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Kirill Yurkin
2024-06-10 12:48:14 +03:00
commit d54c9805b3
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thirdparty/ode-0.16.5/tests/joints/Makefile.am vendored Normal file
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thirdparty/ode-0.16.5/tests/joints/Makefile.in vendored Normal file
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@echo "This command is intended for maintainers to use"
@echo "it deletes files that may require special tools to rebuild."
clean: clean-am
clean-am: clean-checkLTLIBRARIES clean-generic clean-libtool \
mostlyclean-am
distclean: distclean-am
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mostlyclean: mostlyclean-am
mostlyclean-am: mostlyclean-compile mostlyclean-generic \
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tags tags-am uninstall uninstall-am
.PRECIOUS: Makefile
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# Otherwise a system limit (for SysV at least) may be exceeded.
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/*************************************************************************
* *
* 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 <UnitTest++.h>
#include <ode/ode.h>
#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

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/*************************************************************************
* *
* 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/ball.cpp
//
//
////////////////////////////////////////////////////////////////////////////////
#include <UnitTest++.h>
#include <ode/ode.h>
#include "../../ode/src/config.h"
#include "../../ode/src/joints/ball.h"
using namespace std;
SUITE (TestdxJointBall)
{
// The 2 bodies are positioned at (-1, -2, -3) and (11, 22, 33)
// The bodies have rotation of 27deg around some axis.
// The joint is a Ball Joint
// Axis is along the X axis
// Anchor at (0, 0, 0)
struct dxJointBall_Fixture_B1_and_B2_At_Zero_Axis_Along_X {
dxJointBall_Fixture_B1_and_B2_At_Zero_Axis_Along_X()
{
wId = dWorldCreate();
for (int j=0; j<2; ++j) {
bId[j][0] = dBodyCreate (wId);
dBodySetPosition (bId[j][0], -1, -2, -3);
bId[j][1] = dBodyCreate (wId);
dBodySetPosition (bId[j][1], 11, 22, 33);
dMatrix3 R;
dVector3 axis; // Random axis
axis[0] = REAL(0.53);
axis[1] = -REAL(0.71);
axis[2] = REAL(0.43);
dNormalize3(axis);
dRFromAxisAndAngle (R, axis[0], axis[1], axis[2],
REAL(0.47123)); // 27deg
dBodySetRotation (bId[j][0], R);
axis[0] = REAL(1.2);
axis[1] = REAL(0.87);
axis[2] = -REAL(0.33);
dNormalize3(axis);
dRFromAxisAndAngle (R, axis[0], axis[1], axis[2],
REAL(0.47123)); // 27deg
dBodySetRotation (bId[j][1], R);
jId[j] = dJointCreateBall (wId, 0);
dJointAttach (jId[j], bId[j][0], bId[j][1]);
}
}
~dxJointBall_Fixture_B1_and_B2_At_Zero_Axis_Along_X()
{
dWorldDestroy (wId);
}
dWorldID wId;
dBodyID bId[2][2];
dJointID jId[2];
};
// Rotate 2nd body 90deg around X then back to original position
//
// ^ ^ ^
// | | => | <---
// | | |
// B1 B2 B1 B2
//
// Start with a Delta of 90deg
// ^ ^ ^
// | <--- => | |
// | | |
// B1 B2 B1 B2
TEST_FIXTURE (dxJointBall_Fixture_B1_and_B2_At_Zero_Axis_Along_X,
test_dJointSetBallAxisOffset_B2_90deg) {
dVector3 anchor;
dJointGetBallAnchor(jId[1], anchor);
dJointSetBallAnchor(jId[1], anchor[0], anchor[1], anchor[2]);
for (int b=0; b<2; ++b) {
// Compare body b of the first joint with its equivalent on the
// second joint
const dReal *qA = dBodyGetQuaternion(bId[0][b]);
const dReal *qB = dBodyGetQuaternion(bId[1][b]);
CHECK_CLOSE (qA[0], qB[0], 1e-4);
CHECK_CLOSE (qA[1], qB[1], 1e-4);
CHECK_CLOSE (qA[2], qB[2], 1e-4);
CHECK_CLOSE (qA[3], qB[3], 1e-4);
}
dWorldStep (wId,0.5);
dWorldStep (wId,0.5);
dWorldStep (wId,0.5);
dWorldStep (wId,0.5);
for (int b=0; b<2; ++b) {
// Compare body b of the first joint with its equivalent on the
// second joint
const dReal *qA = dBodyGetQuaternion(bId[0][b]);
const dReal *qB = dBodyGetQuaternion(bId[1][b]);
CHECK_CLOSE (qA[0], qB[0], 1e-4);
CHECK_CLOSE (qA[1], qB[1], 1e-4);
CHECK_CLOSE (qA[2], qB[2], 1e-4);
CHECK_CLOSE (qA[3], qB[3], 1e-4);
const dReal *posA = dBodyGetPosition(bId[0][b]);
const dReal *posB = dBodyGetPosition(bId[1][b]);
CHECK_CLOSE (posA[0], posB[0], 1e-4);
CHECK_CLOSE (posA[1], posB[1], 1e-4);
CHECK_CLOSE (posA[2], posB[2], 1e-4);
CHECK_CLOSE (posA[3], posB[3], 1e-4);
}
}
} // End of SUITE TestdxJointBall

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/*************************************************************************
* *
* 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/dball.cpp
//
//
////////////////////////////////////////////////////////////////////////////////
#include <UnitTest++.h>
#include <ode/ode.h>
#include "../../ode/src/config.h"
using namespace std;
SUITE (TestdxJointDBall)
{
struct SimpleFixture {
dWorldID w;
dBodyID b1, b2;
dJointID j;
SimpleFixture() :
w(dWorldCreate()),
b1(dBodyCreate(w)),
b2(dBodyCreate(w)),
j(dJointCreateDBall(w, 0))
{
dJointAttach(j, b1, b2);
}
~SimpleFixture()
{
dJointDestroy(j);
dBodyDestroy(b1);
dBodyDestroy(b2);
dWorldDestroy(w);
}
};
TEST_FIXTURE(SimpleFixture, testTargetDistance)
{
dBodySetPosition(b1, -1, -2, -3);
dBodySetPosition(b2, 3, 5, 7);
dJointAttach(j, b1, b2); // this recomputes the deduced target distance
CHECK_CLOSE(dJointGetDBallDistance(j), dSqrt(REAL(165.0)), 1e-4);
// moving body should not change target distance
dBodySetPosition(b1, 2,3,4);
CHECK_CLOSE(dJointGetDBallDistance(j), dSqrt(REAL(165.0)), 1e-4);
// setting target distance manually should override the deduced one
dJointSetDBallDistance(j, REAL(6.0));
CHECK_EQUAL(dJointGetDBallDistance(j), REAL(6.0));
}
}

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@@ -0,0 +1,149 @@
/*************************************************************************
* *
* 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 <UnitTest++.h>
#include <ode/ode.h>
#include "../../ode/src/config.h"
#include "../../ode/src/joints/fixed.h"
SUITE (TestdxJointFixed)
{
struct dxJointFixed_Fixture_1
{
dxJointFixed_Fixture_1()
{
wId = dWorldCreate();
bId1 = dBodyCreate (wId);
dBodySetPosition (bId1, 0, -1, 0);
bId2 = dBodyCreate (wId);
dBodySetPosition (bId2, 0, 1, 0);
jId = dJointCreateFixed (wId, 0);
joint = (dxJointFixed*) jId;
dJointAttach (jId, bId1, bId2);
}
~dxJointFixed_Fixture_1()
{
dWorldDestroy (wId);
}
dWorldID wId;
dBodyID bId1;
dBodyID bId2;
dJointID jId;
dxJointFixed* joint;
};
TEST_FIXTURE (dxJointFixed_Fixture_1, test_dJointSetFixed)
{
// the 2 bodies are align
dJointSetFixed (jId);
CHECK_CLOSE (joint->qrel[0], 1.0, 1e-4);
CHECK_CLOSE (joint->qrel[1], 0.0, 1e-4);
CHECK_CLOSE (joint->qrel[2], 0.0, 1e-4);
CHECK_CLOSE (joint->qrel[3], 0.0, 1e-4);
