This PR adds the ability to enable buoyancy and hydrodynamic forces at the link and collision level.
Closes #43
Details
The choice of which entities to apply buoyancy and hydrodynamics forces is controlled using a new parameter <enable>. Usage is similar to the gz-sim-buoyancy-system plugin where the parameter is a fully scoped entity name using a double colon :: as a separator.
The graded_buoyancy example from gz-sim has been modified to work with gz-waves and is added to the examples in gz-waves-models/worlds.
This PR adds the ability to enable buoyancy and hydrodynamic forces at the link and collision level.
Closes #43
Details
The choice of which entities to apply buoyancy and hydrodynamics forces is controlled using a new parameter
<enable>. Usage is similar to thegz-sim-buoyancy-systemplugin where the parameter is a fully scoped entity name using a double colon::as a separator.The
graded_buoyancyexample fromgz-simhas been modified to work withgz-wavesand is added to the examples ingz-waves-models/worlds.