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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/pu.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/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