dMatrix3 R;
// Rotate 2nd body 90deg around X
dBodySetPosition (bId2, 0, 0, 1);
dRFromAxisAndAngle (R, 1, 0, 0, M_PI/2.0);
dBodySetRotation (bId2, R);
dJointSetFixed (jId);
CHECK_CLOSE (joint->qrel[0], 0.70710678118654757, 1e-4);
CHECK_CLOSE (joint->qrel[1], 0.70710678118654757, 1e-4);
CHECK_CLOSE (joint->qrel[2], 0.0, 1e-4);
CHECK_CLOSE (joint->qrel[3], 0.0, 1e-4);
// Rotate 2nd body -90deg around X
dBodySetPosition (bId2, 0, 0, -1);
dRFromAxisAndAngle (R, 1, 0, 0, -M_PI/2.0);
dBodySetRotation (bId2, R);
dJointSetFixed (jId);
CHECK_CLOSE (joint->qrel[0], 0.70710678118654757, 1e-4);
CHECK_CLOSE (joint->qrel[1], -0.70710678118654757, 1e-4);
CHECK_CLOSE (joint->qrel[2], 0.0, 1e-4);
CHECK_CLOSE (joint->qrel[3], 0.0, 1e-4);
// Rotate 2nd body 90deg around Z
dBodySetPosition (bId2, 0, 1, 0);
dRFromAxisAndAngle (R, 0, 0, 1, M_PI/2.0);
dBodySetRotation (bId2, R);
dJointSetFixed (jId);
CHECK_CLOSE (joint->qrel[0], 0.70710678118654757, 1e-4);
CHECK_CLOSE (joint->qrel[1], 0.0, 1e-4);
CHECK_CLOSE (joint->qrel[2], 0.0, 1e-4);
CHECK_CLOSE (joint->qrel[3], 0.70710678118654757, 1e-4);
// Rotate 2nd body 45deg around Y
dBodySetPosition (bId2, 0, 1, 0);
dRFromAxisAndAngle (R, 0, 1, 0, M_PI/4.0);
dBodySetRotation (bId2, R);
dJointSetFixed (jId);
CHECK_CLOSE (joint->qrel[0], 0.92387953251128674, 1e-4);
CHECK_CLOSE (joint->qrel[1], 0.0, 1e-4);
CHECK_CLOSE (joint->qrel[2], 0.38268343236508984, 1e-4);
CHECK_CLOSE (joint->qrel[3], 0.0, 1e-4);
// Rotate in a strange manner
// Both bodies at origin
dRFromEulerAngles (R, REAL(0.23), REAL(3.1), REAL(-0.73));
dBodySetPosition (bId1, 0, 0, 0);
dBodySetRotation (bId1, R);
dRFromEulerAngles (R, REAL(-0.57), REAL(1.49), REAL(0.81));
dBodySetPosition (bId2, 0, 0, 0);
dBodySetRotation (bId2, R);
dJointSetFixed (jId);
CHECK_CLOSE (joint->qrel[0], -0.25526036263124319, 1e-4);
CHECK_CLOSE (joint->qrel[1], 0.28434861188441968, 1e-4);
CHECK_CLOSE (joint->qrel[2], -0.65308047160141625, 1e-4);
CHECK_CLOSE (joint->qrel[3], 0.65381489108282143, 1e-4);
}
} // End of SUITE TestdxJointFixed

928
thirdparty/ode-0.16.5/tests/joints/hinge.cpp vendored Normal file
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@@ -0,0 +1,928 @@
/*************************************************************************
* *
* 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/hinge.cpp
//
//
////////////////////////////////////////////////////////////////////////////////
#include <UnitTest++.h>
#include <ode/ode.h>
#include "../../ode/src/config.h"
#include "../../ode/src/joints/hinge.h"
SUITE (TestdxJointHinge)
{
// The 2 bodies are positioned at (0, 0, 0) with no rotation
// The joint is an Hinge Joint
// Axis is along the X axis
// Anchor at (0, 0, 0)
// ^Y
// |
// |
// |
// |
// |
// Z <---- . (X going out of the page)
struct dxJointHinge_Fixture_B1_and_B2_At_Zero_Axis_Along_X {
dxJointHinge_Fixture_B1_and_B2_At_Zero_Axis_Along_X()
{
wId = dWorldCreate();
bId1 = dBodyCreate (wId);
dBodySetPosition (bId1, 0, 0, 0);
bId2 = dBodyCreate (wId);
dBodySetPosition (bId2, 0, 0, 0);
jId = dJointCreateHinge (wId, 0);
joint = (dxJointHinge*) jId;
dJointAttach (jId, bId1, bId2);
dJointSetHingeAnchor (jId, 0, 0, 0);
axis[0] = 1;
axis[1] = 0;
axis[2] = 0;
}
~dxJointHinge_Fixture_B1_and_B2_At_Zero_Axis_Along_X()
{
dWorldDestroy (wId);
}
dWorldID wId;
dBodyID bId1;
dBodyID bId2;
dJointID jId;
dxJointHinge* joint;
dVector3 axis;
};
// Rotate 2nd body 90deg around X then back to original position
//
// ^ ^ ^
// | | => | <---
// | | |
// B1 B2 B1 B2
//
// Start with a Delta of 90deg
// ^ ^ ^
// | <--- => | |
// | | |
// B1 B2 B1 B2
TEST_FIXTURE (dxJointHinge_Fixture_B1_and_B2_At_Zero_Axis_Along_X,
test_dJointSetHingeAxisOffset_B2_90deg) {
dMatrix3 R;
CHECK_CLOSE (dJointGetHingeAngle (jId), 0.0, 1e-4);
dRFromAxisAndAngle (R, 1, 0, 0, M_PI/2.0);
dBodySetRotation (bId2, R);
CHECK_CLOSE (-M_PI/2.0, dJointGetHingeAngle (jId), 1e-4);
dJointSetHingeAxisOffset (jId, axis[0], axis[1], axis[2], -M_PI/2.0);
CHECK_CLOSE (-M_PI/2.0, dJointGetHingeAngle (jId), 1e-4);
dRFromAxisAndAngle (R, 1, 0, 0, 0);
dBodySetRotation (bId2, R);
CHECK_CLOSE (0.0, dJointGetHingeAngle (jId), 1e-4);
}
// Rotate 2nd body -90deg around X then back to original position
//
// ^ ^ ^
// | | => | --->
// | | |
// B1 B2 B1 B2
//
// Start with a Delta of 90deg
// ^ ^ ^
// | ---> => | |
// | | |
// B1 B2 B1 B2
TEST_FIXTURE (dxJointHinge_Fixture_B1_and_B2_At_Zero_Axis_Along_X,
test_dJointSetHingeAxisOffset_B2_Minus90deg) {
dMatrix3 R;
dJointSetHingeAxis (jId, axis[0], axis[1], axis[2]);
CHECK_CLOSE (dJointGetHingeAngle (jId), 0.0, 1e-4);
dRFromAxisAndAngle (R, 1, 0, 0, -M_PI/2.0);
dBodySetRotation (bId2, R);
CHECK_CLOSE (M_PI/2.0, dJointGetHingeAngle (jId), 1e-4);
dJointSetHingeAxisOffset (jId, axis[0], axis[1], axis[2], M_PI/2.0);
CHECK_CLOSE (M_PI/2.0, dJointGetHingeAngle (jId), 1e-4);
dRFromAxisAndAngle (R, 1, 0, 0, 0);
dBodySetRotation (bId2, R);
CHECK_CLOSE (0.0, dJointGetHingeAngle (jId), 1e-4);
}
// Rotate 1st body 0.23rad around X then back to original position
//
// ^ ^ ^ ^
// | | => \ |
// | | \ |
// B1 B2 B1 B2
//
// Start with a Delta of 0.23rad
// ^ ^ ^ ^
// \ | => | |
// \ | | |
// B1 B2 B1 B2
TEST_FIXTURE (dxJointHinge_Fixture_B1_and_B2_At_Zero_Axis_Along_X,
test_dJointSetHingeAxisOffset_B1_0_23rad) {
dMatrix3 R;
dJointSetHingeAxis (jId, axis[0], axis[1], axis[2]);
CHECK_CLOSE (dJointGetHingeAngle (jId), 0.0, 1e-4);
dRFromAxisAndAngle (R, 1, 0, 0, REAL(0.23) );
dBodySetRotation (bId1, R);
CHECK_CLOSE (REAL(0.23), dJointGetHingeAngle (jId), 1e-4);
dJointSetHingeAxisOffset (jId, axis[0], axis[1], axis[2], REAL(0.23));
CHECK_CLOSE (REAL(0.23), dJointGetHingeAngle (jId), 1e-4);
dRFromAxisAndAngle (R, 1, 0, 0, 0);
dBodySetRotation (bId1, R);
CHECK_CLOSE (0.0, dJointGetHingeAngle (jId), 1e-4);
}
// Rotate 1st body -0.23rad around Z then back to original position
//
// ^ ^ ^ ^
// | | => / |
// | | / |
// B1 B2 B1 B2
//
// Start with a Delta of 0.23rad
// ^ ^ ^ ^
// / | => | |
// / | | |
// B1 B2 B1 B2
TEST_FIXTURE (dxJointHinge_Fixture_B1_and_B2_At_Zero_Axis_Along_X,
test_dJointSetHingeAxisOffset_B1_Minus0_23rad) {
dMatrix3 R;
dJointSetHingeAxis (jId, axis[0], axis[1], axis[2]);
CHECK_CLOSE (dJointGetHingeAngle (jId), 0.0, 1e-4);
dRFromAxisAndAngle (R, 1, 0, 0, -REAL(0.23));
dBodySetRotation (bId1, R);
CHECK_CLOSE (-REAL(0.23), dJointGetHingeAngle (jId), 1e-4);
dJointSetHingeAxisOffset (jId, axis[0], axis[1], axis[2], -REAL(0.23));
CHECK_CLOSE (-REAL(0.23), dJointGetHingeAngle (jId), 1e-4);
dRFromAxisAndAngle (R, 1, 0, 0, 0);
dBodySetRotation (bId1, R);
CHECK_CLOSE (0.0, dJointGetHingeAngle (jId), 1e-4);
}
// The 2 bodies are positioned at (0, 0, 0) with no rotation
// The joint is an Hinge Joint.
