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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/CollisionResult.hpp>
#include <dart/dynamics/BodyNode.hpp>
#include <dart/dynamics/BoxShape.hpp>
#include <dart/dynamics/FreeJoint.hpp>
#include <dart/dynamics/Skeleton.hpp>
#include <dart/simulation/World.hpp>
#include <gtest/gtest.h>
//==============================================================================
TEST(Issue1231, NoContacts)
{
dart::simulation::WorldPtr world = dart::simulation::World::create();
double x = -0.25;
for (const auto& name : {"1", "2"})
{
const auto skeleton = dart::dynamics::Skeleton::create(name);
skeleton->setMobile(false);
auto pair
= skeleton->createJointAndBodyNodePair<dart::dynamics::FreeJoint>();
auto joint = pair.first;
auto bn = pair.second;
Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();
tf.translation() = Eigen::Vector3d(x, x, x);
joint->setTransform(tf);
x += 0.5;
bn->createShapeNodeWith<dart::dynamics::CollisionAspect>(
std::make_shared<dart::dynamics::BoxShape>(
Eigen::Vector3d::Constant(1.0)));
world->addSkeleton(skeleton);
}
world->step();
const std::size_t num = world->getLastCollisionResult().getNumContacts();
EXPECT_EQ(0u, num);
}
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