void CollisionInterface::postProcess() {
mContacts.clear();
int numContacts = mCollisionChecker->getNumContacts();
mContacts.resize(numContacts);
for (int i = 0; i < numContacts; i++) {
mContacts[i].point = mCollisionChecker->getContact(i).point;
mContacts[i].normal = mCollisionChecker->getContact(i).normal;
mContacts[i].rb1 = mNodeMap[mCollisionChecker->getContact(i).bodyNode1];
mContacts[i].rb2 = mNodeMap[mCollisionChecker->getContact(i).bodyNode2];
if(mContacts[i].rb1 == NULL) {
BodyNode* bd = mCollisionChecker->getContact(i).bodyNode1;
Vector3d localPoint = bd->getTransform().inverse() * mContacts[i].point;
mContacts[i].pinataVelocity = bd->getWorldLinearVelocity(localPoint);
} else if(mContacts[i].rb2 == NULL) {
BodyNode* bd = mCollisionChecker->getContact(i).bodyNode2;
Vector3d localPoint = bd->getTransform().inverse() * mContacts[i].point;
mContacts[i].pinataVelocity = bd->getWorldLinearVelocity(localPoint);
} else {
mContacts[i].pinataVelocity.setZero();
}
}
}
//==============================================================================
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::utils;
//----------------------------------------------------------------------------
// Settings
//----------------------------------------------------------------------------
// Number of random state tests for each skeletons
#ifndef NDEBUG // Debug mode
// size_t testCount = 1;
#else
// size_t testCount = 1;
#endif
World* world = new World;
EXPECT_TRUE(world != NULL);
world->setGravity(Vector3d(0.0, -10.00, 0.0));
world->setTimeStep(0.001);
world->getConstraintSolver()->setCollisionDetector(
new DARTCollisionDetector());
Skeleton* sphereSkel = createSphere(0.05, Vector3d(0.0, 1.0, 0.0));
BodyNode* sphere = sphereSkel->getBodyNode(0);
Joint* sphereJoint = sphere->getParentJoint();
sphereJoint->setVelocity(3, random(-2.0, 2.0)); // x-axis
sphereJoint->setVelocity(5, random(-2.0, 2.0)); // z-axis
world->addSkeleton(sphereSkel);
EXPECT_EQ(sphereSkel->getGravity(), world->getGravity());
assert(sphere);
Skeleton* 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(-2.0, 2.0)); // x-axis
boxJoint->setVelocity(5, random(-2.0, 2.0)); // z-axis
// world->addSkeleton(boxSkel);
// EXPECT_EQ(boxSkel->getGravity(), world->getGravity());
// assert(box);
Skeleton* 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(world->getNumSkeletons(), 2);
ConstraintSolver* cs = world->getConstraintSolver();
CollisionDetector* cd = cs->getCollisionDetector();
// Lower and upper bound of configuration for system
// double lb = -1.5 * DART_PI;
// double ub = 1.5 * DART_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;
cd->detectCollision(true, true);
if (cd->getNumContacts() == 0)
{
world->step();
continue;
}
// for (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();
for (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 << "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;
}
delete world;
}