// Axis in the inverse direction of the X axis
// Anchor at (0, 0, 0)
// ^Y
// |
// |
// |
// |
// |
// Z <---- x (X going out of the page)
struct dxJointHinge_Fixture_B1_and_B2_At_Zero_Axis_Inverse_of_X {
dxJointHinge_Fixture_B1_and_B2_At_Zero_Axis_Inverse_of_X()
{
wId = dWorldCreate();
bId1 = dBodyCreate (wId);
dBodySetPosition (bId1, 0, -1, 0);
bId2 = dBodyCreate (wId);
dBodySetPosition (bId2, 0, 1, 0);
jId = dJointCreateHinge (wId, 0);
joint = (dxJointHinge*) jId;
dJointAttach (jId, bId1, bId2);
dJointSetHingeAnchor (jId, 0, 0, 0);
axis[0] = -1;
axis[1] = 0;
axis[2] = 0;
}
~dxJointHinge_Fixture_B1_and_B2_At_Zero_Axis_Inverse_of_X()
{
dWorldDestroy (wId);
}
dWorldID wId;
dBodyID bId1;
dBodyID bId2;
dJointID jId;
dxJointHinge* joint;
dVector3 axis;
};
// Rotate 2nd body 90deg around X then back to original position
//
// ^ ^ ^
// | | => | <---
// | | |
// B1 B2 B1 B2
//
// Start with a Delta of 90deg
// ^ ^ ^
// | <--- => | |
// | | |
// B1 B2 B1 B2
TEST_FIXTURE (dxJointHinge_Fixture_B1_and_B2_At_Zero_Axis_Inverse_of_X,
test_dJointSetHingeAxisOffset_B2_90Deg) {
dMatrix3 R;
dJointSetHingeAxis (jId, axis[0], axis[1], axis[2]);
CHECK_CLOSE (dJointGetHingeAngle (jId), 0.0, 1e-4);
dRFromAxisAndAngle (R, 1, 0, 0, M_PI/2.0);
dBodySetRotation (bId2, R);
CHECK_CLOSE (M_PI/2.0, dJointGetHingeAngle (jId), 1e-4);
dJointSetHingeAxisOffset (jId, axis[0], axis[1], axis[2], M_PI/2.0);
CHECK_CLOSE (M_PI/2.0, dJointGetHingeAngle (jId), 1e-4);
dRFromAxisAndAngle (R, 1, 0, 0, 0);
dBodySetRotation (bId2, R);
CHECK_CLOSE (0.0, dJointGetHingeAngle (jId), 1e-4);
}
// Rotate 2nd body -90deg around X then back to original position
//
// ^ ^ ^
// | | => | --->
// | | |
// B1 B2 B1 B2
//
// Start with a Delta of 90deg
// ^ ^ ^
// | ---> => | |
// | | |
// B1 B2 B1 B2
TEST_FIXTURE (dxJointHinge_Fixture_B1_and_B2_At_Zero_Axis_Inverse_of_X,
test_dJointSetHingeAxisOffset_B2_Minus90Deg) {
dMatrix3 R;
dJointSetHingeAxis (jId, axis[0], axis[1], axis[2]);
CHECK_CLOSE (dJointGetHingeAngle (jId), 0.0, 1e-4);
dRFromAxisAndAngle (R, 1, 0, 0, -M_PI/2.0);
dBodySetRotation (bId2, R);
CHECK_CLOSE (-M_PI/2.0, dJointGetHingeAngle (jId), 1e-4);
dJointSetHingeAxisOffset (jId, axis[0], axis[1], axis[2], -M_PI/2.0);
CHECK_CLOSE (-M_PI/2.0, dJointGetHingeAngle (jId), 1e-4);
dRFromAxisAndAngle (R, 1, 0, 0, 0);
dBodySetRotation (bId2, R);
CHECK_CLOSE (0.0, dJointGetHingeAngle (jId), 1e-4);
}
// Rotate 1st body 0.23rad around X then back to original position
//
// ^ ^ ^ ^
// | | => \ |
// | | \ |
// B1 B2 B1 B2
//
// Start with a Delta of 0.23rad
// ^ ^ ^ ^
// \ | => | |
// \ | | |
// B1 B2 B1 B2
TEST_FIXTURE (dxJointHinge_Fixture_B1_and_B2_At_Zero_Axis_Inverse_of_X,
test_dJointSetHingeAxisOffset_B1_0_23rad) {
dMatrix3 R;
dJointSetHingeAxis (jId, axis[0], axis[1], axis[2]);
CHECK_CLOSE (dJointGetHingeAngle (jId), 0.0, 1e-4);
dRFromAxisAndAngle (R, 1, 0, 0, REAL(0.23));
dBodySetRotation (bId1, R);
CHECK_CLOSE (-REAL(0.23), dJointGetHingeAngle (jId), 1e-4);
dJointSetHingeAxisOffset (jId, axis[0], axis[1], axis[2], -REAL(0.23));
CHECK_CLOSE (-REAL(0.23), dJointGetHingeAngle (jId), 1e-4);
dRFromAxisAndAngle (R, 1, 0, 0, 0);
dBodySetRotation (bId1, R);
CHECK_CLOSE (0.0, dJointGetHingeAngle (jId), 1e-4);
}
// Rotate 2nd body -0.23rad around Z then back to original position
//
// ^ ^ ^ ^
// | | => / |
// | | / |
// B1 B2 B1 B2
//
// Start with a Delta of 0.23rad
// ^ ^ ^ ^
// / | => | |
// / | | |
// B1 B2 B1 B2
TEST_FIXTURE (dxJointHinge_Fixture_B1_and_B2_At_Zero_Axis_Inverse_of_X,
test_dJointSetHingeAxisOffset_B1_Minus0_23rad) {
dMatrix3 R;
dJointSetHingeAxis (jId, axis[0], axis[1], axis[2]);
CHECK_CLOSE (dJointGetHingeAngle (jId), 0.0, 1e-4);
dRFromAxisAndAngle (R, 1, 0, 0, -REAL(0.23));
dBodySetRotation (bId1, R);
CHECK_CLOSE (REAL(0.23), dJointGetHingeAngle (jId), 1e-4);
dJointSetHingeAxisOffset (jId, axis[0], axis[1], axis[2], REAL(0.23));
CHECK_CLOSE (REAL(0.23), dJointGetHingeAngle (jId), 1e-4);
dRFromAxisAndAngle (R, 1, 0, 0, 0);
dBodySetRotation (bId1, R);
CHECK_CLOSE (0.0, dJointGetHingeAngle (jId), 1e-4);
}
// Only one body body1 at (0,0,0)
// The joint is an Hinge Joint.
// Axis is along the X axis
// Anchor at (0, 0, 0)
//
// ^Y
// |
// |
// |
// |
// |
// Z <-- X
struct dxJointHinge_Fixture_B1_At_Zero_Axis_Along_X {
dxJointHinge_Fixture_B1_At_Zero_Axis_Along_X()
{
wId = dWorldCreate();
bId1 = dBodyCreate (wId);
dBodySetPosition (bId1, 0, 0, 0);
jId = dJointCreateHinge (wId, 0);
joint = (dxJointHinge*) jId;
dJointAttach (jId, bId1, NULL);
dJointSetHingeAnchor (jId, 0, 0, 0);
axis[0] = 1;
axis[1] = 0;
axis[2] = 0;
}
~dxJointHinge_Fixture_B1_At_Zero_Axis_Along_X()
{
dWorldDestroy (wId);
}
dWorldID wId;
dBodyID bId1;
dJointID jId;
dxJointHinge* joint;
dVector3 axis;
};
// Rotate B1 by 90deg around X then back to original position
//
// ^
// | => <---
// |
// B1 B1
//
// Start with a Delta of 90deg
// ^
// <--- => |
// |
// B1 B1
TEST_FIXTURE (dxJointHinge_Fixture_B1_At_Zero_Axis_Along_X,
test_dJointSetHingeAxisOffset_1Body_B1_90Deg) {
dMatrix3 R;
dJointSetHingeAxis (jId, axis[0], axis[1], axis[2]);
CHECK_CLOSE (dJointGetHingeAngle (jId), 0.0, 1e-4);
dRFromAxisAndAngle (R, 1, 0, 0, M_PI/2.0);
dBodySetRotation (bId1, R);
CHECK_CLOSE (M_PI/2.0, dJointGetHingeAngle (jId), 1e-4);
dJointSetHingeAxisOffset (jId, axis[0], axis[1], axis[2], M_PI/2.0);
CHECK_CLOSE (M_PI/2.0, dJointGetHingeAngle (jId), 1e-4);
dRFromAxisAndAngle (R, 1, 0, 0, 0);
dBodySetRotation (bId1, R);
CHECK_CLOSE (0, dJointGetHingeAngle (jId), 1e-4);
}
// Rotate B1 by -0.23rad around X then back to original position
//
// ^ ^
// | => /
// | /
// B1 B1
//
// Start with a Delta of -0.23rad
// ^ ^
// / => |
// / |
// B1 B1
TEST_FIXTURE (dxJointHinge_Fixture_B1_At_Zero_Axis_Along_X,
test_dJointSetHingeAxisOffset_1Body_B1_Minus0_23rad) {
dMatrix3 R;
dJointSetHingeAxis (jId, axis[0], axis[1], axis[2]);
CHECK_CLOSE (dJointGetHingeAngle (jId), 0.0, 1e-4);
dRFromAxisAndAngle (R, 1, 0, 0, -REAL(0.23));
dBodySetRotation (bId1, R);
CHECK_CLOSE (-REAL(0.23), dJointGetHingeAngle (jId), 1e-4);
dJointSetHingeAxisOffset (jId, axis[0], axis[1], axis[2], -REAL(0.23));
CHECK_CLOSE (-REAL(0.23), dJointGetHingeAngle (jId), 1e-4);
dRFromAxisAndAngle (R, 1, 0, 0, 0);
dBodySetRotation (bId1, R);
CHECK_CLOSE (0, dJointGetHingeAngle (jId), 1e-4);
}
// Only one body body1 at (0,0,0)
// The joint is an Hinge Joint.
