact.CategoryBitmask().value());
}

sdf::ElementPtr frictionElem = elem->GetElement("friction", _errors);

Expand Down
24 changes: 24 additions & 0 deletions src/Surface_TEST.cc
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Expand Up @@ -26,6 +26,7 @@ TEST(DOMsurface, DefaultConstruction)
sdf::Surface surface;
EXPECT_EQ(nullptr, surface.Element());
EXPECT_EQ(surface.Contact()->CollideBitmask(), 0xFF);
EXPECT_FALSE(surface.Contact()->CategoryBitmask().has_value());
EXPECT_EQ(surface.Contact()->Element(), nullptr);
EXPECT_EQ(surface.Friction()->Element(), nullptr);
}
Expand All @@ -44,11 +45,13 @@ TEST(DOMsurface, CopyOperator)
sdf::Friction friction;
friction.SetODE(ode);
contact.SetCollideBitmask(0x12);
contact.SetCategoryBitmask(0x21);
surface1.SetContact(contact);
surface1.SetFriction(friction);

sdf::Surface surface2(surface1);
EXPECT_EQ(surface2.Contact()->CollideBitmask(), 0x12);
EXPECT_EQ(surface2.Contact()->CategoryBitmask(), 0x21);
EXPECT_DOUBLE_EQ(surface2.Friction()->ODE()->Mu(), 0.1);
EXPECT_DOUBLE_EQ(surface2.Friction()->ODE()->Mu2(), 0.2);
EXPECT_DOUBLE_EQ(surface2.Friction()->ODE()->Slip1(), 3);
Expand All @@ -71,11 +74,13 @@ TEST(DOMsurface, CopyAssignmentOperator)
sdf::Friction friction;
friction.SetODE(ode);
contact.SetCollideBitmask(0x12);
contact.SetCategoryBitmask(0x21);
surface1.SetContact(contact);
surface1.SetFriction(friction);

sdf::Surface surface2 = surface1;
EXPECT_EQ(surface2.Contact()->CollideBitmask(), 0x12);
EXPECT_EQ(surface2.Contact()->CategoryBitmask(), 0x21);
EXPECT_DOUBLE_EQ(surface2.Friction()->ODE()->Mu(), 0.1);
EXPECT_DOUBLE_EQ(surface2.Friction()->ODE()->Mu2(), 0.2);
EXPECT_DOUBLE_EQ(surface2.Friction()->ODE()->Slip1(), 3);
Expand All @@ -92,9 +97,11 @@ TEST(DOMsurface, CopyAssignmentAfterMove)

sdf::Contact contact1;
contact1.SetCollideBitmask(0x12);
contact1.SetCategoryBitmask(0x21);
surface1.SetContact(contact1);
sdf::Contact contact2;
contact2.SetCollideBitmask(0x34);
contact2.SetCategoryBitmask(0x43);
surface2.SetContact(contact2);

sdf::ODE ode1;
Expand Down Expand Up @@ -124,6 +131,8 @@ TEST(DOMsurface, CopyAssignmentAfterMove)

EXPECT_EQ(surface2.Contact()->CollideBitmask(), 0x12);
EXPECT_EQ(surface1.Contact()->CollideBitmask(), 0x34);
EXPECT_EQ(surface2.Contact()->CategoryBitmask(), 0x21);
EXPECT_EQ(surface1.Contact()->CategoryBitmask(), 0x43);
EXPECT_DOUBLE_EQ(surface1.Friction()->ODE()->Mu(), 0.2);
EXPECT_DOUBLE_EQ(surface1.Friction()->ODE()->Mu2(), 0.1);
EXPECT_DOUBLE_EQ(surface1.Friction()->ODE()->Slip1(), 7);
Expand Down Expand Up @@ -165,6 +174,7 @@ TEST(DOMsurface, ToElement)
torsional.SetODESlip(0.2);
friction.SetTorsional(torsional);
contact.SetCollideBitmask(0x12);
contact.SetCategoryBitmask(0x21);
surface1.SetContact(contact);
surface1.SetFriction(friction);

Expand All @@ -175,6 +185,7 @@ TEST(DOMsurface, ToElement)
surface2.Load(elem);

EXPECT_EQ(surface2.Contact()->CollideBitmask(), 0x12);
EXPECT_EQ(surface2.Contact()->CategoryBitmask(), 0x21);
EXPECT_DOUBLE_EQ(surface2.Friction()->ODE()->Mu(), 0.1);
EXPECT_DOUBLE_EQ(surface2.Friction()->ODE()->Mu2(), 0.2);
EXPECT_DOUBLE_EQ(surface2.Friction()->ODE()->Slip1(), 3);
Expand Down Expand Up @@ -224,6 +235,7 @@ TEST(DOMsurface, ToElementErrorOutput)
ode.SetFdir1(gz::math::Vector3d(1, 2, 3));
friction.SetODE(ode);
contact.SetCollideBitmask(0x12);
contact.SetCategoryBitmask(0x21);
surface1.SetContact(contact);
surface1.SetFriction(friction);

