265 lines
8.6 KiB
C++
265 lines
8.6 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include "gazebo/test/ServerFixture.hh"
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#include "gazebo/physics/physics.hh"
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/test/helper_physics_generator.hh"
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const double g_physics_tol = 1e-2;
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using namespace gazebo;
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class SurfaceTest : public ServerFixture,
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public testing::WithParamInterface<const char*>
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{
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public: void CollideWithoutContact(const std::string &_physicsEngine);
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public: void CollideBitmask(const std::string &_physicsEngine);
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};
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////////////////////////////////////////////////////////////////////////
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// CollideWithoutContact:
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// Load the collide_without_contact test world. It drops two boxes onto
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// a larger static box with a contact sensor. One of the boxes should be
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// detected by the contact sensor but not experience contact forces.
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////////////////////////////////////////////////////////////////////////
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void SurfaceTest::CollideWithoutContact(const std::string &_physicsEngine)
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{
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if ("bullet" == _physicsEngine)
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{
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gzerr << _physicsEngine << " Does not support <collide_without_contact>"
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<< " see issue #1038" << std::endl;
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return;
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}
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// load an empty world
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Load("worlds/collide_without_contact.world", true, _physicsEngine);
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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// check the gravity vector
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physics::PhysicsEnginePtr physics = world->GetPhysicsEngine();
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ASSERT_TRUE(physics != NULL);
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EXPECT_EQ(physics->GetType(), _physicsEngine);
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math::Vector3 g = physics->GetGravity();
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// Assume gravity vector points down z axis only.
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EXPECT_EQ(g.x, 0);
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EXPECT_EQ(g.y, 0);
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EXPECT_LE(g.z, -9.8);
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// get physics time step
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double dt = physics->GetMaxStepSize();
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EXPECT_GT(dt, 0);
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// get pointers to the falling boxes.
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physics::ModelPtr contactBox, collideBox;
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contactBox = world->GetModel("contact_box");
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collideBox = world->GetModel("collide_box");
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ASSERT_TRUE(contactBox != NULL);
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ASSERT_TRUE(collideBox != NULL);
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// get the contact sensor
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sensors::SensorPtr sensor = sensors::get_sensor("box_contact");
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sensors::ContactSensorPtr contactSensor =
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std::dynamic_pointer_cast<sensors::ContactSensor>(sensor);
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ASSERT_TRUE(contactSensor != NULL);
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// Step forward 0.2 s
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double stepTime = 0.2;
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unsigned int steps = floor(stepTime / dt);
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world->Step(steps);
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// Expect boxes to be falling
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double fallVelocity = g.z * stepTime;
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EXPECT_LT(contactBox->GetWorldLinearVel().z, fallVelocity*(1-g_physics_tol));
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EXPECT_LT(collideBox->GetWorldLinearVel().z, fallVelocity*(1-g_physics_tol));
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// Step forward another 0.2 s
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world->Step(steps);
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fallVelocity = g.z * 2*stepTime;
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// Expect contactBox to be resting on contact sensor box
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EXPECT_NEAR(contactBox->GetWorldLinearVel().z, 0.0, g_physics_tol);
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// Expect collideBox to still be falling
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EXPECT_LT(collideBox->GetWorldLinearVel().z, fallVelocity*(1-g_physics_tol));
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{
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// Step forward until we get a contacts message from the contact sensor
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msgs::Contacts contacts;
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while (contacts.contact_size() == 0 && --steps > 0)
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{
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world->Step(1);
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contacts = contactSensor->Contacts();
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}
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// Verify that both objects are recognized by contact sensor
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int i;
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msgs::Contact contact;
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bool collideBoxHit = false;
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bool contactBoxHit = false;
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for (i = 0; i < contacts.contact_size(); ++i)
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{
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contact = contacts.contact(i);
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if (contact.collision1() == "contact_box::link::collision" ||
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contact.collision2() == "contact_box::link::collision")
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{
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contactBoxHit = true;
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}
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if (contact.collision1() == "collide_box::link::collision" ||
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contact.collision2() == "collide_box::link::collision")
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{
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collideBoxHit = true;
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}
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}
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EXPECT_TRUE(contactBoxHit);
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EXPECT_TRUE(collideBoxHit);
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}
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// Step forward another 0.4 s
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// The collideBox should have fallen through the ground and not
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// be in contact with the sensor
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world->Step(steps*2);
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fallVelocity = g.z * 4*stepTime;
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// Expect contactBox to still be resting on contact sensor box
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EXPECT_NEAR(contactBox->GetWorldLinearVel().z, 0.0, g_physics_tol);
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// Expect collideBox to still be falling
