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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/dynamics/SimpleFrame.hpp"
#include "dart/math/Helpers.hpp"
#include "dart/math/Random.hpp"
#include "TestHelpers.hpp"
using namespace dart;
using namespace dynamics;
//==============================================================================
dynamics::SkeletonPtr createFloor()
{
auto floor = dynamics::Skeleton::create("floor");
// Give the floor a body
auto body
= floor->createJointAndBodyNodePair<dynamics::WeldJoint>(nullptr).second;
// Give the body a shape
double floorWidth = 10.0;
double floorHeight = 0.01;
auto box = std::make_shared<dynamics::BoxShape>(
Eigen::Vector3d(floorWidth, floorWidth, floorHeight));
auto* shapeNode = body->createShapeNodeWith<
dynamics::VisualAspect,
dynamics::CollisionAspect,
dynamics::DynamicsAspect>(box);
shapeNode->getVisualAspect()->setColor(dart::Color::LightGray());
// Put the body into position
Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();
tf.translation() = Eigen::Vector3d(0.0, 0.0, -0.5 - floorHeight / 2.0);
body->getParentJoint()->setTransformFromParentBodyNode(tf);
return floor;
}
//==============================================================================
TEST(Friction, FrictionPerShapeNode)
{
auto skeleton1
= createBox(Eigen::Vector3d(0.3, 0.3, 0.3), Eigen::Vector3d(-0.5, 0, 0));
skeleton1->setName("Skeleton1");
auto skeleton2
= createBox(Eigen::Vector3d(0.3, 0.3, 0.3), Eigen::Vector3d(+0.5, 0, 0));
skeleton2->setName("Skeleton2");
auto skeleton3 = createBox(
Eigen::Vector3d(0.3, 0.3, 0.3),
Eigen::Vector3d(+1.5, 0, 0),
Eigen::Vector3d(0, 0, 0.7853981633974483));
skeleton3->setName("Skeleton3");
auto skeleton4 = createBox(
Eigen::Vector3d(0.3, 0.3, 0.3),
Eigen::Vector3d(-1.5, 0, 0),
Eigen::Vector3d(0, 0, 0.7853981633974483));
skeleton4->setName("Skeleton4");
auto body1 = skeleton1->getRootBodyNode();
// default friction values
EXPECT_DOUBLE_EQ(
1.0, body1->getShapeNode(0)->getDynamicsAspect()->getFrictionCoeff());
EXPECT_DOUBLE_EQ(
1.0,
body1->getShapeNode(0)->getDynamicsAspect()->getPrimaryFrictionCoeff());
EXPECT_DOUBLE_EQ(
1.0,
body1->getShapeNode(0)->getDynamicsAspect()->getSecondaryFrictionCoeff());
auto body2 = skeleton2->getRootBodyNode();
// default friction values
EXPECT_DOUBLE_EQ(
1.0, body2->getShapeNode(0)->getDynamicsAspect()->getFrictionCoeff());
EXPECT_DOUBLE_EQ(
1.0,
body2->getShapeNode(0)->getDynamicsAspect()->getPrimaryFrictionCoeff());
EXPECT_DOUBLE_EQ(
1.0,
body2->getShapeNode(0)->getDynamicsAspect()->getSecondaryFrictionCoeff());
// test setting primary friction
body2->getShapeNode(0)->getDynamicsAspect()->setPrimaryFrictionCoeff(0.5);
EXPECT_DOUBLE_EQ(
0.75, body2->getShapeNode(0)->getDynamicsAspect()->getFrictionCoeff());
EXPECT_DOUBLE_EQ(
0.5,
body2->getShapeNode(0)->getDynamicsAspect()->getPrimaryFrictionCoeff());
EXPECT_DOUBLE_EQ(
1.0,
body2->getShapeNode(0)->getDynamicsAspect()->getSecondaryFrictionCoeff());
// test setting secondary friction
body2->getShapeNode(0)->getDynamicsAspect()->setSecondaryFrictionCoeff(0.25);
EXPECT_DOUBLE_EQ(
0.375, body2->getShapeNode(0)->getDynamicsAspect()->getFrictionCoeff());
EXPECT_DOUBLE_EQ(
0.5,
body2->getShapeNode(0)->getDynamicsAspect()->getPrimaryFrictionCoeff());
EXPECT_DOUBLE_EQ(
0.25,
body2->getShapeNode(0)->getDynamicsAspect()->getSecondaryFrictionCoeff());
// set all friction coeffs to 0.0
body2->getShapeNode(0)->getDynamicsAspect()->setFrictionCoeff(0.0);
EXPECT_DOUBLE_EQ(
0.0, body2->getShapeNode(0)->getDynamicsAspect()->getFrictionCoeff());
EXPECT_DOUBLE_EQ(
0.0,
body2->getShapeNode(0)->getDynamicsAspect()->getPrimaryFrictionCoeff());
EXPECT_DOUBLE_EQ(
0.0,
body2->getShapeNode(0)->getDynamicsAspect()->getSecondaryFrictionCoeff());
auto body3 = skeleton3->getRootBodyNode();
// default friction values
EXPECT_DOUBLE_EQ(
1.0, body3->getShapeNode(0)->getDynamicsAspect()->getFrictionCoeff());
EXPECT_DOUBLE_EQ(
1.0,
body3->getShapeNode(0)->getDynamicsAspect()->getPrimaryFrictionCoeff());
EXPECT_DOUBLE_EQ(
1.0,
body3->getShapeNode(0)->getDynamicsAspect()->getSecondaryFrictionCoeff());
EXPECT_DOUBLE_EQ(
0.0,
body3->getShapeNode(0)
->getDynamicsAspect()
->getFirstFrictionDirection()
.squaredNorm());
