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/*
* 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 <TestHelpers.hpp>
#include <dart/dart.hpp>
#include <dart/utils/urdf/DartLoader.hpp>
#include <gtest/gtest.h>
using namespace dart::collision;
using namespace dart::dynamics;
using namespace dart::simulation;
//==============================================================================
SkeletonPtr createBox(double offset, double angle, std::string name)
{
SkeletonPtr box = Skeleton::create(name);
RevoluteJoint::Properties props;
props.mAxis = Eigen::Vector3d::UnitY();
props.mT_ParentBodyToJoint.translation() = Eigen::Vector3d(offset, 0.0, 0.0);
props.mT_ChildBodyToJoint.translation() = Eigen::Vector3d(0.0, 0.0, -0.4);
BodyNode* bn
= box->createJointAndBodyNodePair<RevoluteJoint>(nullptr, props).second;
auto shape = std::make_shared<BoxShape>(Eigen::Vector3d(0.2, 0.1, 1.0));
bn->createShapeNodeWith<VisualAspect, CollisionAspect, DynamicsAspect>(shape);
box->getDof(0)->setPosition(-angle);
return box;
}
//==============================================================================
TEST(Issue892, LCPSolverShouldNotRetrunNanValues)
{
// Set more than 1100 steps so that the two boxes are in contact.
const auto numSteps = 2000u;
auto box1 = createBox(+0.4, +0.1, "box0");
auto box2 = createBox(-0.4, -0.1, "box1");
WorldPtr world = World::create();
world->addSkeleton(box1);
world->addSkeleton(box2);
for (auto i = 0u; i < numSteps; ++i)
{
world->step();
EXPECT_FALSE(box1->getRootJoint()->getPositions().hasNaN());
EXPECT_FALSE(box2->getRootJoint()->getPositions().hasNaN());
if (i > 1100)
{
auto angle1 = box1->getRootJoint()->getPosition(0);
auto angle2 = box2->getRootJoint()->getPosition(0);
EXPECT_NEAR(angle1, -0.345858, 0.1);
EXPECT_NEAR(angle2, +0.345858, 0.1);
}
}
}
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