//==============================================================================
TEST(VskParser, SingleStepSimulations)
{
WorldPtr world = World::create();
EXPECT_NE(world, nullptr);
SkeletonPtr nick = VskParser::readSkeleton("dart://sample/vsk/Nick01.vsk");
EXPECT_NE(nick, nullptr);
EXPECT_EQ(nick->getNumMarkers(), 53u);
SkeletonPtr sehoon
= VskParser::readSkeleton("dart://sample/vsk/SehoonVSK3.vsk");
EXPECT_NE(sehoon, nullptr);
EXPECT_EQ(nick->getNumMarkers(), 53u);
SkeletonPtr yuting = VskParser::readSkeleton("dart://sample/vsk/Yuting.vsk");
EXPECT_NE(yuting, nullptr);
EXPECT_EQ(nick->getNumMarkers(), 53u);
world->removeAllSkeletons();
world->addSkeleton(nick);
EXPECT_EQ(world->getNumSkeletons(), 1u);
world->step();
world->removeAllSkeletons();
world->addSkeleton(sehoon);
EXPECT_EQ(world->getNumSkeletons(), 1u);
world->step();
world->removeAllSkeletons();
world->addSkeleton(yuting);
EXPECT_EQ(world->getNumSkeletons(), 1u);
world->step();
}
//==============================================================================
TEST(VskParser, EmptySkeleton)
{
WorldPtr world = World::create();
EXPECT_TRUE(world != nullptr);
SkeletonPtr skeleton
= VskParser::readSkeleton("dart://sample/vsk/test/empty.vsk");
EXPECT_TRUE(skeleton == nullptr);
world->addSkeleton(skeleton);
EXPECT_EQ(world->getNumSkeletons(), 0u);
world->step();
}
//==============================================================================
TEST(SkelParser, EmptyWorld)
{
WorldPtr world = SkelParser::readWorld(DART_DATA_PATH"skel/test/empty.skel");
EXPECT_TRUE(world != nullptr);
EXPECT_EQ(world->getTimeStep(), 0.001);
EXPECT_EQ(world->getGravity()(0), 0);
EXPECT_EQ(world->getGravity()(1), 0);
EXPECT_EQ(world->getGravity()(2), -9.81);
EXPECT_EQ((int)world->getNumSkeletons(), 0);
EXPECT_EQ(world->getTime(), 0);
world->step();
EXPECT_EQ(world->getTime(), world->getTimeStep());
}
//==============================================================================
TEST(SkelParser, SerialChain)
{
WorldPtr world = SkelParser::readWorld(
DART_DATA_PATH"skel/test/serial_chain_ball_joint.skel");
EXPECT_TRUE(world != nullptr);
EXPECT_EQ(world->getTimeStep(), 0.001);
EXPECT_EQ(world->getGravity()(0), 0);
EXPECT_EQ(world->getGravity()(1), -9.81);
EXPECT_EQ(world->getGravity()(2), 0);
EXPECT_EQ(static_cast<int>(world->getNumSkeletons()), 1);
SkeletonPtr skel1 = world->getSkeleton("skeleton 1");
EXPECT_EQ(static_cast<int>(skel1->getNumBodyNodes()), 10);
world->step();
}
//==============================================================================
TEST(SkelParser, SinglePendulum)
{
WorldPtr world = SkelParser::readWorld(
DART_DATA_PATH"skel/test/single_pendulum.skel");
EXPECT_TRUE(world != nullptr);
EXPECT_EQ(world->getTimeStep(), 0.001);
EXPECT_EQ(world->getGravity()(0), 0);
EXPECT_EQ(world->getGravity()(1), -9.81);
EXPECT_EQ(world->getGravity()(2), 0);
EXPECT_EQ(static_cast<int>(world->getNumSkeletons()), 1);
SkeletonPtr skel1 = world->getSkeleton("single_pendulum");
EXPECT_EQ(static_cast<int>(skel1->getNumBodyNodes()), 1);
world->step();
}
std::vector<SkeletonPtr> getSkeletons()
{
std::vector<std::string> fileList = getFileList();
std::vector<WorldPtr> worlds;
for(size_t i=0; i<fileList.size(); ++i)
worlds.push_back(utils::SkelParser::readWorld(fileList[i]));
std::vector<SkeletonPtr> skeletons;
for(size_t i=0; i<worlds.size(); ++i)
{
WorldPtr world = worlds[i];
for(size_t j=0; j<world->getNumSkeletons(); ++j)
skeletons.push_back(world->getSkeleton(j));
}
return skeletons;
}
//==============================================================================
void ConstraintTest::SingleContactTest(const std::string& /*_fileName*/)
{
