129 lines
3.7 KiB
C++
129 lines
3.7 KiB
C++
/*
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* Copyright (C) 2015 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 <map>
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#include <string>
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#include <vector>
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#include "gazebo/test/ServerFixture.hh"
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#include "gazebo/physics/physics.hh"
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#include "SimplePendulumIntegrator.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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#define PHYSICS_TOL 1e-2
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using namespace gazebo;
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class PhysicsTest : public ServerFixture,
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public testing::WithParamInterface<const char*>
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{
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public: void DropTest(const std::string &_physicsEngine,
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const std::string &_solverType,
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const std::string &_worldSolverType);
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};
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////////////////////////////////////////////////////////////////////////
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void PhysicsTest::DropTest(const std::string &_physicsEngine,
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const std::string &_solverType,
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const std::string &_worldSolverType)
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{
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Load("worlds/drop_test.world", true, _physicsEngine);
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physics::WorldPtr world = physics::get_world("default");
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EXPECT_TRUE(world != NULL);
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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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// check the gravity vector
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math::Vector3 gravity = physics->GetGravity();
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EXPECT_DOUBLE_EQ(gravity.x, 0);
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EXPECT_DOUBLE_EQ(gravity.y, 0);
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EXPECT_DOUBLE_EQ(gravity.z, -10.0);
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if (_physicsEngine == "ode")
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{
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// Set solver type
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physics->SetParam("solver_type", _solverType);
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// Set world step solver type
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physics->SetParam("world_step_solver", _worldSolverType);
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}
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math::Pose pose;
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physics::ModelPtr sphere_model = world->GetModel("sphere");
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if (sphere_model)
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pose = sphere_model->GetWorldPose();
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double z = pose.pos.z;
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double test_duration = 3.0;
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// Dynamic duration includes the bounce back
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double dynamic_duration = 2.4;
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double v = 0.0;
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double g = -10.0;
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double dt = world->GetPhysicsEngine()->GetMaxStepSize();
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int steps = test_duration/dt;
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int dynamic_steps = dynamic_duration/dt;
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for (int i = 0; i < steps; ++i)
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{
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v += dt * g;
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z += dt * v;
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world->Step(1);
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physics::ModelPtr sphere_model = world->GetModel("sphere");
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if (sphere_model)
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{
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math::Vector3 vel = sphere_model->GetWorldLinearVel();
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math::Pose pose = sphere_model->GetWorldPose();
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if (z > 0.5)
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{
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EXPECT_LT(fabs(vel.z - v), PHYSICS_TOL);
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EXPECT_LT(fabs(pose.pos.z - z), PHYSICS_TOL);
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}
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// After contact with ground, and no bounce back
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if (i > dynamic_steps)
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{
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if (_worldSolverType == "BULLET_LEMKE")
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{
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gzerr << "This test isn't working well during contact with "
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<< _worldSolverType
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<< ", see issue #1846"
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<< std::endl;
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break;
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}
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EXPECT_LT(fabs(vel.z), PHYSICS_TOL);
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EXPECT_LT(fabs(pose.pos.z - 0.5), PHYSICS_TOL);
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}
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}
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}
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}
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TEST_P(PhysicsTest, DropTest)
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{
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gzdbg << "DropTest(ode, world, " << GetParam() << ')' << std::endl;
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DropTest("ode", "world", GetParam());
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}
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INSTANTIATE_TEST_CASE_P(WorldStepSolvers, PhysicsTest,
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WORLD_STEP_SOLVERS);
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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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