EXPECT_EQ(
nullptr,
body3->getShapeNode(0)
->getDynamicsAspect()
->getFirstFrictionDirectionFrame());
// this body is rotated by 45 degrees, so set friction direction in body frame
// along Y axis so that gravity pushes it in x and y
body3->getShapeNode(0)->getDynamicsAspect()->setPrimaryFrictionCoeff(0.0);
body3->getShapeNode(0)->getDynamicsAspect()->setFirstFrictionDirection(
Eigen::Vector3d(0, 1, 0));
// check friction values
EXPECT_DOUBLE_EQ(
0.5, body3->getShapeNode(0)->getDynamicsAspect()->getFrictionCoeff());
EXPECT_DOUBLE_EQ(
0.0,
body3->getShapeNode(0)->getDynamicsAspect()->getPrimaryFrictionCoeff());
EXPECT_DOUBLE_EQ(
1.0,
body3->getShapeNode(0)->getDynamicsAspect()->getSecondaryFrictionCoeff());
EXPECT_DOUBLE_EQ(
1.0,
body3->getShapeNode(0)
->getDynamicsAspect()
->getFirstFrictionDirection()
.squaredNorm());
EXPECT_EQ(
nullptr,
body3->getShapeNode(0)
->getDynamicsAspect()
->getFirstFrictionDirectionFrame());
auto body4 = skeleton4->getRootBodyNode();
// default friction values
EXPECT_DOUBLE_EQ(
1.0, body4->getShapeNode(0)->getDynamicsAspect()->getFrictionCoeff());
EXPECT_DOUBLE_EQ(
1.0,
body4->getShapeNode(0)->getDynamicsAspect()->getPrimaryFrictionCoeff());
EXPECT_DOUBLE_EQ(
1.0,
body4->getShapeNode(0)->getDynamicsAspect()->getSecondaryFrictionCoeff());
EXPECT_DOUBLE_EQ(
0.0,
body4->getShapeNode(0)
->getDynamicsAspect()
->getFirstFrictionDirection()
.squaredNorm());
EXPECT_EQ(
nullptr,
body4->getShapeNode(0)
->getDynamicsAspect()
->getFirstFrictionDirectionFrame());
// this body is rotated by 45 degrees, but set friction direction according to
// world frame so that the body orientation doesn't matter. thus a diagonal
// axis is needed to push it in x and y
body4->getShapeNode(0)->getDynamicsAspect()->setPrimaryFrictionCoeff(0.0);
body4->getShapeNode(0)->getDynamicsAspect()->setFirstFrictionDirectionFrame(
Frame::World());
body4->getShapeNode(0)->getDynamicsAspect()->setFirstFrictionDirection(
Eigen::Vector3d(0.5 * std::sqrt(2), 0.5 * std::sqrt(2), 0));
// check friction values
EXPECT_DOUBLE_EQ(
0.5, body4->getShapeNode(0)->getDynamicsAspect()->getFrictionCoeff());
EXPECT_DOUBLE_EQ(
0.0,
body4->getShapeNode(0)->getDynamicsAspect()->getPrimaryFrictionCoeff());
EXPECT_DOUBLE_EQ(
1.0,
body4->getShapeNode(0)->getDynamicsAspect()->getSecondaryFrictionCoeff());
EXPECT_DOUBLE_EQ(
1.0,
body4->getShapeNode(0)
->getDynamicsAspect()
->getFirstFrictionDirection()
.squaredNorm());
EXPECT_EQ(
Frame::World(),
body4->getShapeNode(0)
->getDynamicsAspect()
->getFirstFrictionDirectionFrame());
// Create a world and add the rigid body
auto world = simulation::World::create();
EXPECT_TRUE(equals(world->getGravity(), ::Eigen::Vector3d(0, 0, -9.81)));
world->setGravity(Eigen::Vector3d(0.0, -5.0, -9.81));
EXPECT_TRUE(equals(world->getGravity(), ::Eigen::Vector3d(0.0, -5.0, -9.81)));
world->addSkeleton(createFloor());
world->addSkeleton(skeleton1);
world->addSkeleton(skeleton2);
world->addSkeleton(skeleton3);
world->addSkeleton(skeleton4);
const auto numSteps = 500;
for (auto i = 0u; i < numSteps; ++i)
{
world->step();
// Wait until the first box settle-in on the ground
if (i > 300)
{
const auto x1 = body1->getTransform().translation()[0];
const auto y1 = body1->getTransform().translation()[1];
EXPECT_NEAR(x1, -0.5, 0.00001);
EXPECT_NEAR(y1, -0.17889, 0.001);
// The second box still moves even after landing on the ground because its
// friction is zero.
const auto x2 = body2->getTransform().translation()[0];
const auto y2 = body2->getTransform().translation()[1];
EXPECT_NEAR(x2, 0.5, 0.00001);
EXPECT_LE(y2, -0.17889);
// The third box still moves even after landing on the ground because its
// friction is zero along the first friction direction.
const auto x3 = body3->getTransform().translation()[0];
const auto y3 = body3->getTransform().translation()[1];
EXPECT_GE(x3, 1.5249);
EXPECT_LE(y3, -0.20382);
// The fourth box still moves even after landing on the ground because its
// friction is zero along the first friction direction.
const auto x4 = body4->getTransform().translation()[0];
const auto y4 = body4->getTransform().translation()[1];
EXPECT_LE(x4, -1.5249);
EXPECT_LE(y4, -0.20382);
}
}
}
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