diff options
Diffstat (limited to 'libs/ode-0.16.1/tests/joints/pr.cpp')
| -rw-r--r-- | libs/ode-0.16.1/tests/joints/pr.cpp | 1160 |
1 files changed, 1160 insertions, 0 deletions
diff --git a/libs/ode-0.16.1/tests/joints/pr.cpp b/libs/ode-0.16.1/tests/joints/pr.cpp new file mode 100644 index 0000000..30995c7 --- /dev/null +++ b/libs/ode-0.16.1/tests/joints/pr.cpp @@ -0,0 +1,1160 @@ +/************************************************************************* + * * + * 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/pr.cpp +// +// +//////////////////////////////////////////////////////////////////////////////// + +#include <UnitTest++.h> +#include <ode/ode.h> + +#include "../../ode/src/config.h" +#include "../../ode/src/joints/pr.h" + +SUITE (TestdxJointPR) +{ + // The 2 bodies are positionned at (0, 0, 0), with no rotation + // The joint is a PR Joint + // Axis is along the X axis + // Anchor at (0, 0, 0) + struct Fixture_dxJointPR_B1_and_B2_At_Zero_Axis_Along_X + { + Fixture_dxJointPR_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 = dJointCreatePR (wId, 0); + joint = (dxJointPR*) jId; + + + dJointAttach (jId, bId1, bId2); + + dJointSetPRAxis1 (jId, axis[0], axis[1], axis[2]); + } + + ~Fixture_dxJointPR_B1_and_B2_At_Zero_Axis_Along_X() + { + dWorldDestroy (wId); + } + + dWorldID wId; + + dBodyID bId1; + dBodyID bId2; + + + dJointID jId; + dxJointPR* joint; + + static const dVector3 axis; + + static const dReal offset; + }; + const dVector3 Fixture_dxJointPR_B1_and_B2_At_Zero_Axis_Along_X::axis = + { + 1, 0, 0 + }; + const dReal Fixture_dxJointPR_B1_and_B2_At_Zero_Axis_Along_X::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_dxJointPR_B1_and_B2_At_Zero_Axis_Along_X, + test_dJointSetPRAxisOffset_B1_3Unit) + { + dJointSetPRAnchor (jId, 0, 0, 0); + + CHECK_CLOSE (0.0, dJointGetPRPosition (jId), 1e-4); + + dBodySetPosition (bId1, offset, 0, 0); + + CHECK_CLOSE (offset, dJointGetPRPosition (jId), 1e-4); + +// dJointSetPRAnchorOffset (jId, 0, 0, 0, +// offset*axis[0],offset*axis[1],offset*axis[2]); +// CHECK_CLOSE (offset, dJointGetPRPosition (jId), 1e-4); + +// dBodySetPosition (bId1, 0, 0, 0); +// CHECK_CLOSE (0.0, dJointGetPRPosition (jId), 1e-4); + +// // Only here to test a deprecated warning +// dJointSetPRAxisDelta (jId, 1, 0, 0, 0, 0, 0); + } + + // 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_dxJointPR_B1_and_B2_At_Zero_Axis_Along_X, + test_dJointSetPRAxisOffset_B1_Minus_3Unit) + { + dJointSetPRAnchor (jId, 0, 0, 0); + + CHECK_CLOSE (0.0, dJointGetPRPosition (jId), 1e-4); + + dBodySetPosition (bId1, -offset, 0, 0); + + CHECK_CLOSE (-offset, dJointGetPRPosition (jId), 1e-4); + +// dJointSetPRAnchorOffset (jId, 0, 0, 0, +// -offset*axis[0],-offset*axis[1],-offset*axis[2]); +// CHECK_CLOSE (-offset, dJointGetPRPosition (jId), 1e-4); + +// dBodySetPosition (bId1, 0, 0, 0); +// CHECK_CLOSE (0.0, dJointGetPRPosition (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_dxJointPR_B1_and_B2_At_Zero_Axis_Along_X, + test_dJointSetPRAxisOffset_B2_3Unit) + { + dJointSetPRAnchor (jId, 0, 0, 0); + + CHECK_CLOSE (0.0, dJointGetPRPosition (jId), 1e-4); + + dBodySetPosition (bId2, offset, 0, 0); + + CHECK_CLOSE (-offset, dJointGetPRPosition (jId), 1e-4); + +// dJointSetPRAnchorOffset (jId, 0, 0, 