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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 <dart/utils/sdf/sdf.hpp>
#include <gtest/gtest.h>
// This test is adapted from @azeey's work here:
// https://github.com/ignitionrobotics/ign-physics/pull/31
TEST(Issue1445, Collision)
{
std::string model1Str = R"(
<sdf version="1.6">
<model name="M1">
<pose>0 0 0.1 0 0 0</pose>
<link name="body">
<collision name="coll_box">
<geometry>
<box>
<size>0.2 0.2 0.2</size>
</box>
</geometry>
</collision>
</link>
</model>
</sdf>)";
std::string model2Str = R"(
<sdf version="1.6">
<model name="M2">
<pose>1 0 0.1 0 0 0</pose>
<link name="chassis">
<collision name="coll_sphere">
<geometry>
<sphere>
<radius>0.1</radius>
</sphere>
</geometry>
</collision>
</link>
</model>
</sdf>)";
auto world = std::make_shared<dart::simulation::World>();
auto ground = dart::dynamics::Skeleton::create("ground");
{
auto* bn = ground->createJointAndBodyNodePair<dart::dynamics::WeldJoint>()
.second;
bn->createShapeNodeWith<
dart::dynamics::CollisionAspect,
dart::dynamics::DynamicsAspect>(
std::make_shared<dart::dynamics::BoxShape>(
Eigen::Vector3d(10, 10, 0.2)));
auto sn = bn->getShapeNode(0);
ASSERT_TRUE(sn);
sn->setRelativeTranslation({0, 0, -0.1});
world->addSkeleton(ground);
}
auto model1 = dart::dynamics::Skeleton::create("M1");
{
auto pair = model1->createJointAndBodyNodePair<dart::dynamics::FreeJoint>();
auto* joint = pair.first;
auto* bn = pair.second;
joint->setName("joint1");
bn->setName("body1");
bn->createShapeNodeWith<
dart::dynamics::CollisionAspect,
dart::dynamics::DynamicsAspect>(
std::make_shared<dart::dynamics::BoxShape>(
Eigen::Vector3d(0.2, 0.2, 0.2)));
auto tf = Eigen::Isometry3d::Identity();
tf.translation()[2] = 0.1;
joint->setTransform(tf);
world->addSkeleton(model1);
}
world->step();
auto model2 = dart::dynamics::Skeleton::create("M2");
{
auto pair = model2->createJointAndBodyNodePair<dart::dynamics::FreeJoint>();
auto* joint = pair.first;
auto* bn = pair.second;
joint->setName("joint2");
bn->setName("body2");
bn->createShapeNodeWith<
dart::dynamics::CollisionAspect,
dart::dynamics::DynamicsAspect>(
std::make_shared<dart::dynamics::SphereShape>(0.1));
auto tf = Eigen::Isometry3d::Identity();
tf.translation() = Eigen::Vector3d(1.0, 0.0, 0.1);
joint->setTransform(tf);
}
auto* model1Body = model1->getRootBodyNode();
auto* model2Body = model2->getRootBodyNode();
const auto poseParent = model1Body->getTransform();
const auto poseChild = model2Body->getTransform();
// Commenting out the following `step` call makes this test fail
// world->Step(output, state, input);
auto fixedJoint = model2Body->moveTo<dart::dynamics::WeldJoint>(model1Body);
// Pose of child relative to parent
auto poseParentChild = poseParent.inverse() * poseChild;
// We let the joint be at the origin of the child link.
fixedJoint->setTransformFromParentBodyNode(poseParentChild);
const std::size_t numSteps = 100;
for (std::size_t i = 0; i < numSteps; ++i)
world->step();
// Expect both bodies to hit the ground and stop
EXPECT_NEAR(0.0, model1Body->getLinearVelocity().z(), 1e-3);
EXPECT_NEAR(0.0, model2Body->getLinearVelocity().z(), 1e-3);
auto temp1 = dart::dynamics::Skeleton::create("temp1");
world->addSkeleton(temp1);
model2Body->moveTo<dart::dynamics::FreeJoint>(temp1, nullptr);
for (std::size_t i = 0; i < numSteps; ++i)
world->step();
// Expect both bodies to remain in contact with the ground with zero velocity.
EXPECT_NEAR(0.0, model1Body->getLinearVelocity().z(), 1e-2);
EXPECT_NEAR(0.0, model2Body->getLinearVelocity().z(), 1e-3);
auto* groundBody = ground->getRootBodyNode();
auto temp2 = groundBody->remove();
for (std::size_t i = 0; i < numSteps; ++i)
world->step();
// Expect both bodies to be falling after the BodyNode ofthe the ground is
// removed
EXPECT_LE(model1Body->getLinearVelocity().z(), -1e-2);
EXPECT_LE(model2Body->getLinearVelocity().z(), -1e-2);
}
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