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/*
* Copyright (c) 2011-2022, 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 <gtest/gtest.h>
#include "dart/common/common.hpp"
#include "dart/constraint/constraint.hpp"
#include "dart/dynamics/dynamics.hpp"
#include "dart/simulation/World.hpp"
#include "TestHelpers.hpp"
using namespace dart;
//==============================================================================
void testContactWithKinematicJoint(
const constraint::BoxedLcpSolverPtr& lcpSolver, double tol)
{
auto world = std::make_shared<simulation::World>();
world->setConstraintSolver(
std::make_unique<constraint::BoxedLcpConstraintSolver>(lcpSolver));
auto skeleton1 = dynamics::Skeleton::create("skeleton1");
auto pair1 = skeleton1->createJointAndBodyNodePair<dynamics::FreeJoint>();
auto bodyNode1 = pair1.second;
auto joint1 = pair1.first;
joint1->setActuatorType(dynamics::Joint::VELOCITY);
auto shape1
= std::make_shared<dynamics::BoxShape>(Eigen::Vector3d(1.0, 1.0, 1.0));
bodyNode1->createShapeNodeWith<VisualAspect, CollisionAspect, DynamicsAspect>(
shape1);
skeleton1->setPosition(5, 0.0);
auto skeleton2 = dynamics::Skeleton::create("skeleton2");
auto pair2 = skeleton2->createJointAndBodyNodePair<dynamics::FreeJoint>();
auto bodyNode2 = pair2.second;
auto joint2 = pair2.first;
joint2->setActuatorType(dynamics::Joint::FORCE);
auto shape2
= std::make_shared<dynamics::BoxShape>(Eigen::Vector3d(0.5, 0.5, 0.5));
bodyNode2->createShapeNodeWith<VisualAspect, CollisionAspect, DynamicsAspect>(
shape2);
skeleton2->setPosition(5, 0.75);
world->addSkeleton(skeleton1);
world->addSkeleton(skeleton2);
for (auto i = 0u; i < 100; ++i)
{
skeleton1->setCommand(3, 0.1);
world->step();
EXPECT_EQ(bodyNode1->getLinearVelocity()[0], 0.1);
// Need few steps to settle down
if (i > 15)
{
EXPECT_NEAR(bodyNode2->getLinearVelocity()[0], 0.1, tol);
}
}
}
//==============================================================================
TEST(ContactConstraint, ContactWithKinematicJoint)
{
testContactWithKinematicJoint(
std::make_shared<constraint::DantzigBoxedLcpSolver>(), 1e-6);
#ifdef DART_ARCH_32BITS
testContactWithKinematicJoint(
std::make_shared<constraint::PgsBoxedLcpSolver>(), 1e-3);
#else
testContactWithKinematicJoint(
std::make_shared<constraint::PgsBoxedLcpSolver>(), 1e-4);
#endif
}
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