// Axis the inverse of the X axis
// Anchor at (0, 0, 0)
//
// ^Y
// |
// |
// |
// |
// |
// Z <-- X
struct dxJointHinge_Fixture_B1_At_Zero_Axis_Inverse_of_X {
dxJointHinge_Fixture_B1_At_Zero_Axis_Inverse_of_X()
{
wId = dWorldCreate();
bId1 = dBodyCreate (wId);
dBodySetPosition (bId1, 0, 0, 0);
jId = dJointCreateHinge (wId, 0);
joint = (dxJointHinge*) jId;
dJointAttach (jId, bId1, NULL);
dJointSetHingeAnchor (jId, 0, 0, 0);
axis[0] = -1;
axis[1] = 0;
axis[2] = 0;
}
~dxJointHinge_Fixture_B1_At_Zero_Axis_Inverse_of_X()
{
dWorldDestroy (wId);
}
dWorldID wId;
dBodyID bId1;
dJointID jId;
dxJointHinge* joint;
dVector3 axis;
};
// Rotate B1 by 90deg around X then back to original position
//
// ^
// | => <---
// |
// B1 B1
//
// Start with a Delta of 90deg
// ^
// <--- => |
// |
// B1 B1
TEST_FIXTURE (dxJointHinge_Fixture_B1_At_Zero_Axis_Inverse_of_X,
test_dJointSetHingeAxisOffset_1Body_B1_90Deg) {
dMatrix3 R;
dJointSetHingeAxis (jId, axis[0], axis[1], axis[2]);
CHECK_CLOSE (dJointGetHingeAngle (jId), 0.0, 1e-4);
dRFromAxisAndAngle (R, 1, 0, 0, M_PI/2.0);
dBodySetRotation (bId1, R);
CHECK_CLOSE (-M_PI/2.0, dJointGetHingeAngle (jId), 1e-4);
dJointSetHingeAxisOffset (jId, axis[0], axis[1], axis[2], -M_PI/2.0);
CHECK_CLOSE (-M_PI/2.0, dJointGetHingeAngle (jId), 1e-4);
dRFromAxisAndAngle (R, 1, 0, 0, 0);
dBodySetRotation (bId1, R);
CHECK_CLOSE (0, dJointGetHingeAngle (jId), 1e-4);
}
// Rotate B1 by -0.23rad around X then back to original position
//
// ^ ^
// | => /
// | /
// B1 B1
//
// Start with a Delta of -0.23rad
// ^ ^
// / => |
// / |
// B1 B1
TEST_FIXTURE (dxJointHinge_Fixture_B1_At_Zero_Axis_Inverse_of_X,
test_dJointSetHingeAxisOffset_1Body_B1_Minus0_23rad) {
dMatrix3 R;
dJointSetHingeAxis (jId, axis[0], axis[1], axis[2]);
CHECK_CLOSE (dJointGetHingeAngle (jId), 0.0, 1e-4);
dRFromAxisAndAngle (R, 1, 0, 0, -REAL(0.23));
dBodySetRotation (bId1, R);
CHECK_CLOSE (REAL(0.23), dJointGetHingeAngle (jId), 1e-4);
dJointSetHingeAxisOffset (jId, axis[0], axis[1], axis[2], REAL(0.23));
CHECK_CLOSE (REAL(0.23), dJointGetHingeAngle (jId), 1e-4);
dRFromAxisAndAngle (R, 1, 0, 0, 0);
dBodySetRotation (bId1, R);
CHECK_CLOSE (0, dJointGetHingeAngle (jId), 1e-4);
}
// Only one body body2 at (0,0,0)
// The joint is an Hinge Joint.
// Axis is along the X axis
// Anchor at (0, 0, 0)
//
// ^Y
// |
// |
// |
// |
// |
// Z <-- X
struct dxJointHinge_Fixture_B2_At_Zero_Axis_Along_X {
dxJointHinge_Fixture_B2_At_Zero_Axis_Along_X()
{
wId = dWorldCreate();
bId2 = dBodyCreate (wId);
dBodySetPosition (bId2, 0, 0, 0);
jId = dJointCreateHinge (wId, 0);
joint = (dxJointHinge*) jId;
dJointAttach (jId, NULL, bId2);
dJointSetHingeAnchor (jId, 0, 0, 0);
axis[0] = 1;
axis[1] = 0;
axis[2] = 0;
}
~dxJointHinge_Fixture_B2_At_Zero_Axis_Along_X()
{
dWorldDestroy (wId);
}
dWorldID wId;
dBodyID bId2;
dJointID jId;
dxJointHinge* joint;
dVector3 axis;
};
// Rotate B2 by 90deg around X then back to original position
//
// ^
// | => <---
// |
// B2 B2
//
// Start with a Delta of 90deg
// ^
// <--- => |
// |
// B2 B2
TEST_FIXTURE (dxJointHinge_Fixture_B2_At_Zero_Axis_Along_X,
test_dJointSetHingeAxisOffset_1Body_B2_90Deg) {
dMatrix3 R;
dJointSetHingeAxis (jId, axis[0], axis[1], axis[2]);
CHECK_CLOSE (dJointGetHingeAngle (jId), 0.0, 1e-4);
dRFromAxisAndAngle (R, 1, 0, 0, M_PI/2.0);
dBodySetRotation (bId2, R);
CHECK_CLOSE (-M_PI/2.0, dJointGetHingeAngle (jId), 1e-4);
dJointSetHingeAxisOffset (jId, axis[0], axis[1], axis[2], -M_PI/2.0);
CHECK_CLOSE (-M_PI/2.0, dJointGetHingeAngle (jId), 1e-4);
dRFromAxisAndAngle (R, 1, 0, 0, 0);
dBodySetRotation (bId2, R);
CHECK_CLOSE (0, dJointGetHingeAngle (jId), 1e-4);
}
// Rotate B2 by -0.23rad around X then back to original position
//
// ^ ^
// | => /
// | /
// B2 B2
//
// Start with a Delta of -0.23rad
// ^ ^
// / => |
// / |
// B2 B2
TEST_FIXTURE (dxJointHinge_Fixture_B2_At_Zero_Axis_Along_X,
test_dJointSetHingeAxisOffset_1Body_B2_Minus0_23rad) {
dMatrix3 R;
dJointSetHingeAxis (jId, axis[0], axis[1], axis[2]);
CHECK_CLOSE (dJointGetHingeAngle (jId), 0.0, 1e-4);
dRFromAxisAndAngle (R, 1, 0, 0, -REAL(0.23));
dBodySetRotation (bId2, R);
CHECK_CLOSE (REAL(0.23), dJointGetHingeAngle (jId), 1e-4);
dJointSetHingeAxisOffset (jId, axis[0], axis[1], axis[2], REAL(0.23));
CHECK_CLOSE (REAL(0.23), dJointGetHingeAngle (jId), 1e-4);
dRFromAxisAndAngle (R, 1, 0, 0, 0);
dBodySetRotation (bId2, R);
CHECK_CLOSE (0, dJointGetHingeAngle (jId), 1e-4);
}
// Create 2 bodies attached by a Hinge joint
// Axis is along the X axis (Default value
// Anchor at (0, 0, 0) (Default value)
//
// ^Y
// |
// * Body2
// |
// |
// Body1 |
// * Z-------->
struct dxJointHinge_Test_Initialization {
dxJointHinge_Test_Initialization()
{
wId = dWorldCreate();
// Remove gravity to have the only force be the force of the joint
dWorldSetGravity(wId, 0,0,0);
for (int j=0; j<2; ++j) {
bId[j][0] = dBodyCreate (wId);
dBodySetPosition (bId[j][0], -1, -2, -3);
bId[j][1] = dBodyCreate (wId);
dBodySetPosition (bId[j][1], 11, 22, 33);
dMatrix3 R;
dVector3 axis; // Random axis
axis[0] = REAL(0.53);
axis[1] = -REAL(0.71);
axis[2] = REAL(0.43);
dNormalize3(axis);
dRFromAxisAndAngle (R, axis[0], axis[1], axis[2],
REAL(0.47123)); // 27deg
dBodySetRotation (bId[j][0], R);
axis[0] = REAL(1.2);
axis[1] = REAL(0.87);
axis[2] = -REAL(0.33);
dNormalize3(axis);
dRFromAxisAndAngle (R, axis[0], axis[1], axis[2],
REAL(0.47123)); // 27deg
dBodySetRotation (bId[j][1], R);
jId[j] = dJointCreateHinge (wId, 0);
dJointAttach (jId[j], bId[j][0], bId[j][1]);
// dJointSetHingeParam(jId[j], dParamLoStop, 1);
// dJointSetHingeParam(jId[j], dParamHiStop, 2);
// dJointSetHingeParam(jId[j], dParamFMax, 200);
}
}
~dxJointHinge_Test_Initialization()
{
dWorldDestroy (wId);
}
dWorldID wId;
dBodyID bId[2][2];
dJointID jId[2];
};
// Test if setting a Hinge with its default values
// will behave the same as a default Hinge joint
