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Kirill Yurkin
2024-06-10 12:48:14 +03:00
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thirdparty/ode-0.16.5/tests/joints/fixed.cpp vendored Normal file
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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 "../../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