0, +// -offset*axis[0],-offset*axis[1],-offset*axis[2]); +// CHECK_CLOSE (-offset, dJointGetPRPosition (jId), 1e-4); + +// dBodySetPosition (bId2, 0, 0, 0); +// CHECK_CLOSE (0.0, dJointGetPRPosition (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_dxJointPR_B1_and_B2_At_Zero_Axis_Along_X, + test_dJointSetPRAxisOffset_B2_Minus_3Unit) + { + dJointSetPRAnchor (jId, 0, 0, 0); + + CHECK_CLOSE (0.0, dJointGetPRPosition (jId), 1e-4); + + dBodySetPosition (bId2, -offset, 0, 0); + + CHECK_CLOSE (offset, dJointGetPRPosition (jId), 1e-4); + +// dJointSetPRAnchorOffset (jId, 0, 0, 0, +// offset*axis[0],offset*axis[1],offset*axis[2]); +// CHECK_CLOSE (offset, dJointGetPRPosition (jId), 1e-4); + +// dBodySetPosition (bId2, 0, 0, 0); +// CHECK_CLOSE (0.0, dJointGetPRPosition (jId), 1e-4); + } + + + + + + + // Only body 1 + // The body are positionned at (0, 0, 0), with no rotation + // The joint is a PR Joint + // Axis is along the X axis + // Anchor at (0, 0, 0) + struct Fixture_dxJointPR_B1_At_Zero_Axis_Along_X + { + Fixture_dxJointPR_B1_At_Zero_Axis_Along_X() + { + wId = dWorldCreate(); + + bId1 = dBodyCreate (wId); + dBodySetPosition (bId1, 0, 0, 0); + + jId = dJointCreatePR (wId, 0); + joint = (dxJointPR*) jId; + + + dJointAttach (jId, bId1, NULL); + + dJointSetPRAxis1 (jId, axis[0], axis[1], axis[2]); + } + + ~Fixture_dxJointPR_B1_At_Zero_Axis_Along_X() + { + dWorldDestroy (wId); + } + + dWorldID wId; + + dBodyID bId1; + + dJointID jId; + dxJointPR* joint; + + static const dVector3 axis; + + static const dReal offset; + }; + const dVector3 Fixture_dxJointPR_B1_At_Zero_Axis_Along_X::axis = + { + 1, 0, 0 + }; + const dReal Fixture_dxJointPR_B1_At_Zero_Axis_Along_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_dxJointPR_B1_At_Zero_Axis_Along_X, + test_dJointSetPRAxisOffset_B1_OffsetUnit) + { + dJointSetPRAnchor (jId, 0, 0, 0); + + CHECK_CLOSE (0.0, dJointGetPRPosition (jId), 1e-4); + + dBodySetPosition (bId1, offset, 0, 0); + + CHECK_CLOSE (offset, dJointGetPRPosition (jId), 1e-4); + +// dJointSetPRAnchorOffset (jId, 0, 0, 0, +// offset*axis[0],offset*axis[1],offset*axis[2]); +// CHECK_CLOSE (offset, dJointGetPRPosition (jId), 1e-4); + +// dBodySetPosition (bId1, 0, 0, 0); +// CHECK_CLOSE (0.0, dJointGetPRPosition (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_dxJointPR_B1_At_Zero_Axis_Along_X, + test_dJointSetPRAxisOffset_B1_Minus_OffsetUnit) + { + dJointSetPRAnchor (jId, 0, 0, 0); + + CHECK_CLOSE (0.0, dJointGetPRPosition (jId), 1e-4); + + dBodySetPosition (bId1, -offset, 0, 0); + + CHECK_CLOSE (-offset, dJointGetPRPosition (jId), 1e-4); + +// dJointSetPRAnchorOffset (jId, 0, 0, 0, +// -offset*axis[0],-offset*axis[1],-offset*axis[2]); +// CHECK_CLOSE (-offset, dJointGetPRPosition (jId), 1e-4); + +// dBodySetPosition (bId1, 0, 0, 0); +// CHECK_CLOSE (0.0, dJointGetPRPosition (jId), 1e-4); + } + + // Only body 1 + // The body are positionned at (0, 0, 0), with no rotation + // The joint is a PR Joint + // Axis is in the oppsite X axis + // Anchor at (0, 0, 0) + struct Fixture_dxJointPR_B1_At_Zero_Axis_Inverse_of_X + { + Fixture_dxJointPR_B1_At_Zero_Axis_Inverse_of_X() + { + wId = dWorldCreate(); + + bId1 = dBodyCreate (wId); + dBodySetPosition (bId1, 0, 0, 0); + + jId = dJointCreatePR (wId, 0); + joint = (dxJointPR*) jId; + + + dJointAttach (jId, bId1, NULL); + + dJointSetPRAxis1 (jId, axis[0], axis[1], axis[2]); + } + + ~Fixture_dxJointPR_B1_At_Zero_Axis_Inverse_of_X() + { + dWorldDestroy (wId); + } + + dWorldID wId; + + dBodyID bId1; + + dJointID jId; + dxJointPR* joint; + + static const dVector3 axis; + + static const dReal offset; + }; + const dVector3 Fixture_dxJointPR_B1_At_Zero_Axis_Inverse_of_X::axis = + { + -1, 0, 0 + }; + const dReal Fixture_dxJointPR_B1_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_dxJointPR_B1_At_Zero_Axis_Inverse_of_X, + test_dJointSetPRAxisOffset_B1_OffsetUnit) + { + dJointSetPRAnchor (jId, 0, 0, 0); + + CHECK_CLOSE (0.0, dJointGetPRPosition (jId), 1e-4); + + dBodySetPosition (bId1, offset, 0, 0); + + CHECK_CLOSE (-offset, dJointGetPRPosition (jId), 1e-4); + +// dJointSetPRAnchorOffset (jId, 0, 0, 0, +// -offset*axis[0],-offset*axis[1],-offset*axis[2]); +// CHECK_CLOSE (-offset, dJointGetPRPosition (jId), 1e-4); + +// dBodySetPosition (bId1, 0, 0, 0); +// CHECK_CLOSE (0.0, dJointGetPRPosition (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_dxJointPR_B1_At_Zero_Axis_Inverse_of_X, + test_dJointSetPRAxisOffset_B1_Minus_OffsetUnit) + { + dJointSetPRAnchor (jId, 0, 0, 0); + + CHECK_CLOSE (0.0, dJointGetPRPosition (jId), 1e-4); + + dBodySetPosition (bId1, -offset, 0, 0); + + CHECK_CLOSE (offset, dJointGetPRPosition (jId), 1e-4); + +// dJointSetPRAnchorOffset (jId, 0, 0, 0, +// offset*axis[0],offset*axis[1],offset*axis[2]); +// CHECK_CLOSE (offset, dJointGetPRPosition (jId), 1e-4); + +// dBodySetPosition (bId1, 0, 0, 0); +// CHECK_CLOSE (0.0, dJointGetPRPosition (jId), 1e-4); + } + + + + + // Compare only one body to 2 bodies with one fixed. + // + // The body are positionned at (0, 0, 0), with no rotation + // The joint is a PR Joint + // Axis is along the X axis + // Anchor at (0, 0, 0) + struct Fixture_dxJointPR_Compare_Body_At_Zero_AxisP_Along_Y + { + Fixture_dxJointPR_Compare_Body_At_Zero_AxisP_Along_Y() + { + 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 = dJointCreatePR (wId, 0); + dJointAttach(jId_12, bId1_12, bId2_12); + + fixed = dJointCreateFixed (wId, 0); + + + + jId = dJointCreatePR (wId, 0); + + bId = dBodyCreate (wId); + dBodySetPosition (bId, 0, 0, 0); + + // Linear velocity along the prismatic axis; + dVector3 axis; + dJointGetPRAxis1(jId_12, axis); + dJointSetPRAxis1(jId, axis[0], axis[1], axis[2]); + dBodySetLinearVel (bId, 4*axis[0], 4*axis[1], 4*axis[2]); + } + + ~Fixture_dxJointPR_Compare_Body_At_Zero_AxisP_Along_Y() + { + 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 + }; + + + TEST_FIXTURE (Fixture_dxJointPR_Compare_Body_At_Zero_AxisP_Along_Y, + test_dJointSetPRPositionRate_Only_B1) + { + // Linear velocity along the prismatic axis; + dVector3 axis; + dJointGetPRAxis1(jId_12, axis); + dBodySetLinearVel (bId1_12, 4*axis[0], 4*axis[1], 4*axis[2]); + + dJointAttach(jId_12, bId1_12, bId2_12); + + dJointAttach(fixed, 0, bId2_12); + dJointSetFixed(fixed); + + dJointAttach(jId, bId, 0); + + CHECK_CLOSE(dJointGetPRPositionRate(jId_12), dJointGetPRPositionRate(jId), 1e-2); + + CHECK_CLOSE(dJointGetPRAngleRate(jId_12), dJointGetPRAngleRate(jId), 1e-2); + } + + + TEST_FIXTURE (Fixture_dxJointPR_Compare_Body_At_Zero_AxisP_Along_Y, + test_dJointSetPRPositionRate_Only_B2) + { + // Linear velocity along the prismatic