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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/dart.hpp>
#include <gtest/gtest.h>
dart::dynamics::SkeletonPtr create_box(
const Eigen::Vector3d& dims,
double mass,
const Eigen::Vector4d& color,
const std::string& box_name)
{
dart::dynamics::SkeletonPtr box_skel
= dart::dynamics::Skeleton::create(box_name);
// Give the box a body
dart::dynamics::BodyNodePtr body;
body
= box_skel->createJointAndBodyNodePair<dart::dynamics::FreeJoint>(nullptr)
.second;
body->setName(box_name);
// Give the body a shape
auto box = std::make_shared<dart::dynamics::BoxShape>(dims);
auto box_node = body->createShapeNodeWith<
dart::dynamics::VisualAspect,
dart::dynamics::CollisionAspect,
dart::dynamics::DynamicsAspect>(box);
box_node->getVisualAspect()->setColor(color);
// Set up inertia
dart::dynamics::Inertia inertia;
inertia.setMass(mass);
inertia.setMoment(box->computeInertia(mass));
body->setInertia(inertia);
return box_skel;
}
dart::dynamics::SkeletonPtr create_floor()
{
double floor_width = 10.;
double floor_height = 0.1;
dart::dynamics::SkeletonPtr floor_skel
= dart::dynamics::Skeleton::create("floor");
// Give the floor a body
dart::dynamics::BodyNodePtr body
= floor_skel
->createJointAndBodyNodePair<dart::dynamics::WeldJoint>(nullptr)
.second;
// Give the body a shape
auto box = std::make_shared<dart::dynamics::BoxShape>(
Eigen::Vector3d(floor_width, floor_width, floor_height));
auto box_node = body->createShapeNodeWith<
dart::dynamics::VisualAspect,
dart::dynamics::CollisionAspect,
dart::dynamics::DynamicsAspect>(box);
box_node->getVisualAspect()->setColor(dart::Color::Gray());
// Put the body into position
Eigen::Isometry3d tf(Eigen::Isometry3d::Identity());
tf.translation()[2] -= floor_height / 2.0;
body->getParentJoint()->setTransformFromParentBodyNode(tf);
return floor_skel;
}
//==============================================================================
TEST(Issue1243, State)
{
auto world = std::make_shared<dart::simulation::World>();
auto box_skel = create_box({0.1, 0.1, 0.1}, 1., {1., 0., 0., 1.}, "box");
auto floor_skel = create_floor();
box_skel->setPosition(5, 0.2);
world->addSkeleton(box_skel);
world->addSkeleton(floor_skel);
dart::dynamics::Skeleton::State bookmark_state;
Eigen::Isometry3d bookmark_tf;
for (size_t i = 0; i < 20; i++)
{
if (i == 10)
{
bookmark_state = box_skel->getState();
bookmark_tf = box_skel->getRootBodyNode()->getTransform();
}
world->step();
}
const Eigen::Isometry3d final_tf
= box_skel->getRootBodyNode()->getTransform();
box_skel->setState(bookmark_state);
const Eigen::Isometry3d rewind_tf
= box_skel->getRootBodyNode()->getTransform();
EXPECT_FALSE(equals(bookmark_tf, final_tf));
EXPECT_TRUE(equals(bookmark_tf, rewind_tf));
}
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