diff options
Diffstat (limited to 'libs/ode-0.16.1/tests/joints/hinge2.cpp')
| -rw-r--r-- | libs/ode-0.16.1/tests/joints/hinge2.cpp | 167 |
1 files changed, 167 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/tests/joints/hinge2.cpp b/libs/ode-0.16.1/tests/joints/hinge2.cpp new file mode 100644 index 0000000..3f9007c --- /dev/null +++ b/libs/ode-0.16.1/tests/joints/hinge2.cpp @@ -0,0 +1,167 @@ +/************************************************************************* + * * + * 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 create unit test 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 positionned at (-1, -2, -3), and (11, 22, 33) + // The bodis 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 + + |