Enhance ball friction handling and update macOS CI/CD configuration

.github/workflows/build.yaml

@@ -11,7 +11,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ ubuntu-20.04, ubuntu-22.04, ubuntu-24.04 ]
+        os: [ ubuntu-22.04, ubuntu-24.04 ]
     steps:
       - uses: actions/checkout@v6
       - name: "Update dependencies"
@@ -27,25 +27,18 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        os: [ macos-13, macos-14 ]
+        os: [ macos-14, macos-15 ]
     steps:
       - uses: actions/checkout@v6
       - name: "Install dependencies"
         run: brew tap robotology/formulae && brew install cmake pkg-config qt@5
       - name: "Build"
         run: |
-          # For macOS 13
-          export PATH="/usr/local/opt/qt@5/bin:$PATH"
-          export LDFLAGS="-L/usr/local/opt/qt@5/lib"
-          export CPPFLAGS="-I/usr/local/opt/qt@5/include"
-          export PKG_CONFIG_PATH="/usr/local/opt/qt@5/lib/pkgconfig"
-
-          # For macOS 14
           export PATH="/opt/homebrew/opt/qt@5/bin:$PATH"
           export LDFLAGS="-L/opt/homebrew/opt/qt@5/lib"
           export CPPFLAGS="-I/opt/homebrew/opt/qt@5/include"
           export PKG_CONFIG_PATH="/opt/homebrew/opt/qt@5/lib/pkgconfig"
-
+          export CMAKE_PREFIX_PATH="/opt/homebrew/opt/qt@5"
           make
 
 # Windows build does not work currently, see https://github.com/RoboCup-SSL/grSim/issues/183

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 
 ## Project branding, version and package mantainer
@@ -109,7 +109,7 @@ find_package(VarTypes)
 if(NOT VARTYPES_FOUND)
   include(ExternalProject)
 
-  set(VARTYPES_CMAKE_ARGS "-DVARTYPES_BUILD_STATIC=ON;-DCMAKE_INSTALL_PREFIX=<INSTALL_DIR>")
+  set(VARTYPES_CMAKE_ARGS "-DVARTYPES_BUILD_STATIC=ON;-DCMAKE_INSTALL_PREFIX=<INSTALL_DIR>;-DCMAKE_POLICY_VERSION_MINIMUM=3.5")
   if(NOT "${CMAKE_TOOLCHAIN_FILE}" STREQUAL "")
     set(VARTYPES_CMAKE_ARGS "-DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE};${VARTYPES_CMAKE_ARGS}")
   endif()

clients/qt/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.10)
 
 set(CMAKE_AUTOMOC ON)
 

cmake/modules/BuildODE.cmake

@@ -11,10 +11,14 @@ ExternalProject_Add(ode_external
                       -DCMAKE_C_COMPILER:PATH=${CMAKE_C_COMPILER}
                       -DCMAKE_CXX_COMPILER:PATH=${CMAKE_CXX_COMPILER}
                       -DCMAKE_MAKE_PROGRAM:PATH=${CMAKE_MAKE_PROGRAM}
+                      -DCMAKE_POLICY_VERSION_MINIMUM=3.5
                       # necessary, because it does not build the static libs if this is ON
                       -DBUILD_SHARED_LIBS=OFF
                       # if this is OFF grSim just dies instantly and INSTALL.md says it should be ON
                       -DODE_DOUBLE_PRECISION=ON
+                      # demos are not needed and fail to compile on macOS 15+ due to narrowing errors
+                      -DODE_WITH_DEMOS=OFF
+                      -DODE_WITH_TESTS=OFF
                       -DCMAKE_INSTALL_PREFIX=<INSTALL_DIR>
   STEP_TARGETS install
 )

cmake/modules/BuildProtobuf.cmake

@@ -34,6 +34,7 @@ ExternalProject_Add(protobuf_external
                     -DCMAKE_C_COMPILER:PATH=${CMAKE_C_COMPILER}
                     -DCMAKE_CXX_COMPILER:PATH=${CMAKE_CXX_COMPILER}
                     -DCMAKE_MAKE_PROGRAM:PATH=${CMAKE_MAKE_PROGRAM}
+                    -DCMAKE_POLICY_VERSION_MINIMUM=3.5
                     # the tests fail to build :-(
                     -Dprotobuf_BUILD_TESTS:BOOL=OFF
   STEP_TARGETS install

