5.1 --> master

CMakeLists.txt

@@ -1,7 +1,11 @@
 #===============================================================================
 # CMake settings
 #===============================================================================
-cmake_minimum_required(VERSION 2.8.6 FATAL_ERROR)
+if(MSVC)
+  cmake_minimum_required(VERSION 3.1.3)
+else()
+  cmake_minimum_required(VERSION 2.8.6)
+endif()
 
 # Use MACOSX_RPATH by default on OS X. This was added in CMake 2.8.12 and
 # became default in CMake 3.0. Explicitly setting this policy is necessary to
@@ -218,7 +222,7 @@ endif()
 
 # Boost
 set(DART_MIN_BOOST_VERSION 1.46.0 CACHE INTERNAL "Boost min version requirement" FORCE)
-if(MSVC OR MSVC90 OR MSVC10)
+if(MSVC)
   add_definitions(-DBOOST_ALL_NO_LIB)
 endif()
 add_definitions(-DBOOST_TEST_DYN_LINK)
@@ -471,8 +475,8 @@ endif()
 #===============================================================================
 if(MSVC)
   # Visual Studio enables c++11 support by default
-  if(NOT MSVC12 AND NOT MSVC14)
-    message(FATAL_ERROR "${PROJECT_NAME} requires VS 2013 or greater.")
+  if(MSVC_VERSION VERSION_LESS 1900)
+    message(FATAL_ERROR "${PROJECT_NAME} requires VS 2015 or greater.")
   endif()
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /MP4")
   set(CMAKE_EXE_LINKER_FLAGS_RELEASE "/LTCG /INCREMENTAL:NO")

appveyor.yml

@@ -12,8 +12,8 @@ platform:
 # specify custom environment variables
 environment:
   MSVC_DEFAULT_OPTIONS: ON
-  BOOST_ROOT: C:\Libraries\boost
-  BOOST_LIBRARYDIR: C:\Libraries\boost\lib32-msvc-12.0
+  BOOST_ROOT: C:\Libraries\boost_1_59_0
+  BOOST_LIBRARYDIR: C:\Libraries\boost_1_59_0\lib32-msvc-14.0
   BUILD_EXAMPLES: OFF  # don't build examples to not exceed allowed build time (40 min)
   BUILD_TUTORIALS: OFF  # don't build tutorials to not exceed allowed build time (40 min)
   matrix:
@@ -53,8 +53,8 @@ before_build:
   - cmd: md build
   - cmd: cd build
   # We generate project files for Visual Studio 12 because the boost binaries installed on the test server are for Visual Studio 12.
-  - cmd: if "%platform%"=="Win32" set CMAKE_GENERATOR_NAME=Visual Studio 12
-  - cmd: if "%platform%"=="x64"   set CMAKE_GENERATOR_NAME=Visual Studio 12 Win64
+  - cmd: if "%platform%"=="Win32" set CMAKE_GENERATOR_NAME=Visual Studio 14 2015
+  - cmd: if "%platform%"=="x64"   set CMAKE_GENERATOR_NAME=Visual Studio 14 2015 Win64
   - cmd: cmake -G "%CMAKE_GENERATOR_NAME%" -DCMAKE_BUILD_TYPE=%configuration% -DBUILD_CORE_ONLY="%BUILD_CORE_ONLY%" -DDART_BUILD_EXAMPLES="%BUILD_EXAMPLES%" -DDART_BUILD_TUTORIALS="%BUILD_TUTORIALS%" -DBOOST_ROOT="%BOOST_ROOT%" -DBOOST_LIBRARYDIR="%BOOST_LIBRARYDIR%" -DBoost_USE_STATIC_LIBS="ON" -Durdfdom_DIR="%urdfdom_DIR%" -Durdfdom_headers_DIR="%urdfdom_headers_DIR%" -DDART_MSVC_DEFAULT_OPTIONS="%MSVC_DEFAULT_OPTIONS%" ..
 
 build:

ci/appveyor_install.ps1

@@ -9,8 +9,8 @@ function InstallPrerequisites($work_dir, $install_dir)
   $old_dir = $pwd
   cd $work_dir
 
-  $msi = "dart-prerequisites.msi"
-  $uri = "https://github.com/dartsim/dart-prerequisites-windows/raw/3e34167fd29fcc870ebed50bf318f3f31f491e6a/DART%205.0-prerequisites-msvc12-md-32bit.msi"
+  $msi = "dart-dependencies.msi"
+  $uri = "https://github.com/dartsim/dart-prerequisites-windows-installers/raw/master/02/DART-dependencies-msvc14-md-32bit.msi"
   Invoke-WebRequest $uri -OutFile $msi
 
