//==============================================================================
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();
}
//==============================================================================
TEST(SkelParser, RigidAndSoftBodies)
{
using namespace dart;
using namespace math;
using namespace dynamics;
using namespace simulation;
using namespace utils;
WorldPtr world = SkelParser::readWorld(
DART_DATA_PATH"skel/test/test_articulated_bodies.skel");
EXPECT_TRUE(world != nullptr);
SkeletonPtr skel1 = world->getSkeleton("skeleton 1");
EXPECT_TRUE(skel1 != nullptr);
EXPECT_EQ(static_cast<int>(skel1->getNumBodyNodes()), 2);
EXPECT_EQ(static_cast<int>(skel1->getNumRigidBodyNodes()), 1);
EXPECT_EQ(static_cast<int>(skel1->getNumSoftBodyNodes()), 1);
SoftBodyNode* sbn = skel1->getSoftBodyNode(0);
EXPECT_TRUE(static_cast<int>(sbn->getNumPointMasses()) > 0);
world->step();
}
//==============================================================================
TEST(FileInfoWorld, Basic)
{
const size_t numFrames = 100;
const std::string fileName = "testWorld.txt";
double tol = 1e-6;
bool result = false;
FileInfoWorld worldFile;
WorldPtr world = SkelParser::readWorld(
DART_DATA_PATH"/skel/test/file_info_world_test.skel");
EXPECT_TRUE(world != nullptr);
Recording* recording1 = nullptr;
Recording* recording2 = nullptr;
// Do some simulation with recording
for (size_t i = 0; i < numFrames; ++i)
{
world->step();
world->bake();
}
recording1 = world->getRecording();
EXPECT_TRUE(recording1 != nullptr);
// Save the recording to a file
result = worldFile.saveFile(fileName.c_str(), world->getRecording());
EXPECT_TRUE(result);
// Load the file
result = worldFile.loadFile(fileName.c_str());
EXPECT_TRUE(result);
recording2 = worldFile.getRecording();
EXPECT_TRUE(recording2 != nullptr);
// Check number of frames
EXPECT_EQ(recording1->getNumFrames(), (int)numFrames);
EXPECT_EQ(recording2->getNumFrames(), (int)numFrames);
// Check number of skeletons
size_t numSkeletons = recording1->getNumSkeletons();
EXPECT_EQ(recording1->getNumSkeletons(), recording2->getNumSkeletons());
// Check number of dofs of the skeletons
for (size_t i = 0; i < numSkeletons; ++i)
EXPECT_EQ(recording1->getNumDofs(i), recording2->getNumDofs(i));
// Check generalized positions and contact info
for (size_t i = 0; i < numFrames; ++i)
{
// Check generalized positions
for (size_t j = 0; j < numSkeletons; ++j)
{
size_t dofs = recording1->getNumDofs(j);
for (size_t k = 0; k < dofs; ++k)
{
EXPECT_NEAR(recording1->getGenCoord(i, j, k),
recording2->getGenCoord(i, j, k), tol);
}
}
// Check contact info
tol = 1e-3;
size_t numContacts = recording1->getNumContacts(i);
EXPECT_EQ(recording1->getNumContacts(i), recording2->getNumContacts(i));
for (size_t j = 0; j < numContacts; ++j)
{
for (size_t k = 0; k < 3; ++k)
{
EXPECT_NEAR(recording1->getContactForce(i, j)[k],
recording2->getContactForce(i, j)[k], tol);
EXPECT_NEAR(recording1->getContactPoint(i, j)[k],
recording2->getContactPoint(i, j)[k], tol);
}
}
}
}
//==============================================================================
TEST(SkelParser, PlanarJoint)
{
using namespace dart;
using namespace math;
using namespace dynamics;
using namespace simulation;
using namespace utils;
WorldPtr world = SkelParser::readWorld(
DART_DATA_PATH"skel/test/planar_joint.skel");
EXPECT_TRUE(world != nullptr);
SkeletonPtr skel1 = world->getSkeleton("skeleton1");
EXPECT_TRUE(skel1 != nullptr);
BodyNode* body1 = skel1->getBodyNode("link1");
BodyNode* body2 = skel1->getBodyNode("link2");
BodyNode* body3 = skel1->getBodyNode("link3");
BodyNode* body4 = skel1->getBodyNode("link4");
EXPECT_TRUE(body1 != nullptr);
EXPECT_TRUE(body2 != nullptr);
EXPECT_TRUE(body3 != nullptr);
EXPECT_TRUE(body4 != nullptr);
PlanarJoint* planarJoint1
= dynamic_cast<PlanarJoint*>(body1->getParentJoint());
PlanarJoint* planarJoint2
= dynamic_cast<PlanarJoint*>(body2->getParentJoint());
PlanarJoint* planarJoint3
= dynamic_cast<PlanarJoint*>(body3->getParentJoint());
PlanarJoint* planarJoint4
