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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>
//==============================================================================
TEST(Issue895, BodyNodeSelfCollision)
{
const dart::dynamics::SkeletonPtr skel = dart::dynamics::Skeleton::create();
dart::dynamics::BodyNode* bn
= skel->createJointAndBodyNodePair<FreeJoint>().second;
skel->enableSelfCollisionCheck();
dart::dynamics::BoxShapePtr box
= std::make_shared<dart::dynamics::BoxShape>(Eigen::Vector3d::Ones());
// Create two ShapeNodes on one BodyNode where the ShapeNodes will always be
// in collision
bn->createShapeNodeWith<CollisionAspect>(box);
bn->createShapeNodeWith<CollisionAspect>(box)->setRelativeTranslation(
Eigen::Vector3d(0.5, 0.5, 0.0));
dart::simulation::WorldPtr world
= std::make_shared<dart::simulation::World>();
world->addSkeleton(skel);
world->step();
const dart::collision::CollisionResult result
= world->getLastCollisionResult();
EXPECT_EQ(result.getNumContacts(), 0u);
}
//==============================================================================
int main(int argc, char* argv[])
{
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
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