   $install_command = "msiexec.exe"

unittests/testJoints.cpp

@@ -809,6 +809,118 @@ TEST_F(JOINTS, SERVO_MOTOR)
   testServoMotor();
 }
 
+//==============================================================================
+TEST_F(JOINTS, JOINT_COULOMB_FRICTION_AND_POSITION_LIMIT)
+{
+  const double timeStep = 1e-3;
+  const double tol = 1e-2;
+
+  simulation::WorldPtr myWorld
+      = utils::SkelParser::readWorld(
+        DART_DATA_PATH"/skel/test/joint_friction_test.skel");
+  EXPECT_TRUE(myWorld != nullptr);
+
+  myWorld->setGravity(Eigen::Vector3d(0.0, 0.0, 0.0));
+  myWorld->setTimeStep(timeStep);
+
+  dynamics::SkeletonPtr pendulum = myWorld->getSkeleton("double_pendulum");
+  EXPECT_TRUE(pendulum != nullptr);
+  pendulum->disableSelfCollision();
+
+  dynamics::Joint* joint0 = pendulum->getJoint("joint0");
+  dynamics::Joint* joint1 = pendulum->getJoint("joint1");
+
+  EXPECT_TRUE(joint0 != nullptr);
+  EXPECT_TRUE(joint1 != nullptr);
+
+  double frictionForce  = 5.0;
+
+  joint0->setPositionLimitEnforced(true);
+  joint1->setPositionLimitEnforced(true);
+
+  const double ll = -DART_PI/12.0; // -15 degree
+  const double ul = +DART_PI/12.0; // +15 degree
+
+  size_t dof0 = joint0->getNumDofs();
+  for (size_t i = 0; i < dof0; ++i)
+  {
+    joint0->setPosition(i, 0.0);
+    joint0->setPosition(i, 0.0);
+    joint0->setPositionLowerLimit(i, ll);
+    joint0->setPositionUpperLimit(i, ul);
+  }
+
+  size_t dof1 = joint1->getNumDofs();
+  for (size_t i = 0; i < dof1; ++i)
+  {
+    joint1->setPosition(i, 0.0);
+    joint1->setPosition(i, 0.0);
+    joint1->setPositionLowerLimit(i, ll);
+    joint1->setPositionUpperLimit(i, ul);
+  }
+
+  joint0->setCoulombFriction(0, frictionForce);
+  joint1->setCoulombFriction(0, frictionForce);
+
+  EXPECT_EQ(joint0->getCoulombFriction(0), frictionForce);
+  EXPECT_EQ(joint1->getCoulombFriction(0), frictionForce);
+
+#ifndef NDEBUG // Debug mode
+  double simTime = 0.2;
+#else
+  double simTime = 2.0;
+#endif // ------- Debug mode
+  int nSteps = simTime / timeStep;
+
+  // First two seconds rotating in positive direction with higher control forces
+  // than the friction forces
+  for (int i = 0; i < nSteps; i++)
+  {
+    joint0->setForce(0, 100.0);
+    joint1->setForce(0, 100.0);
+    myWorld->step();
+
+    double jointPos0 = joint0->getPosition(0);
+    double jointPos1 = joint1->getPosition(0);
+
+    double jointVel0 = joint0->getVelocity(0);
+    double jointVel1 = joint1->getVelocity(0);
+
+    EXPECT_GE(std::abs(jointVel0), 0.0);
+    EXPECT_GE(std::abs(jointVel1), 0.0);
+
+    EXPECT_GE(jointPos0, ll - tol);
+    EXPECT_LE(jointPos0, ul + tol);
+
+    EXPECT_GE(jointPos1, ll - tol);
+    EXPECT_LE(jointPos1, ul + tol);
+  }
+
+  // Another two seconds rotating in negative direction with higher control
+  // forces than the friction forces
+  for (int i = 0; i < nSteps; i++)
+  {
+    joint0->setForce(0, -100.0);
+    joint1->setForce(0, -100.0);
+    myWorld->step();
+
+    double jointPos0 = joint0->getPosition(0);
+    double jointPos1 = joint1->getPosition(0);
+
+    double jointVel0 = joint0->getVelocity(0);
+    double jointVel1 = joint1->getVelocity(0);
+
+    EXPECT_GE(std::abs(jointVel0), 0.0);
+    EXPECT_GE(std::abs(jointVel1), 0.0);
+
+    EXPECT_GE(jointPos0, ll - tol);
+    EXPECT_LE(jointPos0, ul + tol);
+
+    EXPECT_GE(jointPos1, ll - tol);
+    EXPECT_LE(jointPos1, ul + tol);
+  }
+}
+
 //==============================================================================
 template<int N>
 Eigen::Matrix<double,N,1> random_vec(double limit=100)