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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 <fstream>
#include <iostream>
#include <gtest/gtest.h>
#include "dart/dynamics/BodyNode.hpp"
#include "dart/dynamics/RevoluteJoint.hpp"
#include "dart/dynamics/Skeleton.hpp"
#include "dart/math/Geometry.hpp"
#include "dart/simulation/World.hpp"
#include "dart/utils/FileInfoWorld.hpp"
#include "dart/utils/SkelParser.hpp"
#include "TestHelpers.hpp"
using namespace dart;
using namespace math;
using namespace dynamics;
using namespace simulation;
using namespace utils;
//==============================================================================
TEST(FileInfoWorld, Basic)
{
const std::size_t numFrames = 100;
const std::string fileName = "testWorld.txt";
double tol = 1e-6;
bool result = false;
FileInfoWorld worldFile;
WorldPtr world = SkelParser::readWorld(
"dart://sample/skel/test/file_info_world_test.skel");
EXPECT_TRUE(world != nullptr);
Recording* recording1 = nullptr;
Recording* recording2 = nullptr;
// Do some simulation with recording
for (std::size_t i = 0; i < numFrames; ++i)
{
world->step();
world->bake();
}
recording1 = world->getRecording();
EXPECT_TRUE(recording1 != nullptr);
// Save the recording to a file
result = worldFile.saveFile(fileName.c_str(), world->getRecording());
EXPECT_TRUE(result);
// Load the file
result = worldFile.loadFile(fileName.c_str());
EXPECT_TRUE(result);
recording2 = worldFile.getRecording();
EXPECT_TRUE(recording2 != nullptr);
// Check number of frames
EXPECT_EQ(recording1->getNumFrames(), (int)numFrames);
EXPECT_EQ(recording2->getNumFrames(), (int)numFrames);
// Check number of skeletons
std::size_t numSkeletons = recording1->getNumSkeletons();
EXPECT_EQ(recording1->getNumSkeletons(), recording2->getNumSkeletons());
// Check number of dofs of the skeletons
for (std::size_t i = 0; i < numSkeletons; ++i)
EXPECT_EQ(recording1->getNumDofs(i), recording2->getNumDofs(i));
// Check generalized positions and contact info
for (std::size_t i = 0; i < numFrames; ++i)
{
// Check generalized positions
for (std::size_t j = 0; j < numSkeletons; ++j)
{
std::size_t dofs = recording1->getNumDofs(j);
for (std::size_t k = 0; k < dofs; ++k)
{
EXPECT_NEAR(
recording1->getGenCoord(i, j, k),
recording2->getGenCoord(i, j, k),
tol);
}
}
// Check contact info
tol = 1e-3;
std::size_t numContacts = recording1->getNumContacts(i);
EXPECT_EQ(recording1->getNumContacts(i), recording2->getNumContacts(i));
for (std::size_t j = 0; j < numContacts; ++j)
{
for (std::size_t k = 0; k < 3; ++k)
{
EXPECT_NEAR(
recording1->getContactForce(i, j)[k],
recording2->getContactForce(i, j)[k],
tol);
EXPECT_NEAR(
recording1->getContactPoint(i, j)[k],
recording2->getContactPoint(i, j)[k],
tol);
}
}
}
}
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