TEST_FIXTURE (dxJointHinge_Test_Initialization,
test_Hinge_Initialization) {
using namespace std;
dVector3 axis;
dJointGetHingeAxis(jId[1], axis);
dJointSetHingeAxis(jId[1], axis[0], axis[1], axis[2]);
dVector3 anchor;
dJointGetHingeAnchor(jId[1], anchor);
dJointSetHingeAnchor(jId[1], anchor[0], anchor[1], anchor[2]);
for (int b=0; b<2; ++b) {
// Compare body b of the first joint with its equivalent on the
// second joint
const dReal *qA = dBodyGetQuaternion(bId[0][b]);
const dReal *qB = dBodyGetQuaternion(bId[1][b]);
CHECK_CLOSE (qA[0], qB[0], 1e-6);
CHECK_CLOSE (qA[1], qB[1], 1e-6);
CHECK_CLOSE (qA[2], qB[2], 1e-6);
CHECK_CLOSE (qA[3], qB[3], 1e-6);
}
dWorldStep (wId,0.5);
dWorldStep (wId,0.5);
dWorldStep (wId,0.5);
dWorldStep (wId,0.5);
for (int b=0; b<2; ++b) {
// Compare body b of the first joint with its equivalent on the
// second joint
const dReal *qA = dBodyGetQuaternion(bId[0][b]);
const dReal *qB = dBodyGetQuaternion(bId[1][b]);
CHECK_CLOSE (qA[0], qB[0], 1e-6);
CHECK_CLOSE (qA[1], qB[1], 1e-6);
CHECK_CLOSE (qA[2], qB[2], 1e-6);
CHECK_CLOSE (qA[3], qB[3], 1e-6);
const dReal *posA = dBodyGetPosition(bId[0][b]);
const dReal *posB = dBodyGetPosition(bId[1][b]);
CHECK_CLOSE (posA[0], posB[0], 1e-6);
CHECK_CLOSE (posA[1], posB[1], 1e-6);
CHECK_CLOSE (posA[2], posB[2], 1e-6);
CHECK_CLOSE (posA[3], posB[3], 1e-6);
}
}
TEST_FIXTURE(dxJointHinge_Fixture_B1_and_B2_At_Zero_Axis_Along_X,
test_Hinge_dParamVel)
{
const dReal targetvel = 100;
const dReal tolerance = targetvel *
#ifdef dSINGLE
1e-2
#else
1e-6
#endif
;
dJointSetHingeParam(jId, dParamFMax, dInfinity);
dJointSetHingeParam(jId, dParamVel, targetvel);
dWorldStep(wId, 0.001);
const dReal *v1 = dBodyGetAngularVel(bId1);
const dReal *v2 = dBodyGetAngularVel(bId2);
dVector3 rvel = { v1[0]-v2[0], v1[1]-v2[1], v1[2]-v2[2] };
CHECK_CLOSE(rvel[0], targetvel, tolerance);
CHECK_CLOSE(rvel[1], 0, tolerance);
CHECK_CLOSE(rvel[2], 0, tolerance);
}
} // End of SUITE TestdxJointHinge

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/*************************************************************************
* *
* 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/hinge2.cpp
//
//
////////////////////////////////////////////////////////////////////////////////
#include <UnitTest++.h>
#include <ode/ode.h>
#include "../../ode/src/config.h"
#include "../../ode/src/joints/hinge2.h"
using namespace std;
SUITE (TestdxJointHinge2)
{
// The 2 bodies are positioned at (-1, -2, -3) and (11, 22, 33)
// The bodies have rotation of 27deg around some axis.
// The joint is a Hinge2 Joint
// Axis is along the X axis
// Anchor at (0, 0, 0)
struct dxJointHinge2_Fixture_B1_and_B2_At_Zero_Axis_Along_X {
dxJointHinge2_Fixture_B1_and_B2_At_Zero_Axis_Along_X()
{
wId = dWorldCreate();
for (int j=0; j<2; ++j) {
bId[j][0] = dBodyCreate (wId);
dBodySetPosition (bId[j][0], -1, -2, -3);
bId[j][1] = dBodyCreate (wId);
dBodySetPosition (bId[j][1], 11, 22, 33);
dMatrix3 R;
dVector3 axis; // Random axis
axis[0] = REAL(0.53);
axis[1] = -REAL(0.71);
axis[2] = REAL(0.43);
dNormalize3(axis);
dRFromAxisAndAngle (R, axis[0], axis[1], axis[2],
REAL(0.47123)); // 27deg
dBodySetRotation (bId[j][0], R);
axis[0] = REAL(1.2);
axis[1] = REAL(0.87);
axis[2] = -REAL(0.33);
dNormalize3(axis);
dRFromAxisAndAngle (R, axis[0], axis[1], axis[2],
REAL(0.47123)); // 27deg
dBodySetRotation (bId[j][1], R);
jId[j] = dJointCreateHinge2 (wId, 0);
dJointAttach (jId[j], bId[j][0], bId[j][1]);
}
}
~dxJointHinge2_Fixture_B1_and_B2_At_Zero_Axis_Along_X()
{
dWorldDestroy (wId);
}
dWorldID wId;
dBodyID bId[2][2];
dJointID jId[2];
};
// Rotate 2nd body 90deg around X then back to original position
//
// ^ ^ ^
// | | => | <---
// | | |
// B1 B2 B1 B2
//
// Start with a Delta of 90deg
// ^ ^ ^
// | <--- => | |
// | | |
// B1 B2 B1 B2
TEST_FIXTURE (dxJointHinge2_Fixture_B1_and_B2_At_Zero_Axis_Along_X,
test_dJointSetHinge2AxisOffset_B2_90deg) {
dVector3 anchor;
dJointGetHinge2Anchor(jId[1], anchor);
dJointSetHinge2Anchor(jId[1], anchor[0], anchor[1], anchor[2]);
dVector3 axis1, axis2;
dJointGetHinge2Axis1(jId[1], axis1);
dJointGetHinge2Axis2(jId[1], axis2);
dJointSetHinge2Axes(jId[1], axis1, axis2);
dJointSetHinge2Axes(jId[1], axis1, NULL);
dJointSetHinge2Axes(jId[1], NULL, axis2);
for (int b=0; b<2; ++b) {
// Compare body b of the first joint with its equivalent on the
// second joint
const dReal *qA = dBodyGetQuaternion(bId[0][b]);
const dReal *qB = dBodyGetQuaternion(bId[1][b]);
CHECK_CLOSE (qA[0], qB[0], 1e-4);
CHECK_CLOSE (qA[1], qB[1], 1e-4);
CHECK_CLOSE (qA[2], qB[2], 1e-4);
CHECK_CLOSE (qA[3], qB[3], 1e-4);
}
dWorldStep (wId,0.5);
dWorldStep (wId,0.5);
dWorldStep (wId,0.5);
dWorldStep (wId,0.5);
for (int b=0; b<2; ++b) {
// Compare body b of the first joint with its equivalent on the
// second joint
const dReal *qA = dBodyGetQuaternion(bId[0][b]);
const dReal *qB = dBodyGetQuaternion(bId[1][b]);
CHECK_CLOSE (qA[0], qB[0], 1e-4);
CHECK_CLOSE (qA[1], qB[1], 1e-4);
CHECK_CLOSE (qA[2], qB[2], 1e-4);
CHECK_CLOSE (qA[3], qB[3], 1e-4);
const dReal *posA = dBodyGetPosition(bId[0][b]);
const dReal *posB = dBodyGetPosition(bId[1][b]);
CHECK_CLOSE (posA[0], posB[0], 1e-4);
CHECK_CLOSE (posA[1], posB[1], 1e-4);
CHECK_CLOSE (posA[2], posB[2], 1e-4);
CHECK_CLOSE (posA[3], posB[3], 1e-4);
}
}
} // End of SUITE TestdxJointHinge2

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/*************************************************************************
* *
* 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/pu.cpp
//
//
////////////////////////////////////////////////////////////////////////////////
#include <UnitTest++.h>
#include <ode/ode.h>
#include "../../ode/src/config.h"
#include "../../ode/src/joints/pu.h"
SUITE (TestdxJointPU)
{
// The 2 bodies are positioned at (0, 0, 0) and (0, 0, 0)
// The second body has a rotation of 27deg around X axis.
