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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 <TestHelpers.hpp>
#include <dart/collision/bullet/BulletCollisionDetector.hpp>
#include <dart/dynamics/BoxShape.hpp>
#include <dart/dynamics/FreeJoint.hpp>
#include <dart/dynamics/PlaneShape.hpp>
#include <dart/dynamics/Skeleton.hpp>
#include <dart/dynamics/SphereShape.hpp>
#include <dart/dynamics/WeldJoint.hpp>
#include <dart/simulation/World.hpp>
#include <gtest/gtest.h>
//==============================================================================
TEST(Issue1184, Accuracy)
{
struct ShapeInfo
{
dart::dynamics::ShapePtr shape;
double offset;
};
std::function<ShapeInfo()> makePlaneGround = []() {
return ShapeInfo{
std::make_shared<dart::dynamics::PlaneShape>(
Eigen::Vector3d::UnitZ(), 0.0),
0.0};
};
std::function<ShapeInfo()> makeBoxGround = []() {
const double thickness = 0.1;
return ShapeInfo{
std::make_shared<dart::dynamics::BoxShape>(
Eigen::Vector3d(100.0, 100.0, thickness)),
-thickness / 2.0};
};
std::function<dart::dynamics::ShapePtr(double)> makeBoxObject
= [](const double s) -> dart::dynamics::ShapePtr {
return std::make_shared<dart::dynamics::BoxShape>(
Eigen::Vector3d::Constant(2 * s));
};
std::function<dart::dynamics::ShapePtr(double)> makeSphereObject
= [](const double s) -> dart::dynamics::ShapePtr {
return std::make_shared<dart::dynamics::SphereShape>(s);
};
#ifndef NDEBUG
const auto groundInfoFunctions = {makePlaneGround};
const auto objectShapeFunctions = {makeSphereObject};
const auto halfsizes = {10.0};
const auto fallingModes = {true};
const double dropHeight = 0.1;
const double tolerance = 1e-3;
#else
const auto groundInfoFunctions = {makePlaneGround, makeBoxGround};
const auto objectShapeFunctions = {makeBoxObject, makeSphereObject};
const auto halfsizes = {0.25, 1.0, 5.0, 10.0, 20.0};
const auto fallingModes = {true, false};
const double dropHeight = 1.0;
const double tolerance = 1e-3;
#endif
for (const auto& groundInfoFunction : groundInfoFunctions)
{
for (const auto& objectShapeFunction : objectShapeFunctions)
{
for (const double halfsize : halfsizes)
{
for (const bool falling : fallingModes)
{
auto world = dart::simulation::World::create("test");
world->getConstraintSolver()->setCollisionDetector(
dart::collision::BulletCollisionDetector::create());
Eigen::Isometry3d tf_object = Eigen::Isometry3d::Identity();
const double initialHeight
= falling ? dropHeight + halfsize : halfsize;
tf_object.translate(initialHeight * Eigen::Vector3d::UnitZ());
auto object = dart::dynamics::Skeleton::create("ball");
object->createJointAndBodyNodePair<dart::dynamics::FreeJoint>()
.first->setTransform(tf_object);
const auto objectShape = objectShapeFunction(halfsize);
object->getBodyNode(0)
->createShapeNodeWith<
dart::dynamics::VisualAspect,
dart::dynamics::CollisionAspect,
dart::dynamics::DynamicsAspect>(objectShape);
world->addSkeleton(object);
const ShapeInfo groundInfo = groundInfoFunction();
auto ground = dart::dynamics::Skeleton::create("ground");
ground->createJointAndBodyNodePair<dart::dynamics::WeldJoint>()
.second->createShapeNodeWith<
dart::dynamics::VisualAspect,
dart::dynamics::CollisionAspect,
dart::dynamics::DynamicsAspect>(groundInfo.shape);
Eigen::Isometry3d tf_ground = Eigen::Isometry3d::Identity();
tf_ground.translate(groundInfo.offset * Eigen::Vector3d::UnitZ());
ground->getJoint(0)->setTransformFromParentBodyNode(tf_ground);
world->addSkeleton(ground);
// time until the object will strike
const double t_strike
= falling ? sqrt(-2.0 * dropHeight / world->getGravity()[2])
: 0.0;
// give the object some time to settle
const double min_time = 0.5;
const double t_limit = 30.0 * t_strike + min_time;
double lowestHeight = std::numeric_limits<double>::infinity();
double time = 0.0;
while (time < t_limit)
{
world->step();
const double currentHeight
= object->getBodyNode(0)->getTransform().translation()[2];
if (currentHeight < lowestHeight)
lowestHeight = currentHeight;
time = world->getTime();
}
// The simulation should have run for at least two seconds
ASSERT_LE(min_time, time);
EXPECT_GE(halfsize + tolerance, lowestHeight)
<< "object type: " << objectShape->getType()
<< "\nground type: " << groundInfo.shape->getType()
<< "\nfalling: " << falling << "\n";
const double finalHeight
= object->getBodyNode(0)->getTransform().translation()[2];
EXPECT_NEAR(halfsize, finalHeight, tolerance)
<< "object type: " << objectShape->getType()
<< "\nground type: " << groundInfo.shape->getType()
<< "\nfalling: " << falling << "\n";
}
}
}
}
}
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