C++ WorldPtr::step方法代码示例

//==============================================================================
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(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(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);
      }
    }
  }
}

//==============================================================================
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;

//.........这里部分代码省略.........