/************************************************************************* * * * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * * All rights reserved. Email: russ@q12.org Web: www.q12.org * * * * This library is free software; you can redistribute it and/or * * modify it under the terms of EITHER: * * (1) The GNU Lesser General Public License as published by the Free * * Software Foundation; either version 2.1 of the License, or (at * * your option) any later version. The text of the GNU Lesser * * General Public License is included with this library in the * * file LICENSE.TXT. * * (2) The BSD-style license that is included with this library in * * the file LICENSE-BSD.TXT. * * * * This library is distributed in the hope that it will be useful, * * but WITHOUT ANY WARRANTY; without even the implied warranty of * * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * * LICENSE.TXT and LICENSE-BSD.TXT for more details. * * * *************************************************************************/ //234567890123456789012345678901234567890123456789012345678901234567890123456789 // 1 2 3 4 5 6 7 //////////////////////////////////////////////////////////////////////////////// // This file creates unit tests for some of the functions found in: // ode/src/joinst/fixed.cpp // // //////////////////////////////////////////////////////////////////////////////// #include #include #include "config.h" #include "../../ode/src/joints/amotor.h" const dReal tol = 1e-5; SUITE (TestdxJointAMotor) { struct FixtureBase { dWorldID world; dBodyID body; dJointID joint; FixtureBase() { world = dWorldCreate(); body = dBodyCreate(world); joint = dJointCreateAMotor(world, 0); } ~FixtureBase() { dJointDestroy(joint); dBodyDestroy(body); dWorldDestroy(world); } }; struct FixtureXUser: FixtureBase { FixtureXUser() { // body only allowed to rotate around X axis dBodySetFiniteRotationMode(body, 1); dBodySetFiniteRotationAxis(body, 1, 0, 0); dJointAttach(joint, body, 0); dJointSetAMotorNumAxes(joint, 2); dJointSetAMotorAxis(joint, 0, 2, 0, 1, 0); dJointSetAMotorAxis(joint, 1, 2, 0, 0, 1); dJointSetAMotorParam(joint, dParamVel, 0); dJointSetAMotorParam(joint, dParamFMax, dInfinity); dJointSetAMotorParam(joint, dParamVel2, 0); dJointSetAMotorParam(joint, dParamFMax2, dInfinity); } }; TEST_FIXTURE(FixtureXUser, rotate_x) { const dReal h = 1; const dReal v = 1; dMatrix3 identity = {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0}; dBodySetRotation(body, identity); dBodySetAngularVel(body, v, 0, 0); dWorldQuickStep(world, h); const dReal* rot = dBodyGetRotation(body); CHECK_CLOSE(1, rot[0], tol); CHECK_CLOSE(0, rot[4], tol); CHECK_CLOSE(0, rot[8], tol); CHECK_CLOSE(0, rot[1], tol); CHECK_CLOSE(dCos(v*h), rot[5], tol); CHECK_CLOSE(dSin(v*h), rot[9], tol); CHECK_CLOSE(0, rot[2], tol); CHECK_CLOSE(-dSin(v*h), rot[6], tol); CHECK_CLOSE( dCos(v*h), rot[10], tol); } TEST_FIXTURE(FixtureXUser, rotate_yz) { const dReal h = 1; const dReal v = 1; dMatrix3 identity = {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0}; dBodySetRotation(body, identity); dVector3 axis_y; dJointGetAMotorAxis(joint, 0, axis_y); CHECK_CLOSE(0, axis_y[0], tol); CHECK_CLOSE(1, axis_y[1], tol); CHECK_CLOSE(0, axis_y[2], tol); dVector3 axis_z; dJointGetAMotorAxis(joint, 1, axis_z); CHECK_CLOSE(0, axis_z[0], tol); CHECK_CLOSE(0, axis_z[1], tol); CHECK_CLOSE(1, axis_z[2], tol); dBodySetAngularVel(body, 0, v, v); dWorldStep(world, h); const dReal* rot = dBodyGetRotation(body); CHECK_CLOSE(1, rot[0], tol); CHECK_CLOSE(0, rot[4], tol); CHECK_CLOSE(0, rot[8], tol); CHECK_CLOSE(0, rot[1], tol); CHECK_CLOSE(1, rot[5], tol); CHECK_CLOSE(0, rot[9], tol); CHECK_CLOSE(0, rot[2], tol); CHECK_CLOSE(0, rot[6], tol); CHECK_CLOSE(1, rot[10], tol); } TEST_FIXTURE(FixtureBase, sanity_check) { dMatrix3 R; dRFromAxisAndAngle(R, 1, 1, 1, 10*M_PI/180); dBodySetRotation(body, R); dVector3 res; dJointAttach(joint, body, 0); dJointSetAMotorNumAxes(joint, 3); CHECK_EQUAL(3, dJointGetAMotorNumAxes(joint)); // axes relative to world dJointSetAMotorAxis(joint, 0, 0, 1, 0, 0); dJointGetAMotorAxis(joint, 0, res); CHECK_EQUAL(0, dJointGetAMotorAxisRel(joint, 0)); CHECK_CLOSE(1, res[0], tol); CHECK_CLOSE(0, res[1], tol); CHECK_CLOSE(0, res[2], tol); dJointSetAMotorAxis(joint, 1, 0, 0, 1, 0); dJointGetAMotorAxis(joint, 1, res); CHECK_EQUAL(0, dJointGetAMotorAxisRel(joint, 1)); CHECK_CLOSE(0, res[0], tol); CHECK_CLOSE(1, res[1], tol); CHECK_CLOSE(0, res[2], tol); dJointSetAMotorAxis(joint, 2, 0, 0, 0, 1); dJointGetAMotorAxis(joint, 2, res); CHECK_EQUAL(0, dJointGetAMotorAxisRel(joint, 2)); CHECK_CLOSE(0, res[0], tol); CHECK_CLOSE(0, res[1], tol); CHECK_CLOSE(1, res[2], tol); // axes relative to body1 dJointSetAMotorAxis(joint, 0, 1, 1, 0, 0); dJointGetAMotorAxis(joint, 0, res); CHECK_EQUAL(1, dJointGetAMotorAxisRel(joint, 0)); CHECK_CLOSE(1, res[0], tol); CHECK_CLOSE(0, res[1], tol); CHECK_CLOSE(0, res[2], tol); dJointSetAMotorAxis(joint, 1, 1, 0, 1, 0); dJointGetAMotorAxis(joint, 1, res); CHECK_EQUAL(1, dJointGetAMotorAxisRel(joint, 1)); CHECK_CLOSE(0, res[0], tol); CHECK_CLOSE(1, res[1], tol); CHECK_CLOSE(0, res[2], tol); dJointSetAMotorAxis(joint, 2, 1, 0, 0, 1); dJointGetAMotorAxis(joint, 2, res); CHECK_EQUAL(1, dJointGetAMotorAxisRel(joint, 2)); CHECK_CLOSE(0, res[0], tol); CHECK_CLOSE(0, res[1], tol); CHECK_CLOSE(1, res[2], tol); // axes relative to body2 dJointSetAMotorAxis(joint, 0, 2, 1, 0, 0); dJointGetAMotorAxis(joint, 0, res); CHECK_EQUAL(2, dJointGetAMotorAxisRel(joint, 0)); CHECK_CLOSE(1, res[0], tol); CHECK_CLOSE(0, res[1], tol); CHECK_CLOSE(0, res[2], tol); dJointSetAMotorAxis(joint, 1, 2, 0, 1, 0); dJointGetAMotorAxis(joint, 1, res); CHECK_EQUAL(2, dJointGetAMotorAxisRel(joint, 1)); CHECK_CLOSE(0, res[0], tol); CHECK_CLOSE(1, res[1], tol); CHECK_CLOSE(0, res[2], tol); dJointSetAMotorAxis(joint, 2, 2, 0, 0, 1); dJointGetAMotorAxis(joint, 2, res); CHECK_EQUAL(2, dJointGetAMotorAxisRel(joint, 