// The joint is a PU Joint
// Axis is along the X axis
// Anchor at (0, 0, 0)
struct Fixture_dxJointPU_B1_and_B2_At_Zero_Axis_Along_X
{
Fixture_dxJointPU_B1_and_B2_At_Zero_Axis_Along_X()
{
wId = dWorldCreate();
bId1 = dBodyCreate (wId);
dBodySetPosition (bId1, 0, 0, 0);
bId2 = dBodyCreate (wId);
dBodySetPosition (bId2, 0, 0, 0);
dMatrix3 R;
dRFromAxisAndAngle (R, 1, 0, 0, REAL(0.47123)); // 27deg
dBodySetRotation (bId2, R);
jId = dJointCreatePU (wId, 0);
joint = (dxJointPU*) jId;
dJointAttach (jId, bId1, bId2);
}
~Fixture_dxJointPU_B1_and_B2_At_Zero_Axis_Along_X()
{
dWorldDestroy (wId);
}
dWorldID wId;
dBodyID bId1;
dBodyID bId2;
dJointID jId;
dxJointPU* joint;
};
// Test is dJointSetPUAxis and dJointGetPUAxis return same value
TEST_FIXTURE (Fixture_dxJointPU_B1_and_B2_At_Zero_Axis_Along_X,
test_dJointSetGetPUAxis)
{
dVector3 axisOrig, axis;
dJointGetPUAxis1 (jId, axisOrig);
dJointGetPUAxis1 (jId, axis);
dJointSetPUAxis1 (jId, axis[0], axis[1], axis[2]);
dJointGetPUAxis1 (jId, axis);
CHECK_CLOSE (axis[0], axisOrig[0] , 1e-4);
CHECK_CLOSE (axis[1], axisOrig[1] , 1e-4);
CHECK_CLOSE (axis[2], axisOrig[2] , 1e-4);
dJointGetPUAxis2 (jId, axisOrig);
dJointGetPUAxis2(jId, axis);
dJointSetPUAxis2 (jId, axis[0], axis[1], axis[2]);
dJointGetPUAxis2 (jId, axis);
CHECK_CLOSE (axis[0], axisOrig[0] , 1e-4);
CHECK_CLOSE (axis[1], axisOrig[1] , 1e-4);
CHECK_CLOSE (axis[2], axisOrig[2] , 1e-4);
dJointGetPUAxis3 (jId, axisOrig);
dJointGetPUAxis3(jId, axis);
dJointSetPUAxis3 (jId, axis[0], axis[1], axis[2]);
dJointGetPUAxis3 (jId, axis);
CHECK_CLOSE (axis[0], axisOrig[0] , 1e-4);
CHECK_CLOSE (axis[1], axisOrig[1] , 1e-4);
CHECK_CLOSE (axis[2], axisOrig[2] , 1e-4);
}
// The joint is a PU Joint
// Default joint value
// The two bodies are at (0, 0, 0)
struct Fixture_dxJointPU_B1_and_B2_At_Zero
{
Fixture_dxJointPU_B1_and_B2_At_Zero()
{
wId = dWorldCreate();
bId1 = dBodyCreate (wId);
dBodySetPosition (bId1, 0, 0, 0);
bId2 = dBodyCreate (wId);
dBodySetPosition (bId2, 0, 0, 0);
jId = dJointCreatePU (wId, 0);
joint = (dxJointPU*) jId;
dJointAttach (jId, bId1, bId2);
}
~Fixture_dxJointPU_B1_and_B2_At_Zero()
{
dWorldDestroy (wId);
}
dWorldID wId;
dBodyID bId1;
dBodyID bId2;
dJointID jId;
dxJointPU* joint;
static const dReal offset;
};
const dReal Fixture_dxJointPU_B1_and_B2_At_Zero::offset = REAL (3.1);
// Move 1st body offset unit in the X direction
//
// X-------> X---------> Axis -->
// B1 => B1
// B2 B2
//
// Start with a Offset of offset unit
//
// X-------> X---------> Axis -->
// B1 => B1
// B2 B2
TEST_FIXTURE (Fixture_dxJointPU_B1_and_B2_At_Zero,
test_dJointSetPUAxisOffset_B1_3Unit)
{
CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
dBodySetPosition (bId1, offset, 0, 0);
CHECK_CLOSE (offset, dJointGetPUPosition (jId), 1e-4);
dVector3 axis;
dJointGetPUAxisP (jId, axis);
dJointSetPUAnchorOffset (jId, 0, 0, 0,
offset*axis[0],offset*axis[1],offset*axis[2]);
CHECK_CLOSE (offset, dJointGetPUPosition (jId), 1e-4);
dBodySetPosition (bId1, 0, 0, 0);
CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
}
// Move 1st body offset unit in the opposite X direction
//
// X-------> X---------> Axis -->
// B1 => B1
// B2 B2
//
// Start with a Offset of -offset unit
//
// X-------> X---------> Axis -->
// B1 => B1
// B2 B2
TEST_FIXTURE (Fixture_dxJointPU_B1_and_B2_At_Zero,
test_dJointSetPUAxisOffset_B1_Minus_3Unit)
{
CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
dBodySetPosition (bId1, -offset, 0, 0);
CHECK_CLOSE (-offset, dJointGetPUPosition (jId), 1e-4);
dVector3 axis;
dJointGetPUAxisP (jId, axis);
dJointSetPUAnchorOffset (jId, 0, 0, 0,
-offset*axis[0],-offset*axis[1],-offset*axis[2]);
CHECK_CLOSE (-offset, dJointGetPUPosition (jId), 1e-4);
dBodySetPosition (bId1, 0, 0, 0);
CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
}
// Move 2nd body offset unit in the X direction
//
// X-------> X---------> Axis -->
// B1 => B1
// B2 B2
//
// Start with a Offset of offset unit
//
// X-------> X---------> Axis -->
// B1 => B1
// B2 B2
TEST_FIXTURE (Fixture_dxJointPU_B1_and_B2_At_Zero,
test_dJointSetPUAxisOffset_B2_3Unit)
{
CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
dBodySetPosition (bId2, offset, 0, 0);
CHECK_CLOSE (-offset, dJointGetPUPosition (jId), 1e-4);
dVector3 axis;
dJointGetPUAxisP (jId, axis);
dJointSetPUAnchorOffset (jId, 0, 0, 0,
-offset*axis[0],-offset*axis[1],-offset*axis[2]);
CHECK_CLOSE (-offset, dJointGetPUPosition (jId), 1e-4);
dBodySetPosition (bId2, 0, 0, 0);
CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
}
// Move 2nd body offset unit in the opposite X direction
//
// X-------> X---------> Axis -->
// B1 => B1
// B2 B2
//
// Start with a Offset of -offset unit
//
// X-------> X---------> Axis -->
// B1 => B1
// B2 B2
TEST_FIXTURE (Fixture_dxJointPU_B1_and_B2_At_Zero,
test_dJointSetPUAxisOffset_B2_Minus_3Unit)
{
CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
dBodySetPosition (bId2, -offset, 0, 0);
CHECK_CLOSE (offset, dJointGetPUPosition (jId), 1e-4);
dVector3 axis;
dJointGetPUAxisP (jId, axis);
dJointSetPUAnchorOffset (jId, 0, 0, 0,
offset*axis[0],offset*axis[1],offset*axis[2]);
CHECK_CLOSE (offset, dJointGetPUPosition (jId), 1e-4);
dBodySetPosition (bId2, 0, 0, 0);
CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
}
// Attach only one body at position 1 to the joint dJointAttach (jId, bId, 0)
// Move 1st body offset unit in the X direction
//
// X-------> X---------> Axis -->
// B1 => B1
//
// Start with a Offset of offset unit
//
// X-------> X---------> Axis -->
// B1 => B1
TEST_FIXTURE (Fixture_dxJointPU_B1_and_B2_At_Zero,
test_dJointSetPUAxisOffset_B1_OffsetUnit)
{
dJointAttach (jId, bId1, 0);
CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
dBodySetPosition (bId1, offset, 0, 0);
CHECK_CLOSE (offset, dJointGetPUPosition (jId), 1e-4);
dVector3 axis;
dJointGetPUAxisP (jId, axis);
dJointSetPUAnchorOffset (jId, 0, 0, 0,
offset*axis[0],offset*axis[1],offset*axis[2]);
CHECK_CLOSE (offset, dJointGetPUPosition (jId), 1e-4);
dBodySetPosition (bId1, 0, 0, 0);
CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
}
// Attach only one body at position 1 to the joint dJointAttach (jId, bId, 0)
// Move 1st body offset unit in the opposite X direction
//
// X-------> X---------> Axis -->
// B1 => B1
//
// Start with a Offset of -offset unit
//
// X-------> X---------> Axis -->
// B1 => B1
TEST_FIXTURE (Fixture_dxJointPU_B1_and_B2_At_Zero,
test_dJointSetPUAxisOffset_B1_Minus_OffsetUnit)
{
dJointAttach (jId, bId1, 0);
CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
dBodySetPosition (bId1, -offset, 0, 0);
CHECK_CLOSE (-offset, dJointGetPUPosition (jId), 1e-4);
dVector3 axis;
dJointGetPUAxisP (jId, axis);
dJointSetPUAnchorOffset (jId, 0, 0, 0,
-offset*axis[0],-offset*axis[1],-offset*axis[2]);
CHECK_CLOSE (-offset, dJointGetPUPosition (jId), 1e-4);
dBodySetPosition (bId1, 0, 0, 0);
CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
}
// Attach only one body at position 2 to the joint dJointAttach (jId, 0, bId)
// Move 1st body offset unit in the X direction
//
// X-------> X---------> Axis -->
// B2 => B2
//
// Start with a Offset of offset unit
//
// X-------> X---------> Axis -->
// B2 => B2
TEST_FIXTURE (Fixture_dxJointPU_B1_and_B2_At_Zero,
test_dJointSetPUAxisOffset_B2_OffsetUnit)
{
dJointAttach (jId, 0, bId2);
CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
dBodySetPosition (bId2, offset, 0, 0);
CHECK_CLOSE (-offset, dJointGetPUPosition (jId), 1e-4);
dVector3 axis;
dJointGetPUAxisP (jId, axis);