Expand All @@ -236,6 +248,7 @@ TEST(DOMsurface, ToElementErrorOutput)
EXPECT_TRUE(errors.empty());

EXPECT_EQ(surface2.Contact()->CollideBitmask(), 0x12);
EXPECT_EQ(surface2.Contact()->CategoryBitmask(), 0x21);
EXPECT_DOUBLE_EQ(surface2.Friction()->ODE()->Mu(), 0.1);
EXPECT_DOUBLE_EQ(surface2.Friction()->ODE()->Mu2(), 0.2);
EXPECT_DOUBLE_EQ(surface2.Friction()->ODE()->Slip1(), 3);
Expand All @@ -254,6 +267,7 @@ TEST(DOMcontact, DefaultConstruction)
sdf::Contact contact;
EXPECT_EQ(nullptr, contact.Element());
EXPECT_EQ(contact.CollideBitmask(), 0xFF);
EXPECT_FALSE(contact.CategoryBitmask().has_value());
EXPECT_EQ(contact.Element(), nullptr);
}

Expand All @@ -262,19 +276,23 @@ TEST(DOMcontact, CopyOperator)
{
sdf::Contact contact1;
contact1.SetCollideBitmask(0x12);
contact1.SetCategoryBitmask(0x21);

sdf::Contact contact2(contact1);
EXPECT_EQ(contact2.CollideBitmask(), 0x12);
EXPECT_EQ(contact2.CategoryBitmask(), 0x21);
}

/////////////////////////////////////////////////
TEST(DOMcontact, CopyAssignmentOperator)
{
sdf::Contact contact1;
contact1.SetCollideBitmask(0x12);
contact1.SetCategoryBitmask(0x21);

sdf::Contact contact2 = contact1;
EXPECT_EQ(contact2.CollideBitmask(), 0x12);
EXPECT_EQ(contact2.CategoryBitmask(), 0x21);
}

/////////////////////////////////////////////////
Expand All @@ -285,21 +303,27 @@ TEST(DOMcontact, CopyAssignmentAfterMove)

contact1.SetCollideBitmask(0x12);
contact2.SetCollideBitmask(0x34);
contact1.SetCategoryBitmask(0x21);
contact2.SetCategoryBitmask(0x43);

sdf::Contact tmp = std::move(contact1);
contact1 = contact2;
contact2 = tmp;

EXPECT_EQ(contact2.CollideBitmask(), 0x12);
EXPECT_EQ(contact1.CollideBitmask(), 0x34);
EXPECT_EQ(contact2.CategoryBitmask(), 0x21);
EXPECT_EQ(contact1.CategoryBitmask(), 0x43);
}

/////////////////////////////////////////////////
TEST(DOMcontact, CollideBitmask)
{
sdf::Contact contact;
contact.SetCollideBitmask(0x67);
contact.SetCategoryBitmask(0x76);
EXPECT_EQ(contact.CollideBitmask(), 0x67);
EXPECT_EQ(contact.CategoryBitmask(), 0x76);
}

/////////////////////////////////////////////////
Expand Down
1 change: 1 addition & 0 deletions test/integration/surface_dom.cc
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Expand Up @@ -50,6 +50,7 @@ TEST(DOMSurface, Shapes)
ASSERT_NE(nullptr, boxCol->Surface());
ASSERT_NE(nullptr, boxCol->Surface()->Contact());
EXPECT_EQ(boxCol->Surface()->Contact()->CollideBitmask(), 0xAB);
EXPECT_EQ(boxCol->Surface()->Contact()->CategoryBitmask(), 0xBA);
EXPECT_DOUBLE_EQ(boxCol->Surface()->Friction()->ODE()->Mu(), 0.6);
EXPECT_DOUBLE_EQ(boxCol->Surface()->Friction()->ODE()->Mu2(), 0.7);
EXPECT_DOUBLE_EQ(boxCol->Surface()->Friction()->ODE()->Slip1(), 4);
Expand Down
1 change: 1 addition & 0 deletions test/sdf/shapes.sdf
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Expand Up @@ -11,6 +11,7 @@
<surface>
<contact>
<collide_bitmask>0xAB</collide_bitmask>
<category_bitmask>0xBA</category_bitmask>
</contact>
<friction>
<ode>
Expand Down
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