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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 <iostream>
#include <gtest/gtest.h>
#include "dart/dynamics/PlanarJoint.hpp"
#include "dart/dynamics/RevoluteJoint.hpp"
#include "dart/dynamics/Skeleton.hpp"
#include "dart/dynamics/SoftBodyNode.hpp"
#include "dart/simulation/World.hpp"
#include "dart/utils/sdf/SdfParser.hpp"
#include "TestHelpers.hpp"
using namespace dart;
using namespace math;
using namespace dynamics;
using namespace simulation;
using namespace utils;
//==============================================================================
TEST(SdfParser, SDFSingleBodyWithoutJoint)
{
// Regression test for #444
WorldPtr world = SdfParser::readWorld(
"dart://sample/sdf/test/single_bodynode_skeleton.world");
EXPECT_TRUE(world != nullptr);
SkeletonPtr skel = world->getSkeleton(0);
EXPECT_TRUE(skel != nullptr);
EXPECT_EQ(skel->getNumBodyNodes(), 1u);
EXPECT_EQ(skel->getNumJoints(), 1u);
BodyNodePtr bodyNode = skel->getBodyNode(0);
EXPECT_TRUE(bodyNode != nullptr);
EXPECT_EQ(bodyNode->getNumShapeNodesWith<VisualAspect>(), 1u);
EXPECT_EQ(bodyNode->getNumShapeNodesWith<CollisionAspect>(), 1u);
JointPtr joint = skel->getJoint(0);
EXPECT_TRUE(joint != nullptr);
EXPECT_EQ(joint->getType(), FreeJoint::getStaticType());
}
//==============================================================================
TEST(SdfParser, SDFJointProperties)
{
WorldPtr world = SdfParser::readWorld(
"dart://sample/sdf/test/test_skeleton_joint.world");
EXPECT_TRUE(world != nullptr);
SkeletonPtr skel = world->getSkeleton(0);
EXPECT_TRUE(skel != nullptr);
EXPECT_EQ(skel->getNumBodyNodes(), 5u);
EXPECT_EQ(skel->getNumJoints(), 5u);
const double epsilon = 1e-7;
auto testProperties = [epsilon](const Joint* joint, const size_t idx) {
EXPECT_NEAR(joint->getPositionLowerLimit(idx), 0, epsilon);
EXPECT_NEAR(joint->getPositionUpperLimit(idx), 3, epsilon);
EXPECT_NEAR(joint->getDampingCoefficient(idx), 0, epsilon);
EXPECT_NEAR(joint->getCoulombFriction(idx), 1, epsilon);
EXPECT_NEAR(joint->getRestPosition(idx), 2, epsilon);
EXPECT_NEAR(joint->getSpringStiffness(idx), 3, epsilon);
};
for (auto& joint : skel->getJoints())
{
if (joint->getType() == PrismaticJoint::getStaticType()
|| joint->getType() == RevoluteJoint::getStaticType()
|| joint->getType() == ScrewJoint::getStaticType())
{
testProperties(joint, 0);
}
else if (joint->getType() == UniversalJoint::getStaticType())
{
testProperties(joint, 0);
testProperties(joint, 1);
}
}
}
//==============================================================================
TEST(SdfParser, ParsingSDFFiles)
{
const auto numSteps = 10u;
// Create a list of sdf files to test with where the sdf files contains World
std::vector<std::string> worldFiles;
worldFiles.push_back("dart://sample/sdf/benchmark.world");
worldFiles.push_back("dart://sample/sdf/double_pendulum.world");
worldFiles.push_back("dart://sample/sdf/double_pendulum_with_base.world");
worldFiles.push_back("dart://sample/sdf/empty.world");
worldFiles.push_back("dart://sample/sdf/ground.world");
worldFiles.push_back("dart://sample/sdf/test/single_bodynode_skeleton.world");
std::vector<WorldPtr> worlds;
for (const auto& worldFile : worldFiles)
worlds.push_back(SdfParser::readWorld(worldFile));
for (auto world : worlds)
{
EXPECT_TRUE(nullptr != world);
for (auto i = 0u; i < numSteps; ++i)
world->step();
}
// Create another list of sdf files to test with where the sdf files contains
// Skeleton
std::vector<common::Uri> skeletonFiles;
skeletonFiles.push_back("dart://sample/sdf/atlas/atlas_v3_no_head.sdf");
skeletonFiles.push_back(
"dart://sample/sdf/atlas/atlas_v3_no_head_soft_feet.sdf");
auto world = std::make_shared<World>();
std::vector<SkeletonPtr> skeletons;
for (const auto& skeletonFile : skeletonFiles)
skeletons.push_back(SdfParser::readSkeleton(skeletonFile));
for (auto skeleton : skeletons)
{
EXPECT_TRUE(nullptr != skeleton);
world->addSkeleton(skeleton);
for (auto i = 0u; i < numSteps; ++i)
world->step();
world->removeAllSkeletons();
}
}
//==============================================================================
TEST(SdfParser, ReadMaterial)
{
std::string sdf_filename = "dart://sample/sdf/quad.sdf";
SkeletonPtr skeleton = SdfParser::readSkeleton(sdf_filename);
EXPECT_TRUE(nullptr != skeleton);
auto bodynode = skeleton->getBodyNode(0);
for (auto shapenode : bodynode->getShapeNodes())
{
if (shapenode->has<dart::dynamics::VisualAspect>())
{
Eigen::Vector4d color = shapenode->getVisualAspect()->getRGBA();
Eigen::Vector4d expected_color(0.5, 0.6, 0.8, 1.0);
double diff = (color - expected_color).norm();
EXPECT_LT(diff, 1e-4);
}
}
}
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