Update old comments

Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com>

bullet/src/EntityManagementFeatures.cc

@@ -112,9 +112,9 @@ bool EntityManagementFeatures::RemoveModelByIndex(
   {
     return false;
   }
+
   // Current implementation does not include joints
   // Those should be removed here before removing the model
-
   auto model = this->models.at(_modelIndex);
   // Clean up collisions
   std::unordered_map<std::size_t, CollisionInfoPtr>::iterator collision_it =
@@ -156,7 +156,6 @@ bool EntityManagementFeatures::RemoveModelByIndex(
 bool EntityManagementFeatures::RemoveModelByName(
     const Identity & _worldID, const std::string & _modelName )
 {
-
   // Check if there is a model with the requested name
   bool found = false;
   size_t index_id = 0;
@@ -174,7 +173,6 @@ bool EntityManagementFeatures::RemoveModelByName(
 
   if (found)
   {
-    // Use a not valid Identity, not used
     return this->RemoveModelByIndex(_worldID, index_id);
   }
 

bullet/src/JointFeatures.cc

@@ -318,9 +318,7 @@ void JointFeatures::SetJointVelocityCommand(
   (void) _dof;
   const auto &jointInfo = this->joints.at(_id.id);
 
-  // Take extra care that the value is finite. A nan can cause the DART
-  // constraint solver to fail, which will in turn either cause a crash or
-  // collisions to fail
+  // Take extra care that the value is finite
   if (!std::isfinite(_value))
   {
     ignerr << "Invalid joint velocity value [" << _value << "] set on joint ["
@@ -348,9 +346,8 @@ void JointFeatures::SetJointVelocityCommand(
 std::size_t JointFeatures::GetJointDegreesOfFreedom(const Identity &_id) const
 {
   (void) _id;
-  // TO-DO: Degrees of freedom may need to be saved in the JointInfo struct
-  // As bullet's constraints do not save this info
-  // igndbg << "Dummy GetJointDegreesOfFreedom\n";
+  // Degrees of freedom may need to be saved in the JointInfo struct
+  // Currently supporting 1DoF joints
   return 1;
 }
 

bullet/src/SDFFeatures.cc

@@ -53,6 +53,7 @@ Identity SDFFeatures::ConstructSdfModel(
   const std::string name = _sdfModel.Name();
   const math::Pose3d pose = _sdfModel.RawPose();
   const bool isStatic = _sdfModel.Static();
+  // Links within a model will collide unless these are chained with a joint
   // const bool selfCollide = _sdfModel.SelfCollide();
 
   const auto modelIdentity = this->AddModel({name, _worldID, isStatic, pose});
@@ -99,9 +100,7 @@ Identity SDFFeatures::ConstructSdfLink(
   baseTransform.setOrigin(convertVec(poseTranslation));
   baseTransform.setBasis(convertMat(poseLinear));
 
-  // Create link
-  // (TO-DO: do we want to use MotionState?)
-  //  2nd part: Do motion state use the same transformation?
+  // Fixed links have 0 mass and inertia
   if (this->models.at(_modelID)->fixed)
   {
     mass = 0;
@@ -167,9 +166,8 @@ Identity SDFFeatures::ConstructSdfCollision(
     shape = new btStaticPlaneShape(normal, 0);
   }
 
-  // TODO(lobotuerk) find if there's a  way to use friction and related
-  // info in bullet dynamics
-
+  // TODO(lobotuerk/blast545) Add additional friction parameters for bullet
+  // Currently supporting mu and mu2
   const auto &surfaceElement = _collision.Element()->GetElement("surface");
 
   // Get friction
@@ -178,7 +176,7 @@ Identity SDFFeatures::ConstructSdfCollision(
   const auto mu = odeFriction->Get<btScalar>("mu");
   const auto mu2 = odeFriction->Get<btScalar>("mu2");
 
-  // Get restitution
+  // Restitution coefficient not tested
   // const auto restitution = surfaceElement->GetElement("bounce")
   //                             ->Get<btScalar>("restitution_coefficient");
   if (shape != nullptr)
@@ -187,11 +185,6 @@ Identity SDFFeatures::ConstructSdfCollision(
     const auto &body = linkInfo->link;
     const auto &modelID = linkInfo->model;
 
-    // TODO(LOBOTUERK) figure out why this was here
-    // if (!modelInfo->fixed){
-    //   return this->GenerateInvalidId();
-    // }
-
     const math::Pose3d pose = _collision.RawPose();
     const Eigen::Isometry3d poseIsometry =
       ignition::math::eigen3::convert(pose);
@@ -201,10 +194,9 @@ Identity SDFFeatures::ConstructSdfCollision(
     baseTransform.setOrigin(convertVec(poseTranslation));
     baseTransform.setBasis(convertMat(poseLinear));
 
-    // TODO(Blast545): Consider different approaches to set frictions
     // shape->setMargin(btScalar(0.0001));
-    body->setFriction(1);
     // body->setRollingFriction(0.25);
+    body->setFriction(1);
     body->setAnisotropicFriction(btVector3(mu, mu2, 1),
     btCollisionObject::CF_ANISOTROPIC_FRICTION);
 
@@ -223,9 +215,6 @@ Identity SDFFeatures::ConstructSdfJoint(
     const Identity &_modelID,
     const ::sdf::Joint &_sdfJoint)
 {
-  // const auto &parentModelInfo =
-  //  *this->ReferenceInterface<ModelInfo>(_modelID);
-
   // Check supported Joints
   const ::sdf::JointType type = _sdfJoint.Type();
   if( type != ::sdf::JointType::REVOLUTE && type != ::sdf::JointType::FIXED )