using namespace std;
using namespace Eigen;
using namespace dart::math;
using namespace dart::collision;
using namespace dart::constraint;
using namespace dart::dynamics;
using namespace dart::simulation;
using namespace dart::io;
//----------------------------------------------------------------------------
// Settings
//----------------------------------------------------------------------------
// Number of random state tests for each skeletons
#ifndef NDEBUG // Debug mode
// std::size_t testCount = 1;
#else
// std::size_t testCount = 1;
#endif
WorldPtr world = World::create();
EXPECT_TRUE(world != nullptr);
world->setGravity(Vector3d(0.0, -10.00, 0.0));
world->setTimeStep(0.001);
world->getConstraintSolver()->setCollisionDetector(
DARTCollisionDetector::create());
SkeletonPtr sphereSkel = createSphere(0.05, Vector3d(0.0, 1.0, 0.0));
BodyNode* sphere = sphereSkel->getBodyNode(0);
Joint* sphereJoint = sphere->getParentJoint();
sphereJoint->setVelocity(3, Random::uniform(-2.0, 2.0)); // x-axis
sphereJoint->setVelocity(5, Random::uniform(-2.0, 2.0)); // z-axis
world->addSkeleton(sphereSkel);
EXPECT_EQ(sphereSkel->getGravity(), world->getGravity());
assert(sphere);
SkeletonPtr boxSkel = createBox(Vector3d(1.0, 1.0, 1.0),
Vector3d(0.0, 1.0, 0.0));
BodyNode* box = boxSkel->getBodyNode(0);
Joint* boxJoint = box->getParentJoint();
boxJoint->setVelocity(3, Random::uniform(-2.0, 2.0)); // x-axis
boxJoint->setVelocity(5, Random::uniform(-2.0, 2.0)); // z-axis
// world->addSkeleton(boxSkel);
// EXPECT_EQ(boxSkel->getGravity(), world->getGravity());
// assert(box);
SkeletonPtr groundSkel = createGround(Vector3d(10000.0, 0.1, 10000.0),
Vector3d(0.0, -0.05, 0.0));
groundSkel->setMobile(false);
// BodyNode* ground = groundSkel->getBodyNode(0);
world->addSkeleton(groundSkel);
EXPECT_EQ(groundSkel->getGravity(), world->getGravity());
// assert(ground);
EXPECT_EQ((int)world->getNumSkeletons(), 2);
// Lower and upper bound of configuration for system
// double lb = -1.5 * constantsd::pi();
// double ub = 1.5 * constantsd::pi();
int maxSteps = 500;
for (int i = 0; i < maxSteps; ++i)
{
// Vector3d pos1 = sphere->getWorldTransform().translation();
// Vector3d vel1 = sphere->getWorldLinearVelocity(pos1);
// std::cout << "pos1:" << pos1.transpose() << std::endl;
// std::cout << "vel1:" << vel1.transpose() << std::endl;
if (!world->checkCollision())
{
world->step();
continue;
}
// for (std::size_t j = 0; j < cd->getNumContacts(); ++j)
// {
// Contact contact = cd->getContact(j);
// Vector3d pos1 = sphere->getTransform().inverse() * contact.point;
// Vector3d vel1 = sphere->getWorldLinearVelocity(pos1);
// std::cout << "pos1:" << pos1.transpose() << std::endl;
// std::cout << "vel1:" << vel1.transpose() << std::endl;
// }
world->step();
const auto& result = world->getConstraintSolver()->getLastCollisionResult();
for (const auto& contact : result.getContacts())
{
Vector3d pos1 = sphere->getTransform().inverse() * contact.point;
Vector3d vel1 = sphere->getLinearVelocity(pos1);
// std::cout << "pos1:" << pos1.transpose() << std::endl;
// std::cout << "pos1[1]: " << pos1[1] << std::endl;
// std::cout << "pos1:" << pos1.transpose() << std::endl;
std::cout << "vel1:" << vel1.transpose() << ", pos1[1]: " << pos1[1] << std::endl;
// EXPECT_NEAR(pos1[0], 0.0, 1e-9);
// EXPECT_NEAR(pos1[1], -0.05, 1e-2);
// EXPECT_NEAR(pos1[2], 0.0, 1e-9);
// EXPECT_NEAR(vel1[0], 0.0, 1e-9);
// EXPECT_NEAR(vel1[1], 0.0, 1e-9);
// EXPECT_NEAR(vel1[2], 0.0, 1e-9);
// if (!equals(vel1, Vector3d(0.0, 0.0, 0.0)))
// std::cout << "vel1:" << vel1.transpose() << std::endl;
// EXPECT_EQ(vel1, Vector3d::Zero());
}
// std::cout << std::endl;
break;
}
}