include/sslworld.h

@@ -68,6 +68,7 @@ class SSLWorld : public QObject
     QList<SendingPacket*> sendQueue;
     bool lastInfraredState[TEAM_COUNT][MAX_ROBOT_COUNT]{};
     KickStatus lastKickState[TEAM_COUNT][MAX_ROBOT_COUNT]{};
+    dReal ballGroundThreshold() const;
     void processSimControl(const SimulatorCommand &simulatorCommand, SimulatorResponse &simulatorResponse);
     void processRobotControl(const RobotControl &robotControl, RobotControlResponse &robotControlResponse, Team team);
     void processRobotSpec(const RobotSpecs &robotSpec) const;

src/sslworld.cpp

@@ -431,26 +431,38 @@ void SSLWorld::glinit() {
     p->glinit();
 }
 
+dReal SSLWorld::ballGroundThreshold() const {
+    return cfg->BallRadius() * 1.2;
+}
+
 void SSLWorld::step(dReal dt) {
     if (customDT > 0) dt = customDT;
     const auto ratio = m_parent->devicePixelRatio();
     g->initScene(m_parent->width()*ratio,m_parent->height()*ratio,0,0.7,1);
     int ballCollisionTry = 5;
     for (int kk=0;kk < ballCollisionTry;kk++) {
         const dReal* ballvel = dBodyGetLinearVel(ball->body);
+        // Check if ball is on the ground before applying ground friction
+        const dReal ballz = dBodyGetPosition(ball->body)[2];
+        bool ballOnGround = ballz <= ballGroundThreshold();
         dReal ballspeed = ballvel[0]*ballvel[0] + ballvel[1]*ballvel[1] + ballvel[2]*ballvel[2];
         ballspeed = sqrt(ballspeed);
-        if (ballspeed > 0.01) {
+        if (ballOnGround && ballspeed > 0.01) {
             dReal fk = cfg->BallFriction()*cfg->BallMass()*cfg->Gravity();
-            dReal ballfx = -fk*ballvel[0] / ballspeed;
-            dReal ballfy = -fk*ballvel[1] / ballspeed;
-            dReal ballfz = -fk*ballvel[2] / ballspeed;
+            // Ground friction acts only in the XY plane
+            dReal ballxyspeed = sqrt(ballvel[0]*ballvel[0] + ballvel[1]*ballvel[1]);
+            dReal ballfx = 0;
+            dReal ballfy = 0;
+            if (ballxyspeed > 0.01) {
+                ballfx = -fk*ballvel[0] / ballxyspeed;
+                ballfy = -fk*ballvel[1] / ballxyspeed;
+            }
             dReal balltx = -ballfy*cfg->BallRadius();
             dReal ballty = ballfx*cfg->BallRadius();
             dReal balltz = 0;
             dBodyAddTorque(ball->body,balltx,ballty,balltz);
-            dBodyAddForce(ball->body,ballfx,ballfy,ballfz);
-        } else {
+            dBodyAddForce(ball->body,ballfx,ballfy,0);
+        } else if (ballOnGround && ballspeed <= 0.01) {
             dBodySetAngularVel(ball->body, 0, 0, 0);
             dBodySetLinearVel(ball->body, 0, 0, 0);
         }
@@ -668,7 +680,7 @@ void SSLWorld::recvActions() {
                     if (grSimPacket.replacement().ball().has_vx()) vx = grSimPacket.replacement().ball().vx();
                     if (grSimPacket.replacement().ball().has_vy()) vy = grSimPacket.replacement().ball().vy();
 
-                    ball->setBodyPosition(x,y,cfg->BallRadius()*1.2);
+                    ball->setBodyPosition(x,y,ballGroundThreshold());
                     dBodySetLinearVel(ball->body,vx,vy,0);
                     dBodySetAngularVel(ball->body,0,0,0);
                 }