= dynamic_cast<PlanarJoint*>(body4->getParentJoint());
EXPECT_TRUE(planarJoint1 != nullptr);
EXPECT_TRUE(planarJoint2 != nullptr);
EXPECT_TRUE(planarJoint3 != nullptr);
EXPECT_TRUE(planarJoint4 != nullptr);
EXPECT_EQ(planarJoint1->getPlaneType(), PlanarJoint::PT_XY);
EXPECT_EQ(planarJoint2->getPlaneType(), PlanarJoint::PT_YZ);
EXPECT_EQ(planarJoint3->getPlaneType(), PlanarJoint::PT_ZX);
EXPECT_EQ(planarJoint4->getPlaneType(), PlanarJoint::PT_ARBITRARY);
EXPECT_EQ(planarJoint1->getTranslationalAxis1(), Eigen::Vector3d::UnitX());
EXPECT_EQ(planarJoint2->getTranslationalAxis1(), Eigen::Vector3d::UnitY());
EXPECT_EQ(planarJoint3->getTranslationalAxis1(), Eigen::Vector3d::UnitZ());
EXPECT_EQ(planarJoint4->getTranslationalAxis1(), Eigen::Vector3d::UnitX());
EXPECT_EQ(planarJoint1->getTranslationalAxis2(), Eigen::Vector3d::UnitY());
EXPECT_EQ(planarJoint2->getTranslationalAxis2(), Eigen::Vector3d::UnitZ());
EXPECT_EQ(planarJoint3->getTranslationalAxis2(), Eigen::Vector3d::UnitX());
EXPECT_EQ(planarJoint4->getTranslationalAxis2(), Eigen::Vector3d::UnitY());
EXPECT_EQ(planarJoint1->getRotationalAxis(), Eigen::Vector3d::UnitZ());
EXPECT_EQ(planarJoint2->getRotationalAxis(), Eigen::Vector3d::UnitX());
EXPECT_EQ(planarJoint3->getRotationalAxis(), Eigen::Vector3d::UnitY());
EXPECT_EQ(planarJoint4->getRotationalAxis(), Eigen::Vector3d::UnitZ());
EXPECT_EQ(planarJoint1->getPositions(), Eigen::Vector3d(1, 2, 3));
EXPECT_EQ(planarJoint2->getPositions(), Eigen::Vector3d(1, 2, 3));
EXPECT_EQ(planarJoint3->getPositions(), Eigen::Vector3d(1, 2, 3));
EXPECT_EQ(planarJoint4->getPositions(), Eigen::Vector3d(1, 2, 3));
EXPECT_EQ(planarJoint1->getVelocities(), Eigen::Vector3d(4, 5, 6));
EXPECT_EQ(planarJoint2->getVelocities(), Eigen::Vector3d(4, 5, 6));
EXPECT_EQ(planarJoint3->getVelocities(), Eigen::Vector3d(4, 5, 6));
EXPECT_EQ(planarJoint4->getVelocities(), Eigen::Vector3d(4, 5, 6));
EXPECT_EQ(planarJoint1->getDampingCoefficient(0), 1);
EXPECT_EQ(planarJoint2->getDampingCoefficient(0), 1);
EXPECT_EQ(planarJoint3->getDampingCoefficient(0), 1);
EXPECT_EQ(planarJoint4->getDampingCoefficient(0), 1);
EXPECT_EQ(planarJoint1->getDampingCoefficient(1), 2);
EXPECT_EQ(planarJoint2->getDampingCoefficient(1), 2);
EXPECT_EQ(planarJoint3->getDampingCoefficient(1), 2);
EXPECT_EQ(planarJoint4->getDampingCoefficient(1), 2);
EXPECT_EQ(planarJoint1->getDampingCoefficient(2), 3);
EXPECT_EQ(planarJoint2->getDampingCoefficient(2), 3);
EXPECT_EQ(planarJoint3->getDampingCoefficient(2), 3);
EXPECT_EQ(planarJoint4->getDampingCoefficient(2), 3);
EXPECT_EQ(planarJoint1->getPositionLowerLimit(0), -1.0);
EXPECT_EQ(planarJoint2->getPositionLowerLimit(0), -1.0);
EXPECT_EQ(planarJoint3->getPositionLowerLimit(0), -1.0);
EXPECT_EQ(planarJoint4->getPositionLowerLimit(0), -1.0);
EXPECT_EQ(planarJoint1->getPositionUpperLimit(0), +1.0);
EXPECT_EQ(planarJoint2->getPositionUpperLimit(0), +1.0);
EXPECT_EQ(planarJoint3->getPositionUpperLimit(0), +1.0);
EXPECT_EQ(planarJoint4->getPositionUpperLimit(0), +1.0);
EXPECT_EQ(planarJoint1->getPositionLowerLimit(1), -2.0);
EXPECT_EQ(planarJoint2->getPositionLowerLimit(1), -2.0);
EXPECT_EQ(planarJoint3->getPositionLowerLimit(1), -2.0);
EXPECT_EQ(planarJoint4->getPositionLowerLimit(1), -2.0);
EXPECT_EQ(planarJoint1->getPositionUpperLimit(1), +2.0);
EXPECT_EQ(planarJoint2->getPositionUpperLimit(1), +2.0);
EXPECT_EQ(planarJoint3->getPositionUpperLimit(1), +2.0);
EXPECT_EQ(planarJoint4->getPositionUpperLimit(1), +2.0);
EXPECT_EQ(planarJoint1->getPositionLowerLimit(2), -3.0);
EXPECT_EQ(planarJoint2->getPositionLowerLimit(2), -3.0);
EXPECT_EQ(planarJoint3->getPositionLowerLimit(2), -3.0);
EXPECT_EQ(planarJoint4->getPositionLowerLimit(2), -3.0);
EXPECT_EQ(planarJoint1->getPositionUpperLimit(2), +3.0);
EXPECT_EQ(planarJoint2->getPositionUpperLimit(2), +3.0);
EXPECT_EQ(planarJoint3->getPositionUpperLimit(2), +3.0);
EXPECT_EQ(planarJoint4->getPositionUpperLimit(2), +3.0);
world->step();
}
//==============================================================================
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;
}
}
