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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/hinge.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/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