Description: Fix grouping of contact constraints Origin: https://github.com/dartsim/dart/pull/1624 Forwarded: https://github.com/dartsim/dart/pull/1624 Applied-Upstream: https://github.com/dartsim/dart/pull/1624 Last-Update: 2022-01-10 --- diff --git a/dart/constraint/ContactConstraint.cpp b/dart/constraint/ContactConstraint.cpp index 59047a899e5d..e7b24c818c68 100644 --- a/dart/constraint/ContactConstraint.cpp +++ b/dart/constraint/ContactConstraint.cpp @@ -920,9 +920,9 @@ dynamics::SkeletonPtr ContactConstraint::getRootSkeleton() const assert(isActive()); if (mBodyNodeA->isReactive()) - return mBodyNodeA->getSkeleton()->mUnionRootSkeleton.lock(); + return ConstraintBase::getRootSkeleton(mBodyNodeA->getSkeleton()); else - return mBodyNodeB->getSkeleton()->mUnionRootSkeleton.lock(); + return ConstraintBase::getRootSkeleton(mBodyNodeB->getSkeleton()); } //============================================================================== diff --git a/data/sdf/test/issue1624_cubes.sdf 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1 + 1 0 0 1 + + + + + + 6 6 13 0.241486 0.446844 0.482211 + + + + 1 + 0 + 0 + 1 + 0 + 1 + + 6 + + + + + 1 1 1 + + + + + 0 + + + + + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + + 6 6 14.5 -0.143891 -0.005632 -0.193793 + + + + 1 + 0 + 0 + 1 + 0 + 1 + + 6 + + + + + 1 1 1 + + + + + 0 + + + + + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + + 6 6 16 -0.30886 0.046849 -0.239219 + + + + 1 + 0 + 0 + 1 + 0 + 1 + + 6 + + + + + 1 1 1 + + + + + 0 + + + + + + + 1 1 1 + + + + 1 0 0 1 + 1 0 0 1 + 1 0 0 1 + + + + + 0 0 -9.8 + + diff --git a/unittests/regression/CMakeLists.txt b/unittests/regression/CMakeLists.txt index bcbc62e12113..e0dd73c6a461 100644 --- a/unittests/regression/CMakeLists.txt +++ b/unittests/regression/CMakeLists.txt @@ -42,6 +42,10 @@ if(TARGET dart-collision-bullet AND TARGET dart-collision-ode) dart-collision-ode dart-utils) + dart_add_test("regression" test_Issue1624) + target_link_libraries(test_Issue1624 + dart-collision-ode + dart-utils) endif() if(TARGET dart-utils) diff --git a/unittests/regression/test_Issue1624.cpp b/unittests/regression/test_Issue1624.cpp new file mode 100644 index 000000000000..2a0d73e48c3c --- /dev/null +++ b/unittests/regression/test_Issue1624.cpp @@ -0,0 +1,71 @@ +/* + * Copyright (c) 2011-2021, The DART development contributors + * All rights reserved. + * + * The list of contributors can be found at: + * https://github.com/dartsim/dart/blob/master/LICENSE + * + * This file is provided under the following "BSD-style" License: + * Redistribution and use in source and binary forms, with or + * without modification, are permitted provided that the following + * conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND + * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, + * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT + * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF + * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include + +#include "dart/dart.hpp" +#include "dart/utils/sdf/SdfParser.hpp" + +#include "TestHelpers.hpp" + +using namespace dart::math; +using namespace dart::collision; +using namespace dart::dynamics; +using namespace dart::simulation; +using namespace dart::utils; + +//============================================================================== +TEST(Issue1624, ContactGrouping) +{ + // Load a world with a large number of contacts and run simulation to ensure + // constraint solver does not misbehave. + auto world + = SdfParser::readWorld("dart://sample/sdf/test/issue1624_cubes.sdf"); + ASSERT_TRUE(world != nullptr); + world->getConstraintSolver()->setCollisionDetector( + OdeCollisionDetector::create()); + const double dt = 0.001; + world->setTimeStep(dt); + std::size_t maxSteps = 1000; + for (std::size_t i = 0; i < maxSteps; i++) + { + world->step(); + } + + for (std::size_t i = 0; i < world->getNumSkeletons(); ++i) + { + auto skel = world->getSkeleton(i); + Eigen::Vector3d velocity = skel->getCOMLinearVelocity(); + EXPECT_LE(velocity.norm(), 2.0); + } +}