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EXPECT_LT(collideBox->GetWorldLinearVel().z, fallVelocity*(1-g_physics_tol));
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{
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// Step forward until we get a contacts message from the contact sensor
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msgs::Contacts contacts;
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while (contacts.contact_size() == 0 && --steps > 0)
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{
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world->Step(1);
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contacts = contactSensor->Contacts();
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}
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// Verify that only contactBox is recognized by contact sensor
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int i;
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msgs::Contact contact;
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bool collideBoxHit = false;
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bool contactBoxHit = false;
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for (i = 0; i < contacts.contact_size(); ++i)
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{
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contact = contacts.contact(i);
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if (contact.collision1() == "contact_box::link::collision" ||
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contact.collision2() == "contact_box::link::collision")
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{
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contactBoxHit = true;
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}
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if (contact.collision1() == "collide_box::link::collision" ||
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contact.collision2() == "collide_box::link::collision")
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{
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collideBoxHit = true;
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}
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}
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EXPECT_TRUE(contactBoxHit);
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EXPECT_FALSE(collideBoxHit);
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}
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}
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////////////////////////////////////////////////////////////////////////
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// CollideBitmask:
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// Load the collide_bitmask test world. It drops three boxes onto
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// a ground plane. Each model has the following bitmask
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// - ground_plane: 0xff
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// - box1: 0x01
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// - box2: 0x02
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// - box3: 0x03
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// This set of bitmasks will make box1 collide with the ground plane,
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// box2 to pass through box1 and collide with the ground plane, and
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// box3 will collide with both box1 and box2.
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////////////////////////////////////////////////////////////////////////
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void SurfaceTest::CollideBitmask(const std::string &_physicsEngine)
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{
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// load an empty world
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Load("worlds/collide_bitmask.world", true, _physicsEngine);
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physics::WorldPtr world = physics::get_world("default");
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ASSERT_TRUE(world != NULL);
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// check the gravity vector
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physics::PhysicsEnginePtr physics = world->GetPhysicsEngine();
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ASSERT_TRUE(physics != NULL);
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EXPECT_EQ(physics->GetType(), _physicsEngine);
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math::Vector3 g = physics->GetGravity();
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// Assume gravity vector points down z axis only.
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EXPECT_EQ(g.x, 0);
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EXPECT_EQ(g.y, 0);
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EXPECT_LE(g.z, -9.8);
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// get physics time step
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double dt = physics->GetMaxStepSize();
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EXPECT_GT(dt, 0);
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// get pointers to the falling boxes.
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physics::ModelPtr box1, box2, box3, box4;
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box1 = world->GetModel("box1");
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box2 = world->GetModel("box2");
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box3 = world->GetModel("box3");
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box4 = world->GetModel("box4");
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ASSERT_TRUE(box1 != NULL);
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ASSERT_TRUE(box2 != NULL);
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ASSERT_TRUE(box3 != NULL);
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ASSERT_TRUE(box4 != NULL);
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// Step forward 1.5 s
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double stepTime = 1.5;
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unsigned int steps = floor(stepTime / dt);
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world->Step(steps);
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// Expect 3 boxes to be stationary
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EXPECT_NEAR(box1->GetWorldLinearVel().z, 0, 1e-3);
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EXPECT_NEAR(box2->GetWorldLinearVel().z, 0, 1e-3);
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EXPECT_NEAR(box3->GetWorldLinearVel().z, 0, 1e-3);
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// The first and second boxes should be on the ground plane
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EXPECT_NEAR(box1->GetWorldPose().pos.z, 0.5, 1e-3);
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EXPECT_NEAR(box2->GetWorldPose().pos.z, 0.5, 1e-3);
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// The third boxs should be ontop of the first two boxes
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EXPECT_NEAR(box3->GetWorldPose().pos.z, 1.5, 1e-3);
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// Expect 4th box to be falling
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double fallVelocity = g.z * world->GetSimTime().Double();
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EXPECT_LT(box4->GetWorldLinearVel().z, fallVelocity*(1-g_physics_tol));
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Unload();
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}
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/////////////////////////////////////////////////
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// Run the CollidWithContact test
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TEST_P(SurfaceTest, CollideWithoutContact)
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{
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CollideWithoutContact(GetParam());
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}
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/////////////////////////////////////////////////
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// Run the CollidBitmask test
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TEST_P(SurfaceTest, CollideBitmask)
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{
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CollideBitmask(GetParam());
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}
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INSTANTIATE_TEST_CASE_P(TestODE, SurfaceTest, ::testing::Values(
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"ode", "bullet"));
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/////////////////////////////////////////////////
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int main(int argc, char **argv)
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{
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::testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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