add ode

1 files changed, 247 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/tests/odemath.cpp b/libs/ode-0.16.1/tests/odemath.cpp
new file mode 100644
index 0000000..4ddd818
--- /dev/null
+++ b/libs/ode-0.16.1/tests/odemath.cpp
@@ -0,0 +1,247 @@
+/*************************************************************************
+ *                                                                       *
+ * 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
+
+#include <UnitTest++.h>
+#include <ode/ode.h>
+#include <ode/odemath.h>
+
+
+
+TEST(test_dNormalization3)
+{
+    const dVector3 x = {1,0,0,0};
+    const dVector3 y = {0,1,0,0};
+    const dVector3 z = {0,0,1,0};
+    dVector3 v;
+
+    // Check when value in first component (i.e. [0])
+    v[0] = REAL(1.0);
+    v[1] = REAL(0.0);
+    v[2] = REAL(0.0);
+    dSafeNormalize3(v);
+    CHECK_ARRAY_CLOSE(x, v, 3, 1e-6);
+    CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+    v[0] = REAL(0.1);
+    v[1] = REAL(0.0);
+    v[2] = REAL(0.0);
+    dSafeNormalize3(v);
+    CHECK_ARRAY_CLOSE(x, v, 3, 1e-6);
+    CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+    v[0] = REAL(1e-20);
+    v[1] = REAL(0.0);
+    v[2] = REAL(0.0);
+    dSafeNormalize3(v);
+    CHECK_ARRAY_CLOSE(x, v, 3, 1e-6);
+    CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+
+    // Check when value in first component (i.e. [0])
+    v[0] = REAL(0.0);
+    v[1] = REAL(1.0);
+    v[2] = REAL(0.0);
+    dSafeNormalize3(v);
+    CHECK_ARRAY_CLOSE(y, v, 3, 1e-6);
+    CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+    v[0] = REAL(0.0);
+    v[1] = REAL(0.1);
+    v[2] = REAL(0.0);
+    dSafeNormalize3(v);
+    CHECK_ARRAY_CLOSE(y, v, 3, 1e-6);
+    CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+    v[0] = REAL(0.0);
+    v[1] = REAL(1e-20);
+    v[2] = REAL(0.0);
+    dSafeNormalize3(v);
+    CHECK_ARRAY_CLOSE(y, v, 3, 1e-6);
+    CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+
+    // Check when value in first component (i.e. [0])
+    v[0] = REAL(0.0);
+    v[1] = REAL(0.0);
+    v[2] = REAL(1.0);
+    dSafeNormalize3(v);
+    CHECK_ARRAY_CLOSE(z, v, 3, 1e-6);
+    CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+    v[0] = REAL(0.0);
+    v[1] = REAL(0.0);
+    v[2] = REAL(0.1);
+    dSafeNormalize3(v);
+    CHECK_ARRAY_CLOSE(z, v, 3, 1e-6);
+    CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+    v[0] = REAL(0.0);
+    v[1] = REAL(0.0);
+    v[2] = REAL(1e-20);
+    dSafeNormalize3(v);
+    CHECK_ARRAY_CLOSE(z, v, 3, 1e-6);
+    CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+
+    // Check negative
+    // Check when value in first component (i.e. [0])
+    v[0] = REAL(-1.0);
+    v[1] = REAL(0.0);
+    v[2] = REAL(0.0);
+    dSafeNormalize3(v);
+    CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+    v[0] = REAL(-0.1);
+    v[1] = REAL(0.0);
+    v[2] = REAL(0.0);
+    dSafeNormalize3(v);
+    CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+    v[0] = REAL(-1e-20);
+    v[1] = REAL(0.0);
+    v[2] = REAL(0.0);
+    dSafeNormalize3(v);
+    CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+