2)); CHECK_CLOSE(0, res[0], tol); CHECK_CLOSE(0, res[1], tol); CHECK_CLOSE(1, res[2], tol); // reverse attachment to force internal reversal dJointAttach(joint, 0, body); // axes relative to world dJointSetAMotorAxis(joint, 0, 0, 1, 0, 0); dJointGetAMotorAxis(joint, 0, res); CHECK_EQUAL(0, dJointGetAMotorAxisRel(joint, 0)); CHECK_CLOSE(1, res[0], tol); CHECK_CLOSE(0, res[1], tol); CHECK_CLOSE(0, res[2], tol); dJointSetAMotorAxis(joint, 1, 0, 0, 1, 0); dJointGetAMotorAxis(joint, 1, res); CHECK_EQUAL(0, dJointGetAMotorAxisRel(joint, 1)); CHECK_CLOSE(0, res[0], tol); CHECK_CLOSE(1, res[1], tol); CHECK_CLOSE(0, res[2], tol); dJointSetAMotorAxis(joint, 2, 0, 0, 0, 1); dJointGetAMotorAxis(joint, 2, res); CHECK_EQUAL(0, dJointGetAMotorAxisRel(joint, 2)); CHECK_CLOSE(0, res[0], tol); CHECK_CLOSE(0, res[1], tol); CHECK_CLOSE(1, res[2], tol); // axes relative to body1 dJointSetAMotorAxis(joint, 0, 1, 1, 0, 0); dJointGetAMotorAxis(joint, 0, res); CHECK_EQUAL(1, dJointGetAMotorAxisRel(joint, 0)); CHECK_CLOSE(1, res[0], tol); CHECK_CLOSE(0, res[1], tol); CHECK_CLOSE(0, res[2], tol); dJointSetAMotorAxis(joint, 1, 1, 0, 1, 0); dJointGetAMotorAxis(joint, 1, res); CHECK_EQUAL(1, dJointGetAMotorAxisRel(joint, 1)); CHECK_CLOSE(0, res[0], tol); CHECK_CLOSE(1, res[1], tol); CHECK_CLOSE(0, res[2], tol); dJointSetAMotorAxis(joint, 2, 1, 0, 0, 1); dJointGetAMotorAxis(joint, 2, res); CHECK_EQUAL(1, dJointGetAMotorAxisRel(joint, 2)); CHECK_CLOSE(0, res[0], tol); CHECK_CLOSE(0, res[1], tol); CHECK_CLOSE(1, res[2], tol); // axes relative to body2 dJointSetAMotorAxis(joint, 0, 2, 1, 0, 0); dJointGetAMotorAxis(joint, 0, res); CHECK_EQUAL(2, dJointGetAMotorAxisRel(joint, 0)); CHECK_CLOSE(1, res[0], tol); CHECK_CLOSE(0, res[1], tol); CHECK_CLOSE(0, res[2], tol); dJointSetAMotorAxis(joint, 1, 2, 0, 1, 0); dJointGetAMotorAxis(joint, 1, res); CHECK_EQUAL(2, dJointGetAMotorAxisRel(joint, 1)); CHECK_CLOSE(0, res[0], tol); CHECK_CLOSE(1, res[1], tol); CHECK_CLOSE(0, res[2], tol); dJointSetAMotorAxis(joint, 2, 2, 0, 0, 1); dJointGetAMotorAxis(joint, 2, res); CHECK_EQUAL(2, dJointGetAMotorAxisRel(joint, 2)); CHECK_CLOSE(0, res[0], tol); CHECK_CLOSE(0, res[1], tol); CHECK_CLOSE(1, res[2], tol); } struct FixtureXEuler : FixtureBase { FixtureXEuler() { // body only allowed to rotate around X axis dJointAttach(joint, 0, body); dJointSetAMotorMode(joint, dAMotorEuler); dJointSetAMotorAxis(joint, 0, 0, 1, 0, 0); dJointSetAMotorAxis(joint, 2, 0, 0, 0, 1); } }; TEST_FIXTURE(FixtureXEuler, check_axes) { // test patch #181 bug fix dVector3 axis_x; dJointGetAMotorAxis(joint, 0, axis_x); CHECK_CLOSE(1, axis_x[0], tol); CHECK_CLOSE(0, axis_x[1], tol); CHECK_CLOSE(0, axis_x[2], tol); dVector3 axis_y; dJointGetAMotorAxis(joint, 1, axis_y); CHECK_CLOSE(0, axis_y[0], tol); CHECK_CLOSE(1, axis_y[1], tol); CHECK_CLOSE(0, axis_y[2], tol); dVector3 axis_z; dJointGetAMotorAxis(joint, 2, axis_z); CHECK_CLOSE(0, axis_z[0], tol); CHECK_CLOSE(0, axis_z[1], tol); CHECK_CLOSE(1, axis_z[2], tol); } } // End of SUITE TestdxJointAMotor