1 /*
2 * Copyright (c) 2011-2021, The DART development contributors
3 * All rights reserved.
4 *
5 * The list of contributors can be found at:
6 * https://github.com/dartsim/dart/blob/master/LICENSE
7 *
8 * This file is provided under the following "BSD-style" License:
9 * Redistribution and use in source and binary forms, with or
10 * without modification, are permitted provided that the following
11 * conditions are met:
12 * * Redistributions of source code must retain the above copyright
13 * notice, this list of conditions and the following disclaimer.
14 * * Redistributions in binary form must reproduce the above
15 * copyright notice, this list of conditions and the following
16 * disclaimer in the documentation and/or other materials provided
17 * with the distribution.
18 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
19 * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
20 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
21 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
22 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
23 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
24 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
25 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
26 * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
27 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
28 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
29 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
30 * POSSIBILITY OF SUCH DAMAGE.
31 */
32
33 #include <TestHelpers.hpp>
34 #include <dart/dart.hpp>
35 #include <dart/utils/urdf/DartLoader.hpp>
36 #include <gtest/gtest.h>
37
38 using namespace dart::collision;
39 using namespace dart::dynamics;
40 using namespace dart::simulation;
41
42 //==============================================================================
createBox(double offset,double angle,std::string name)43 SkeletonPtr createBox(double offset, double angle, std::string name)
44 {
45 SkeletonPtr box = Skeleton::create(name);
46 RevoluteJoint::Properties props;
47 props.mAxis = Eigen::Vector3d::UnitY();
48 props.mT_ParentBodyToJoint.translation() = Eigen::Vector3d(offset, 0.0, 0.0);
49 props.mT_ChildBodyToJoint.translation() = Eigen::Vector3d(0.0, 0.0, -0.4);
50
51 BodyNode* bn
52 = box->createJointAndBodyNodePair<RevoluteJoint>(nullptr, props).second;
53
54 auto shape = std::make_shared<BoxShape>(Eigen::Vector3d(0.2, 0.1, 1.0));
55 bn->createShapeNodeWith<VisualAspect, CollisionAspect, DynamicsAspect>(shape);
56
57 box->getDof(0)->setPosition(-angle);
58
59 return box;
60 }
61
62 //==============================================================================
TEST(Issue892,LCPSolverShouldNotRetrunNanValues)63 TEST(Issue892, LCPSolverShouldNotRetrunNanValues)
64 {
65 // Set more than 1100 steps so that the two boxes are in contact.
66 const auto numSteps = 2000u;
67
68 auto box1 = createBox(+0.4, +0.1, "box0");
69 auto box2 = createBox(-0.4, -0.1, "box1");
70
71 WorldPtr world = World::create();
72 world->addSkeleton(box1);
73 world->addSkeleton(box2);
74
75 for (auto i = 0u; i < numSteps; ++i)
76 {
77 world->step();
78 EXPECT_FALSE(box1->getRootJoint()->getPositions().hasNaN());
79 EXPECT_FALSE(box2->getRootJoint()->getPositions().hasNaN());
80
81 if (i > 1100)
82 {
83 auto angle1 = box1->getRootJoint()->getPosition(0);
84 auto angle2 = box2->getRootJoint()->getPosition(0);
85
86 EXPECT_NEAR(angle1, -0.345858, 0.1);
87 EXPECT_NEAR(angle2, +0.345858, 0.1);
88 }
89 }
90 }
91