+    // Check when value in first component (i.e. [0])
+    v[0] = REAL(0.0);
+    v[1] = REAL(-1.0);
+    v[2] = REAL(0.0);
+    dSafeNormalize3(v);
+    CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+    v[0] = REAL(0.0);
+    v[1] = REAL(-0.1);
+    v[2] = REAL(0.0);
+    dSafeNormalize3(v);
+    CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+    v[0] = REAL(0.0);
+    v[1] = REAL(-1e-20);
+    v[2] = REAL(0.0);
+    dSafeNormalize3(v);
+    CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+
+    // Check when value in first component (i.e. [0])
+    v[0] = REAL(0.0);
+    v[1] = REAL(0.0);
+    v[2] = REAL(-1.0);
+    dSafeNormalize3(v);
+    CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+    v[0] = REAL(0.0);
+    v[1] = REAL(0.0);
+    v[2] = REAL(-0.1);
+    dSafeNormalize3(v);
+    CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+    v[0] = REAL(0.0);
+    v[1] = REAL(0.0);
+    v[2] = REAL(-1e-20);
+    dSafeNormalize3(v);
+    CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+
+    v[0] = REAL(9999999999.0);
+    v[1] = REAL(0.0);
+    v[2] = REAL(1e-20);
+    dSafeNormalize3(v);
+    CHECK_EQUAL(dCalcVectorLength3(v), REAL(1.0));
+
+
+    v[0] = REAL(9999999999.0);
+    v[1] = REAL(9999.0);
+    v[2] = REAL(9.0);
+    dSafeNormalize3(v);
+    CHECK_CLOSE(dCalcVectorLength3(v), REAL(1.0),REAL(0.001));
+
+}
+
+
+TEST(test_dOrthogonalizeR)
+{
+    {
+        dMatrix3 r1 = { 1, 0, 0, 0,
+                        0, 1, 0, 0,
+                        0, 0, 1, 0
+                      };
+        dMatrix3 r2;
+        memcpy(r2, r1, sizeof(dMatrix3));
+        dOrthogonalizeR(r2);
+        CHECK_ARRAY_EQUAL(r1, r2, 12);
+    }
+    {
+        dMatrix3 r1 = { 0, 1, 0, 0,
+                        0, 0, 1, 0,
+                        1, 0, 0, 0
+                      };
+        dMatrix3 r2;
+        memcpy(r2, r1, sizeof(dMatrix3));
+        dOrthogonalizeR(r2);
+        CHECK_ARRAY_EQUAL(r1, r2, 12);
+    }
+    {
+        dMatrix3 r1 = { 0, 0, 1, 0,
+                        1, 0, 0, 0,
+                        0, 1, 0, 0
+                      };
+        dMatrix3 r2;
+        memcpy(r2, r1, sizeof(dMatrix3));
+        dOrthogonalizeR(r2);
+        CHECK_ARRAY_EQUAL(r1, r2, 12);
+    }
+    {
+        dMatrix3 r1 = { -1, 0,  0, 0,
+                        0, 1,  0, 0,
+                        0, 0, -1, 0
+                      };
+        dMatrix3 r2;
+        memcpy(r2, r1, sizeof(dMatrix3));
+        dOrthogonalizeR(r2);
+        CHECK_ARRAY_EQUAL(r1, r2, 12);
+    }
+    {
+        dMatrix3 r1 = { 0, -1, 0, 0,
+                        0,  0, 1, 0,
+                        -1,  0, 0, 0
+                      };
+        dMatrix3 r2;
+        memcpy(r2, r1, sizeof(dMatrix3));
+        dOrthogonalizeR(r2);
+        CHECK_ARRAY_EQUAL(r1, r2, 12);
+    }
+    {
+        dMatrix3 r1 = { 0, 0, -1, 0,
+                        0, -1, 0, 0,
+                        -1, 0, 0, 0
+                      };
+        dMatrix3 r2;
+        memcpy(r2, r1, sizeof(dMatrix3));
+        dOrthogonalizeR(r2);
+        CHECK_ARRAY_EQUAL(r1, r2, 12);
+    }
+
+}