[example][boxes] Change to bullet collision detector

(cherry picked from commit e98ee95)
dartsim · Mar 31, 2024 · a8af426 · a8af426
1 parent d502f2e
commit a8af426
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Showing 4 changed files with 44 additions and 21 deletions.
diff --git a/examples/boxes/CMakeLists.txt b/examples/boxes/CMakeLists.txt
@@ -4,8 +4,8 @@ get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
 
 project(${example_name})
 
-set(required_components utils-urdf gui-osg)
-set(required_libraries dart dart-utils-urdf dart-gui-osg)
+set(required_components collision-bullet utils-urdf gui-osg)
+set(required_libraries dart dart-collision-bullet dart-utils-urdf dart-gui-osg)
 
 if(DART_IN_SOURCE_BUILD)
   dart_build_example_in_source(${example_name} LINK_LIBRARIES ${required_libraries})

diff --git a/examples/boxes/main.cpp b/examples/boxes/main.cpp
@@ -32,6 +32,8 @@
 
 #include <dart/gui/osg/osg.hpp>
 
+#include <dart/collision/bullet/bullet.hpp>
+
 #include <dart/dart.hpp>
 
 #include <osgShadow/ShadowMap>
@@ -60,6 +62,7 @@ using namespace dart;
       dynamics::CollisionAspect,
       dynamics::DynamicsAspect>(boxShape);
   shapeNode->getVisualAspect()->setColor(color);
+  shapeNode->getDynamicsAspect()->setRestitutionCoeff(0.9);
 
   // Put the body into position
   Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();
@@ -74,14 +77,18 @@ int main()
   // Create an empty world
   auto world = simulation::World::create();
 
+  // Set collision detector type
+  world->getConstraintSolver()->setCollisionDetector(
+      collision::BulletCollisionDetector::create());
+
   // Create dim x dim x dim boxes
   auto dim = 5;
   for (auto i = 0; i < dim; ++i) {
     for (auto j = 0; j < dim; ++j) {
       for (auto k = 0; k < dim; ++k) {
         auto x = i - dim / 2;
         auto y = j - dim / 2;
-        auto z = k + 1;
+        auto z = k + 5;
         auto position = Eigen::Vector3d(x, y, z);
         auto size = Eigen::Vector3d(0.9, 0.9, 0.9);
         auto color = Eigen::Vector3d(
@@ -104,6 +111,7 @@ int main()
       dynamics::DynamicsAspect>(
       std::make_shared<dynamics::BoxShape>(Eigen::Vector3d(25.0, 25.0, 0.1)));
   groundShapeNode->getVisualAspect()->setColor(dart::Color::LightGray());
+  groundShapeNode->getDynamicsAspect()->setRestitutionCoeff(0.9);
   world->addSkeleton(ground);
 
   // Wrap a WorldNode around it
@@ -134,8 +142,8 @@ int main()
 
   // Adjust the viewpoint of the Viewer
   viewer.getCameraManipulator()->setHomePosition(
-      ::osg::Vec3(15.0f, 15.0f, 10.0f),
-      ::osg::Vec3(0.00f, 0.00f, 2.50f),
+      ::osg::Vec3(20.0f, 20.0f, 15.0f),
+      ::osg::Vec3(0.00f, 0.00f, 3.00f),
       ::osg::Vec3(0, 0, 1.0f));
 
   // We need to re-dirty the CameraManipulator by passing it into the viewer

diff --git a/tests/benchmark/integration/CMakeLists.txt b/tests/benchmark/integration/CMakeLists.txt
@@ -34,22 +34,27 @@ dart_benchmarks(
     bm_empty.cpp
 )
 
-dart_benchmarks(
-  TYPE BM_INTEGRATION
-  SOURCES
-    bm_boxes.cpp
-  LINK_LIBRARIES
-    dart
-)
+if(TARGET dart-collision-bullet)
+
+  dart_benchmarks(
+    TYPE BM_INTEGRATION
+    SOURCES
+      bm_boxes.cpp
+    LINK_LIBRARIES
+      dart
+      dart-collision-bullet
+  )
+
+endif()
 
 if(TARGET dart-utils)
 
-dart_benchmarks(
-  TYPE BM_INTEGRATION
-  SOURCES
-    bm_kinematics.cpp
-  LINK_LIBRARIES
-    dart-utils
-)
+  dart_benchmarks(
+    TYPE BM_INTEGRATION
+    SOURCES
+      bm_kinematics.cpp
+    LINK_LIBRARIES
+      dart-utils
+  )
 
 endif()
diff --git a/tests/benchmark/integration/bm_boxes.cpp b/tests/benchmark/integration/bm_boxes.cpp
@@ -32,6 +32,10 @@
 
 #include <dart/simulation/simulation.hpp>
 
+#include <dart/constraint/constraint.hpp>
+
+#include <dart/collision/bullet/bullet.hpp>
+
 #include <dart/dynamics/dynamics.hpp>
 
 #include <dart/math/math.hpp>
@@ -63,6 +67,7 @@ namespace {
       dynamics::CollisionAspect,
       dynamics::DynamicsAspect>(boxShape);
   shapeNode->getVisualAspect()->setColor(color);
+  shapeNode->getDynamicsAspect()->setRestitutionCoeff(0.9);
 
   // Put the body into position
   Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();
@@ -77,13 +82,17 @@ namespace {
   // Create an empty world
   auto world = simulation::World::create();
 
+  // Set collision detector type
+  world->getConstraintSolver()->setCollisionDetector(
+      collision::BulletCollisionDetector::create());
+
   // Create dim x dim x dim boxes
   for (auto i = 0u; i < dim; ++i) {
     for (auto j = 0u; j < dim; ++j) {
       for (auto k = 0u; k < dim; ++k) {
         auto x = i - dim / 2;
         auto y = j - dim / 2;
-        auto z = k + 1;
+        auto z = k + 5;
         auto position = Eigen::Vector3d(x, y, z);
         auto size = Eigen::Vector3d(0.9, 0.9, 0.9);
         auto color = Eigen::Vector3d(
@@ -106,6 +115,7 @@ namespace {
       dynamics::DynamicsAspect>(
       std::make_shared<dynamics::BoxShape>(Eigen::Vector3d(10.0, 10.0, 0.1)));
   groundShapeNode->getVisualAspect()->setColor(dart::Color::LightGray());
+  groundShapeNode->getDynamicsAspect()->setRestitutionCoeff(0.9);
   world->addSkeleton(ground);
 
   return world;
@@ -115,7 +125,7 @@ namespace {
 
 static void BM_RunBoxes(benchmark::State& state)
 {
-  const auto steps = 1000u;
+  const auto steps = 2000u;
   auto world = createWorld(state.range(0));
 
   for (auto _ : state) {