dJointSetPUAnchorOffset (jId, 0, 0, 0,
-offset*axis[0], -offset*axis[1], -offset*axis[2]);
CHECK_CLOSE (-offset, dJointGetPUPosition (jId), 1e-4);
dBodySetPosition (bId2, 0, 0, 0);
CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
}
// Attach only one body at position 2 to the joint dJointAttach (jId, 0, bId)
// Move 1st body offset unit in the opposite X direction
//
// X-------> X---------> Axis -->
// B2 => B2
//
// Start with a Offset of -offset unit
//
// X-------> X---------> Axis -->
// B2 => B2
TEST_FIXTURE (Fixture_dxJointPU_B1_and_B2_At_Zero,
test_dJointSetPUAxisOffset_B2_Minus_OffsetUnit)
{
dJointAttach (jId, 0, bId2);
CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
dBodySetPosition (bId2, -offset, 0, 0);
CHECK_CLOSE (offset, dJointGetPUPosition (jId), 1e-4);
dVector3 axis;
dJointGetPUAxisP (jId, axis);
dJointSetPUAnchorOffset (jId, 0, 0, 0,
offset*axis[0], offset*axis[1], offset*axis[2]);
CHECK_CLOSE (offset, dJointGetPUPosition (jId), 1e-4);
dBodySetPosition (bId2, 0, 0, 0);
CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
}
// Only one body
// The body is positioned at (0, 0, 0) with no rotation
// The joint is a PU Joint
// Axis is in the oppsite X axis
// Anchor at (0, 0, 0)
// N.B. By default the body is attached at position 1 on the joint
// dJointAttach (jId, bId, 0);
struct Fixture_dxJointPU_One_Body_At_Zero_Axis_Inverse_of_X
{
Fixture_dxJointPU_One_Body_At_Zero_Axis_Inverse_of_X()
{
wId = dWorldCreate();
bId = dBodyCreate (wId);
dBodySetPosition (bId, 0, 0, 0);
jId = dJointCreatePU (wId, 0);
joint = (dxJointPU*) jId;
dJointAttach (jId, bId, NULL);
dJointSetPUAxisP (jId, axis[0], axis[1], axis[2]);
}
~Fixture_dxJointPU_One_Body_At_Zero_Axis_Inverse_of_X()
{
dWorldDestroy (wId);
}
dWorldID wId;
dBodyID bId;
dJointID jId;
dxJointPU* joint;
static const dVector3 axis;
static const dReal offset;
};
const dVector3 Fixture_dxJointPU_One_Body_At_Zero_Axis_Inverse_of_X::axis =
{
-1, 0, 0
};
const dReal Fixture_dxJointPU_One_Body_At_Zero_Axis_Inverse_of_X::offset = REAL (3.1);
// Move 1st body offset unit in the X direction
//
// X-------> X---------> <--- Axis
// B1 => B1
//
// Start with a Offset of offset unit
//
// X-------> X---------> <--- Axis
// B1 => B1
TEST_FIXTURE (Fixture_dxJointPU_One_Body_At_Zero_Axis_Inverse_of_X,
test_dJointSetPUAxisOffset_B1_At_Position_1_OffsetUnit)
{
CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
dBodySetPosition (bId, offset, 0, 0);
CHECK_CLOSE (-offset, dJointGetPUPosition (jId), 1e-4);
dJointSetPUAnchorOffset (jId, 0, 0, 0,
-offset*axis[0],-offset*axis[1],-offset*axis[2]);
CHECK_CLOSE (-offset, dJointGetPUPosition (jId), 1e-4);
dBodySetPosition (bId, 0, 0, 0);
CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
}
// Move 1st body offset unit in the opposite X direction
//
// X-------> X---------> <--- Axis
// B1 => B1
//
// Start with a Offset of -offset unit
//
// X-------> X---------> <--- Axis
// B1 => B1
TEST_FIXTURE (Fixture_dxJointPU_One_Body_At_Zero_Axis_Inverse_of_X,
test_dJointSetPUAxisOffset_B1_Minus_OffsetUnit)
{
CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
dBodySetPosition (bId, -offset, 0, 0);
CHECK_CLOSE (offset, dJointGetPUPosition (jId), 1e-4);
dJointSetPUAnchorOffset (jId, 0, 0, 0,
offset*axis[0],offset*axis[1],offset*axis[2]);
CHECK_CLOSE (offset, dJointGetPUPosition (jId), 1e-4);
dBodySetPosition (bId, 0, 0, 0);
CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
}
// Move 1st body offset unit in the X direction
//
// X-------> X---------> <--- Axis
// B2 => B2
//
// Start with a Offset of offset unit
//
// X-------> X---------> <--- Axis
// B2 => B2
TEST_FIXTURE (Fixture_dxJointPU_One_Body_At_Zero_Axis_Inverse_of_X,
test_dJointSetPUAxisOffset_B2_OffsetUnit)
{
// By default it is attached to position 1
// Now attach the body at position 2
dJointAttach(jId, 0, bId);
CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
dBodySetPosition (bId, offset, 0, 0);
CHECK_CLOSE (offset, dJointGetPUPosition (jId), 1e-4);
dJointSetPUAnchorOffset (jId, 0, 0, 0,
offset*axis[0], offset*axis[1], offset*axis[2]);
CHECK_CLOSE (offset, dJointGetPUPosition (jId), 1e-4);
dBodySetPosition (bId, 0, 0, 0);
CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
}
// Move 1st body offset unit in the opposite X direction
//
// X-------> X---------> <--- Axis
// B2 => B2
//
// Start with a Offset of -offset unit
//
// X-------> X---------> <--- Axis
// B2 => B2
TEST_FIXTURE (Fixture_dxJointPU_One_Body_At_Zero_Axis_Inverse_of_X,
test_dJointSetPUAxisOffset_B2_Minus_OffsetUnit)
{
// By default it is attached to position 1
// Now attach the body at position 2
dJointAttach(jId, 0, bId);
CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
dBodySetPosition (bId, -offset, 0, 0);
CHECK_CLOSE (-offset, dJointGetPUPosition (jId), 1e-4);
dJointSetPUAnchorOffset (jId, 0, 0, 0,
-offset*axis[0], -offset*axis[1], -offset*axis[2]);
CHECK_CLOSE (-offset, dJointGetPUPosition (jId), 1e-4);
dBodySetPosition (bId, 0, 0, 0);
CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
}
// Compare only one body to 2 bodies with one fixed.
//
// The bodies are positioned at (0, 0, 0) with no rotation
// The joint is a PU Joint with default values
struct Fixture_dxJointPU_Compare_One_Body_To_Two_Bodies_At_Zero
{
Fixture_dxJointPU_Compare_One_Body_To_Two_Bodies_At_Zero()
{
wId = dWorldCreate();
bId1_12 = dBodyCreate (wId);
dBodySetPosition (bId1_12, 0, 0, 0);
bId2_12 = dBodyCreate (wId);
dBodySetPosition (bId2_12, 0, 0, 0);
// The force will be added in the function since it is not
// always on the same body
jId_12 = dJointCreatePU (wId, 0);
dJointAttach(jId_12, bId1_12, bId2_12);
fixed = dJointCreateFixed (wId, 0);
jId = dJointCreatePU (wId, 0);
bId = dBodyCreate (wId);
dBodySetPosition (bId, 0, 0, 0);
// Linear velocity along the prismatic axis;
dVector3 axis;
dJointGetPUAxisP(jId_12, axis);
dJointSetPUAxisP(jId, axis[0], axis[1], axis[2]);
dBodySetLinearVel (bId, magnitude*axis[0], magnitude*axis[1], magnitude*axis[2]);
}
~Fixture_dxJointPU_Compare_One_Body_To_Two_Bodies_At_Zero()
{
dWorldDestroy (wId);
}
dWorldID wId;
dBodyID bId1_12;
dBodyID bId2_12;
dJointID jId_12; // Joint with 2 bodies
dJointID fixed;
dBodyID bId;
dJointID jId; // Joint with one body
static const dReal magnitude;
};
const dReal Fixture_dxJointPU_Compare_One_Body_To_Two_Bodies_At_Zero::magnitude = REAL (4.27);
TEST_FIXTURE (Fixture_dxJointPU_Compare_One_Body_To_Two_Bodies_At_Zero,
test_dJointSetPUPositionRate_Only_B1)
{
// Linear velocity along the prismatic axis;
dVector3 axis;
dJointGetPUAxisP(jId_12, axis);
dBodySetLinearVel (bId1_12, magnitude*axis[0], magnitude*axis[1], magnitude*axis[2]);
dJointAttach(jId_12, bId1_12, bId2_12);
dJointAttach(fixed, 0, bId2_12);
dJointSetFixed(fixed);
dJointAttach(jId, bId, 0);
CHECK_CLOSE(dJointGetPUPositionRate(jId_12), dJointGetPUPositionRate(jId), 1e-2);
}
TEST_FIXTURE (Fixture_dxJointPU_Compare_One_Body_To_Two_Bodies_At_Zero,
test_dJointSetPUPositionRate_Only_B2)
{
// Linear velocity along the prismatic axis;
dVector3 axis;
dJointGetPUAxisP(jId_12, axis);
dBodySetLinearVel (bId2_12, magnitude*axis[0], magnitude*axis[1], magnitude*axis[2]);
dJointAttach(jId_12, bId1_12, bId2_12);
dJointAttach(fixed, bId1_12, 0);
dJointSetFixed(fixed);
dJointAttach(jId, 0, bId);
CHECK_CLOSE(dJointGetPUPositionRate(jId_12), dJointGetPUPositionRate(jId), 1e-2);
}
// This test compares the result of a pu joint with 2 bodies where body 2 is
// fixed to the world to a pu joint with only one body at position 1.
