150 lines
5.5 KiB
C++
150 lines
5.5 KiB
C++
/*************************************************************************
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* *
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* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
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* All rights reserved. Email: russ@q12.org Web: www.q12.org *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of EITHER: *
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* (1) The GNU Lesser General Public License as published by the Free *
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* Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. The text of the GNU Lesser *
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* General Public License is included with this library in the *
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* file LICENSE.TXT. *
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* (2) The BSD-style license that is included with this library in *
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* the file LICENSE-BSD.TXT. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
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* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
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* *
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*************************************************************************/
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//234567890123456789012345678901234567890123456789012345678901234567890123456789
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// 1 2 3 4 5 6 7
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////////////////////////////////////////////////////////////////////////////////
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// This file creates unit tests for some of the functions found in:
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// ode/src/joinst/fixed.cpp
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//
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//
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////////////////////////////////////////////////////////////////////////////////
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#include <UnitTest++.h>
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#include <ode/ode.h>
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#include "../../ode/src/config.h"
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#include "../../ode/src/joints/fixed.h"
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SUITE (TestdxJointFixed)
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{
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struct dxJointFixed_Fixture_1
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{
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dxJointFixed_Fixture_1()
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{
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wId = dWorldCreate();
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bId1 = dBodyCreate (wId);
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dBodySetPosition (bId1, 0, -1, 0);
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bId2 = dBodyCreate (wId);
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dBodySetPosition (bId2, 0, 1, 0);
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jId = dJointCreateFixed (wId, 0);
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joint = (dxJointFixed*) jId;
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dJointAttach (jId, bId1, bId2);
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}
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~dxJointFixed_Fixture_1()
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{
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dWorldDestroy (wId);
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}
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dWorldID wId;
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dBodyID bId1;
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dBodyID bId2;
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dJointID jId;
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dxJointFixed* joint;
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};
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TEST_FIXTURE (dxJointFixed_Fixture_1, test_dJointSetFixed)
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{
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// the 2 bodies are align
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dJointSetFixed (jId);
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CHECK_CLOSE (joint->qrel[0], 1.0, 1e-4);
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CHECK_CLOSE (joint->qrel[1], 0.0, 1e-4);
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CHECK_CLOSE (joint->qrel[2], 0.0, 1e-4);
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CHECK_CLOSE (joint->qrel[3], 0.0, 1e-4);
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dMatrix3 R;
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// Rotate 2nd body 90deg around X
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dBodySetPosition (bId2, 0, 0, 1);
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dRFromAxisAndAngle (R, 1, 0, 0, M_PI/2.0);
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dBodySetRotation (bId2, R);
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dJointSetFixed (jId);
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CHECK_CLOSE (joint->qrel[0], 0.70710678118654757, 1e-4);
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CHECK_CLOSE (joint->qrel[1], 0.70710678118654757, 1e-4);
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CHECK_CLOSE (joint->qrel[2], 0.0, 1e-4);
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CHECK_CLOSE (joint->qrel[3], 0.0, 1e-4);
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// Rotate 2nd body -90deg around X
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dBodySetPosition (bId2, 0, 0, -1);
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dRFromAxisAndAngle (R, 1, 0, 0, -M_PI/2.0);
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dBodySetRotation (bId2, R);
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dJointSetFixed (jId);
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CHECK_CLOSE (joint->qrel[0], 0.70710678118654757, 1e-4);
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CHECK_CLOSE (joint->qrel[1], -0.70710678118654757, 1e-4);
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CHECK_CLOSE (joint->qrel[2], 0.0, 1e-4);
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CHECK_CLOSE (joint->qrel[3], 0.0, 1e-4);
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// Rotate 2nd body 90deg around Z
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dBodySetPosition (bId2, 0, 1, 0);
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dRFromAxisAndAngle (R, 0, 0, 1, M_PI/2.0);
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dBodySetRotation (bId2, R);
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dJointSetFixed (jId);
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CHECK_CLOSE (joint->qrel[0], 0.70710678118654757, 1e-4);
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CHECK_CLOSE (joint->qrel[1], 0.0, 1e-4);
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CHECK_CLOSE (joint->qrel[2], 0.0, 1e-4);
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CHECK_CLOSE (joint->qrel[3], 0.70710678118654757, 1e-4);
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// Rotate 2nd body 45deg around Y
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dBodySetPosition (bId2, 0, 1, 0);
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dRFromAxisAndAngle (R, 0, 1, 0, M_PI/4.0);
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dBodySetRotation (bId2, R);
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dJointSetFixed (jId);
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CHECK_CLOSE (joint->qrel[0], 0.92387953251128674, 1e-4);
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CHECK_CLOSE (joint->qrel[1], 0.0, 1e-4);
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CHECK_CLOSE (joint->qrel[2], 0.38268343236508984, 1e-4);
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CHECK_CLOSE (joint->qrel[3], 0.0, 1e-4);
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// Rotate in a strange manner
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// Both bodies at origin
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dRFromEulerAngles (R, REAL(0.23), REAL(3.1), REAL(-0.73));
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dBodySetPosition (bId1, 0, 0, 0);
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dBodySetRotation (bId1, R);
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dRFromEulerAngles (R, REAL(-0.57), REAL(1.49), REAL(0.81));
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dBodySetPosition (bId2, 0, 0, 0);
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dBodySetRotation (bId2, R);
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dJointSetFixed (jId);
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CHECK_CLOSE (joint->qrel[0], -0.25526036263124319, 1e-4);
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CHECK_CLOSE (joint->qrel[1], 0.28434861188441968, 1e-4);
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CHECK_CLOSE (joint->qrel[2], -0.65308047160141625, 1e-4);
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CHECK_CLOSE (joint->qrel[3], 0.65381489108282143, 1e-4);
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}
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} // End of SUITE TestdxJointFixed
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