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Merge pull request #54 from ignitionrobotics/bump_2.1
Bump to 2.1 ⬆️ Signed-off-by: Louise Poubel <louise@openrobotics.org>
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| Original file line number | Diff line number | Diff line change |
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| /* | ||
| * Copyright (C) 2019 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
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| #include <gtest/gtest.h> | ||
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| #include <test/PhysicsPluginsList.hh> | ||
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| #include <ignition/physics/FindFeatures.hh> | ||
| #include <ignition/physics/RequestEngine.hh> | ||
| #include <ignition/plugin/Loader.hh> | ||
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| // Features | ||
| #include <ignition/physics/ConstructEmpty.hh> | ||
| #include <ignition/physics/ForwardStep.hh> | ||
| #include <ignition/physics/FrameSemantics.hh> | ||
| #include <ignition/physics/FreeJoint.hh> | ||
| #include <ignition/physics/GetEntities.hh> | ||
| #include <ignition/physics/mesh/MeshShape.hh> | ||
| #include <ignition/physics/PlaneShape.hh> | ||
| #include <ignition/physics/FixedJoint.hh> | ||
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| #include <ignition/common/MeshManager.hh> | ||
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| using TestFeatureList = ignition::physics::FeatureList< | ||
| ignition::physics::LinkFrameSemantics, | ||
| ignition::physics::ForwardStep, | ||
| ignition::physics::GetEntities, | ||
| ignition::physics::ConstructEmptyWorldFeature, | ||
| ignition::physics::ConstructEmptyModelFeature, | ||
| ignition::physics::ConstructEmptyLinkFeature, | ||
| ignition::physics::mesh::AttachMeshShapeFeature, | ||
| ignition::physics::AttachPlaneShapeFeature, | ||
| ignition::physics::SetFreeJointRelativeTransformFeature, | ||
| ignition::physics::AttachFixedJointFeature | ||
| >; | ||
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| using TestWorldPtr = ignition::physics::World3dPtr<TestFeatureList>; | ||
| using TestEnginePtr = ignition::physics::Engine3dPtr<TestFeatureList>; | ||
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| using WorldConstructor = std::function<TestWorldPtr(const TestEnginePtr&)>; | ||
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| std::unordered_set<TestWorldPtr> LoadWorlds( | ||
| const std::string &_library, | ||
| const WorldConstructor &_constructor) | ||
| { | ||
| ignition::plugin::Loader loader; | ||
| loader.LoadLib(_library); | ||
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| const std::set<std::string> pluginNames = | ||
| ignition::physics::FindFeatures3d<TestFeatureList>::From(loader); | ||
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| std::unordered_set<TestWorldPtr> worlds; | ||
| for (const std::string &name : pluginNames) | ||
| { | ||
| ignition::plugin::PluginPtr plugin = loader.Instantiate(name); | ||
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| std::cout << " -- Plugin name: " << name << std::endl; | ||
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| auto engine = | ||
| ignition::physics::RequestEngine3d<TestFeatureList>::From(plugin); | ||
| EXPECT_NE(nullptr, engine); | ||
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| worlds.insert(_constructor(engine)); | ||
| } | ||
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| return worlds; | ||
| } | ||
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| class Collisions_TEST | ||
| : public ::testing::Test, | ||
| public ::testing::WithParamInterface<std::string> | ||
| {}; | ||
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| INSTANTIATE_TEST_CASE_P(PhysicsPlugins, Collisions_TEST, | ||
| ::testing::ValuesIn(ignition::physics::test::g_PhysicsPluginLibraries),); // NOLINT | ||
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| TestWorldPtr ConstructMeshPlaneWorld( | ||
| const ignition::physics::Engine3dPtr<TestFeatureList> &_engine, | ||
| const ignition::common::Mesh &_mesh) | ||
| { | ||
| auto world = _engine->ConstructEmptyWorld("world"); | ||
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| Eigen::Isometry3d tf = Eigen::Isometry3d::Identity(); | ||
| tf.translation()[2] = 2.0; | ||
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| auto model = world->ConstructEmptyModel("mesh"); | ||
| auto link = model->ConstructEmptyLink("link"); | ||
| // TODO(anyone): This test is somewhat awkward because we lift up the mesh | ||
| // from the center of the link instead of lifting up the link or the model. | ||
| // We're doing this because we don't currently have an API for moving models | ||
| // or links around. See the conversation here for more: | ||
| // https://osrf-migration.github.io/ignition-gh-pages/#!/ignitionrobotics/ign-physics/pull-requests/46/page/1#comment-87592809 | ||
| link->AttachMeshShape("mesh", _mesh, tf); | ||
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| model = world->ConstructEmptyModel("plane"); | ||
| link = model->ConstructEmptyLink("link"); | ||
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| link->AttachPlaneShape("plane", ignition::physics::LinearVector3d::UnitZ()); | ||
| link->AttachFixedJoint(nullptr); | ||
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| return world; | ||
| } | ||
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| TEST_P(Collisions_TEST, MeshAndPlane) | ||
| { | ||
| const std::string library = GetParam(); | ||
| if (library.empty()) | ||
| return; | ||
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| const std::string meshFilename = IGNITION_PHYSICS_RESOURCE_DIR "/chassis.dae"; | ||
| auto &meshManager = *ignition::common::MeshManager::Instance(); | ||
| auto *mesh = meshManager.Load(meshFilename); | ||
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| std::cout << "Testing library " << library << std::endl; | ||
| auto worlds = LoadWorlds(library, [&](const TestEnginePtr &_engine) | ||
| { | ||
| return ConstructMeshPlaneWorld(_engine, *mesh); | ||
| }); | ||
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| for (const auto &world : worlds) | ||
| { | ||
| const auto link = world->GetModel(0)->GetLink(0); | ||
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| EXPECT_NEAR( | ||
| 0.0, link->FrameDataRelativeToWorld().pose.translation()[2], 1e-6); | ||
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| ignition::physics::ForwardStep::Output output; | ||
| ignition::physics::ForwardStep::State state; | ||
| ignition::physics::ForwardStep::Input input; | ||
| for (std::size_t i = 0; i < 1000; ++i) | ||
| { | ||
| world->Step(output, state, input); | ||
| } | ||
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| // Make sure the mesh was stopped by the plane. In 2000 time steps at the | ||
| // default step size of 0.001, a free falling body should drop approximately | ||
| // 19.6 meters. As long as the body is somewhere near 1.91, then it has been | ||
| // stopped by the plane (the exact value might vary because the body might | ||
| // be rocking side-to-side after falling). | ||
| EXPECT_NEAR( | ||
| -1.91, link->FrameDataRelativeToWorld().pose.translation()[2], 0.05); | ||
| } | ||
| } | ||
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| int main(int argc, char *argv[]) | ||
| { | ||
| ::testing::InitGoogleTest(&argc, argv); | ||
| return RUN_ALL_TESTS(); | ||
| } |
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