//
// Test the limits [-1, 0.25] when only one body is attached to the joint
// using dJointAttach(jId, bId, 0);
//
TEST_FIXTURE(Fixture_dxJointPU_Compare_One_Body_To_Two_Bodies_At_Zero,
test_Limit_minus1_025_One_Body_on_left)
{
dVector3 axis;
dJointGetPUAxisP(jId_12, axis);
dJointSetPUAxisP(jId, axis[0], axis[1], axis[2]);
dBodySetLinearVel (bId1_12, magnitude*axis[0], magnitude*axis[1], magnitude*axis[2]);
dJointAttach(jId_12, bId1_12, bId2_12);
dJointSetPUParam(jId_12, dParamLoStop3, -1);
dJointSetPUParam(jId_12, dParamHiStop3, 0.25);
dJointAttach(fixed, 0, bId2_12);
dJointSetFixed(fixed);
dJointAttach(jId, bId, 0);
dJointSetPUParam(jId, dParamLoStop3, -1);
dJointSetPUParam(jId, dParamHiStop3, 0.25);
for (int i=0; i<50; ++i)
dWorldStep(wId, 1.0);
const dReal *pos1_12 = dBodyGetPosition(bId1_12);
const dReal *pos = dBodyGetPosition(bId);
CHECK_CLOSE (pos1_12[0], pos[0], 1e-2);
CHECK_CLOSE (pos1_12[1], pos[1], 1e-2);
CHECK_CLOSE (pos1_12[2], pos[2], 1e-2);
const dReal *q1_12 = dBodyGetQuaternion(bId1_12);
const dReal *q = dBodyGetQuaternion(bId);
CHECK_CLOSE (q1_12[0], q[0], 1e-4);
CHECK_CLOSE (q1_12[1], q[1], 1e-4);
CHECK_CLOSE (q1_12[2], q[2], 1e-4);
CHECK_CLOSE (q1_12[3], q[3], 1e-4);
// Should be different than zero
CHECK( dJointGetPUPosition(jId_12) );
CHECK( dJointGetPUPosition(jId) );
CHECK( dJointGetPUPositionRate(jId_12) );
CHECK( dJointGetPUPositionRate(jId) );
}
// This test compares the result of a pu joint with 2 bodies where body 1 is
// fixed to the world to a pu joint with only one body at position 2.
//
// Test the limits [-1, 0.25] when only one body is attached to the joint
// using dJointAttach(jId, 0, bId);
//
TEST_FIXTURE(Fixture_dxJointPU_Compare_One_Body_To_Two_Bodies_At_Zero,
test_Limit_minus1_025_One_Body_on_right)
{
dVector3 axis;
dJointGetPUAxisP(jId_12, axis);
dJointSetPUAxisP(jId, axis[0], axis[1], axis[2]);
dBodySetLinearVel (bId2_12, magnitude*axis[0], magnitude*axis[1], magnitude*axis[2]);
dJointAttach(jId_12, bId1_12, bId2_12);
dJointSetPUParam(jId_12, dParamLoStop3, -1);
dJointSetPUParam(jId_12, dParamHiStop3, 0.25);
dJointAttach(fixed, bId1_12, 0);
dJointSetFixed(fixed);
dJointAttach(jId, 0, bId);
dJointSetPUParam(jId, dParamLoStop3, -1);
dJointSetPUParam(jId, dParamHiStop3, 0.25);
for (int i=0; i<50; ++i)
dWorldStep(wId, 1.0);
const dReal *pos2_12 = dBodyGetPosition(bId2_12);
const dReal *pos = dBodyGetPosition(bId);
CHECK_CLOSE (pos2_12[0], pos[0], 1e-2);
CHECK_CLOSE (pos2_12[1], pos[1], 1e-2);
CHECK_CLOSE (pos2_12[2], pos[2], 1e-2);
const dReal *q2_12 = dBodyGetQuaternion(bId2_12);
const dReal *q = dBodyGetQuaternion(bId);
CHECK_CLOSE (q2_12[0], q[0], 1e-4);
CHECK_CLOSE (q2_12[1], q[1], 1e-4);
CHECK_CLOSE (q2_12[2], q[2], 1e-4);
CHECK_CLOSE (q2_12[3], q[3], 1e-4);
// Should be different than zero
CHECK( dJointGetPUPosition(jId_12) );
CHECK( dJointGetPUPosition(jId) );
CHECK( dJointGetPUPositionRate(jId_12) );
CHECK( dJointGetPUPositionRate(jId) );
}
// This test compares the result of a pu joint with 2 bodies where body 2 is
// fixed to the world to a pu joint with only one body at position 1.
//
// Test the limits [0, 0] when only one body is attached to the joint
// using dJointAttach(jId, bId, 0);
//
// The body should not move since their is no room between the two limits
//
TEST_FIXTURE(Fixture_dxJointPU_Compare_One_Body_To_Two_Bodies_At_Zero,
test_Limit_0_0_One_Body_on_left)
{
dVector3 axis;
dJointGetPUAxisP(jId_12, axis);
dJointSetPUAxisP(jId, axis[0], axis[1], axis[2]);
dBodySetLinearVel (bId1_12, magnitude*axis[0], magnitude*axis[1], magnitude*axis[2]);
dJointAttach(jId_12, bId1_12, bId2_12);
dJointSetPUParam(jId_12, dParamLoStop3, 0);
dJointSetPUParam(jId_12, dParamHiStop3, 0);
dJointAttach(fixed, 0, bId2_12);
dJointSetFixed(fixed);
dJointAttach(jId, bId, 0);
dJointSetPUParam(jId, dParamLoStop3, 0);
dJointSetPUParam(jId, dParamHiStop3, 0);
for (int i=0; i<500; ++i)
dWorldStep(wId, 1.0);
const dReal *pos1_12 = dBodyGetPosition(bId1_12);
const dReal *pos = dBodyGetPosition(bId);
CHECK_CLOSE (pos1_12[0], pos[0], 1e-4);
CHECK_CLOSE (pos1_12[1], pos[1], 1e-4);
CHECK_CLOSE (pos1_12[2], pos[2], 1e-4);
CHECK_CLOSE (0, pos[0], 1e-4);
CHECK_CLOSE (0, pos[1], 1e-4);
CHECK_CLOSE (0, pos[2], 1e-4);
const dReal *q1_12 = dBodyGetQuaternion(bId1_12);
const dReal *q = dBodyGetQuaternion(bId);
CHECK_CLOSE (q1_12[0], q[0], 1e-4);
CHECK_CLOSE (q1_12[1], q[1], 1e-4);
CHECK_CLOSE (q1_12[2], q[2], 1e-4);
CHECK_CLOSE (q1_12[3], q[3], 1e-4);
}
// This test compares the result of a pu joint with 2 bodies where body 1 is
// fixed to the world to a pu joint with only one body at position 2.
//
// Test the limits [0, 0] when only one body is attached to the joint
// using dJointAttach(jId, 0, bId);
//
// The body should not move since their is no room between the two limits
//
TEST_FIXTURE(Fixture_dxJointPU_Compare_One_Body_To_Two_Bodies_At_Zero,
test_Limit_0_0_One_Body_on_right)
{
dVector3 axis;
dJointGetPUAxisP(jId_12, axis);
dJointSetPUAxisP(jId, axis[0], axis[1], axis[2]);
dBodySetLinearVel (bId2_12, magnitude*axis[0], magnitude*axis[1], magnitude*axis[2]);
dJointAttach(jId_12, bId1_12, bId2_12);
dJointSetPUParam(jId_12, dParamLoStop3, 0);
dJointSetPUParam(jId_12, dParamHiStop3, 0);
dJointAttach(fixed, bId1_12, 0);
dJointSetFixed(fixed);
dJointAttach(jId, 0, bId);
dJointSetPUParam(jId, dParamLoStop3, 0);
dJointSetPUParam(jId, dParamHiStop3, 0);
for (int i=0; i<500; ++i)
dWorldStep(wId, 1.0);
const dReal *pos2_12 = dBodyGetPosition(bId2_12);
const dReal *pos = dBodyGetPosition(bId);
CHECK_CLOSE (pos2_12[0], pos[0], 1e-4);
CHECK_CLOSE (pos2_12[1], pos[1], 1e-4);
CHECK_CLOSE (pos2_12[2], pos[2], 1e-4);
CHECK_CLOSE (0, pos[0], 1e-4);
CHECK_CLOSE (0, pos[1], 1e-4);
CHECK_CLOSE (0, pos[2], 1e-4);
const dReal *q2_12 = dBodyGetQuaternion(bId2_12);
const dReal *q = dBodyGetQuaternion(bId);
CHECK_CLOSE (q2_12[0], q[0], 1e-4);
CHECK_CLOSE (q2_12[1], q[1], 1e-4);
CHECK_CLOSE (q2_12[2], q[2], 1e-4);
CHECK_CLOSE (q2_12[3], q[3], 1e-4);
}
} // End of SUITE TestdxJointPU

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