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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 <dart/collision/ode/OdeCollisionDetector.hpp>
#include <gtest/gtest.h>
#include "dart/dart.hpp"
#include "dart/utils/sdf/SdfParser.hpp"
#include "TestHelpers.hpp"
using namespace dart::math;
using namespace dart::collision;
using namespace dart::dynamics;
using namespace dart::simulation;
using namespace dart::utils;
//==============================================================================
TEST(Issue1624, ContactGrouping)
{
// Load a world with a large number of contacts and run simulation to ensure
// constraint solver does not misbehave.
auto world
= SdfParser::readWorld("dart://sample/sdf/test/issue1624_cubes.sdf");
ASSERT_TRUE(world != nullptr);
world->getConstraintSolver()->setCollisionDetector(
OdeCollisionDetector::create());
const double dt = 0.001;
world->setTimeStep(dt);
std::size_t maxSteps = 1000;
for (std::size_t i = 0; i < maxSteps; i++)
{
world->step();
}
world->eachSkeleton([&](Skeleton* skel) {
Eigen::Vector3d velocity = skel->getCOMLinearVelocity();
EXPECT_LE(velocity.norm(), 2.0);
});
}
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