Revision of #531

CMakeLists.txt

@@ -475,7 +475,7 @@ endif()
 #===============================================================================
 if(MSVC)
   # Visual Studio enables c++11 support by default
-  if(NOT MSVC14)
+  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")

README.md

@@ -1,3 +1,3 @@
 [![Build Status](https://travis-ci.org/dartsim/dart.png?branch=master)](https://travis-ci.org/dartsim/dart)
-[![Build status](https://ci.appveyor.com/api/projects/status/6rta8olo95bpu84r?svg=true)](https://ci.appveyor.com/project/jslee02/dart)
+[![Build status](https://ci.appveyor.com/api/projects/status/6rta8olo95bpu84r/branch/master?svg=true)](https://ci.appveyor.com/project/jslee02/dart/branch/master)
 [![Documentation Status](https://readthedocs.org/projects/dart/badge/?version=latest)](https://readthedocs.org/projects/dart/?badge=latest)

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"

dart/common/Addon.h

@@ -128,9 +128,9 @@ class Addon
 
   /// Constructor
   ///
-  // We require the AddonManager argument in this constructor to make it clear
-  // to extensions that they must have an AddonManager argument in their
-  // constructors.
+  /// We require the AddonManager argument in this constructor to make it clear
+  /// to extensions that they must have an AddonManager argument in their
+  /// constructors.
   Addon(AddonManager* manager);
 
   /// This function will be triggered (1) after the Addon has been created

dart/common/AddonManager.cpp

@@ -198,6 +198,9 @@ void AddonManager::duplicateAddons(const AddonManager* otherManager)
     return;
   }
 
+  if(this == otherManager)
+    return;
+
   const AddonMap& otherMap = otherManager->mAddonMap;
 
   AddonMap::iterator receiving = mAddonMap.begin();

dart/common/AddonManager.h

@@ -128,7 +128,9 @@ class AddonManager
   template <class T>
   std::unique_ptr<T> release();
 
-  /// Check if this Manager is specialized for a specific type of Addon
+  /// Check if this Manager is specialized for a specific type of Addon.
+  ///
+  /// By default, this simply returns false.
   template <class T>
   static constexpr bool isSpecializedFor();
 
@@ -171,10 +173,6 @@ class AddonManager
   /// AddonManager types to call the protected Addon::setManager function.
   void becomeManager(Addon* addon, bool transfer);
 
-  /// Always returns false
-  template <class T>
-  static constexpr bool _isSpecializedFor(type<T>);
-
   /// A map that relates the type of Addon to its pointer
   AddonMap mAddonMap;
 };

dart/common/detail/AddonManager.h

@@ -135,13 +135,6 @@ std::unique_ptr<T> AddonManager::release()
 //==============================================================================
 template <class T>
 constexpr bool AddonManager::isSpecializedFor()
-{
-  return _isSpecializedFor(type<T>());
-}
-
-//==============================================================================
-template <class T>
-constexpr bool AddonManager::_isSpecializedFor(type<T>)
 {
   return false;
 }

dart/dynamics/Joint.cpp

@@ -67,6 +67,26 @@ Joint::Properties::Properties(const std::string& _name,
   // Do nothing
 }
 
+//==============================================================================
+Joint::ExtendedProperties::ExtendedProperties(
+    const Properties& standardProperties,
+    const AddonProperties& addonProperties)
+  : Properties(standardProperties),
+    mAddonProperties(addonProperties)
+{
+  // Do nothing
+}
+
+//==============================================================================
+Joint::ExtendedProperties::ExtendedProperties(
+    Properties&& standardProperties,
+    AddonProperties&& addonProperties)
+  : Properties(std::move(standardProperties)),
+    mAddonProperties(std::move(addonProperties))
+{
+  // Do nothing
+}
+
 //==============================================================================
 Joint::~Joint()
 {

dart/dynamics/Joint.h

@@ -162,10 +162,17 @@ class Joint : public virtual common::Subject,
 
   struct ExtendedProperties : Properties
   {
+    /// Composed constructor
     ExtendedProperties(
         const Properties& standardProperties = Properties(),
         const AddonProperties& addonProperties = AddonProperties());
 
+    /// Composed move constructor
+    ExtendedProperties(
+        Properties&& standardProperties,
+        AddonProperties&& addonProperties);
+
+    /// Properties of all the Addons attached to this Joint
     AddonProperties mAddonProperties;
   };
 

dart/dynamics/MultiDofJoint.h

@@ -71,7 +71,7 @@ class MultiDofJoint :
   using Properties = detail::MultiDofJointProperties<DOF>;
   using Addon = detail::MultiDofJointAddon<DOF>;
 
-  DART_BAKE_SPECIALIZED_ADDON_IRREGULAR( MultiDofJoint<DOF>::Addon, MultiDofJointAddon )
+  DART_BAKE_SPECIALIZED_ADDON_IRREGULAR( typename MultiDofJoint<DOF>::Addon, MultiDofJointAddon )
 
   MultiDofJoint(const MultiDofJoint&) = delete;
 

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)