axis; + dVector3 axis; + dJointGetPRAxis1(jId_12, axis); + dBodySetLinearVel (bId2_12, 4*axis[0], 4*axis[1], 4*axis[2]); + + dJointAttach(jId_12, bId1_12, bId2_12); + + dJointAttach(fixed, bId1_12, 0); + dJointSetFixed(fixed); + + dJointAttach(jId, 0, bId); + + CHECK_CLOSE(dJointGetPRPositionRate(jId_12), dJointGetPRPositionRate(jId), 1e-2); + CHECK_CLOSE(dJointGetPRAngleRate(jId_12), dJointGetPRAngleRate(jId), 1e-2); + } + + + + + + // Only body 2 + // The body are positionned at (0, 0, 0), with no rotation + // The joint is a PR Joint + // Axis is along the X axis + // Anchor at (0, 0, 0) + struct Fixture_dxJointPR_B2_At_Zero_Axis_Along_X + { + Fixture_dxJointPR_B2_At_Zero_Axis_Along_X() + { + wId = dWorldCreate(); + + bId2 = dBodyCreate (wId); + dBodySetPosition (bId2, 0, 0, 0); + + jId = dJointCreatePR (wId, 0); + joint = (dxJointPR*) jId; + + + dJointAttach (jId, NULL, bId2); + + dJointSetPRAxis1 (jId, axis[0], axis[1], axis[2]); + } + + ~Fixture_dxJointPR_B2_At_Zero_Axis_Along_X() + { + dWorldDestroy (wId); + } + + dWorldID wId; + + dBodyID bId2; + + dJointID jId; + dxJointPR* joint; + + static const dVector3 axis; + + static const dReal offset; + }; + const dVector3 Fixture_dxJointPR_B2_At_Zero_Axis_Along_X::axis = + { + 1, 0, 0 + }; + const dReal Fixture_dxJointPR_B2_At_Zero_Axis_Along_X::offset = REAL (3.1); + + // Move 2nd 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_dxJointPR_B2_At_Zero_Axis_Along_X, + test_dJointSetPRAxisOffset_B2_OffsetUnit) + { + dJointSetPRAnchor (jId, 0, 0, 0); + + CHECK_CLOSE (0.0, dJointGetPRPosition (jId), 1e-4); + + dBodySetPosition (bId2, offset, 0, 0); + + CHECK_CLOSE (-offset, dJointGetPRPosition (jId), 1e-4); + +// dJointSetPRAnchorOffset (jId, 0, 0, 0, +// -offset*axis[0],-offset*axis[1],-offset*axis[2]); +// CHECK_CLOSE (-offset, dJointGetPRPosition (jId), 1e-4); + +// dBodySetPosition (bId2, 0, 0, 0); +// CHECK_CLOSE (0.0, dJointGetPRPosition (jId), 1e-4); + } + + // Move 2nd 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_dxJointPR_B2_At_Zero_Axis_Along_X, + test_dJointSetPRAxisOffset_B2_Minus_OffsetUnit) + { + dJointSetPRAnchor (jId, 0, 0, 0); + + CHECK_CLOSE (0.0, dJointGetPRPosition (jId), 1e-4); + + dBodySetPosition (bId2, -offset, 0, 0); + + CHECK_CLOSE (offset, dJointGetPRPosition (jId), 1e-4); + +// dJointSetPRAnchorOffset (jId, 0, 0, 0, +// offset*axis[0],offset*axis[1],offset*axis[2]); +// CHECK_CLOSE (offset, dJointGetPRPosition (jId), 1e-4); + +// dBodySetPosition (bId2, 0, 0, 0); +// CHECK_CLOSE (0.0, dJointGetPRPosition (jId), 1e-4); + } + + // Only body 2 + // The body are positionned at (0, 0, 0), with no rotation + // The joint is a PR Joint + // Axis is in the opposite X axis + // Anchor at (0, 0, 0) + struct Fixture_dxJointPR_B2_At_Zero_Axis_Inverse_of_X + { + Fixture_dxJointPR_B2_At_Zero_Axis_Inverse_of_X() + { + wId = dWorldCreate(); + + bId2 = dBodyCreate (wId); + dBodySetPosition (bId2, 0, 0, 0); + + jId = dJointCreatePR (wId, 0); + joint = (dxJointPR*) jId; + + + dJointAttach (jId, NULL, bId2); + + dJointSetPRAxis1 (jId, axis[0], axis[1], axis[2]); + } + + ~Fixture_dxJointPR_B2_At_Zero_Axis_Inverse_of_X() + { + dWorldDestroy (wId); + } + + dWorldID wId; + + dBodyID bId2; + + dJointID jId; + dxJointPR* joint; + + static const dVector3 axis; + + static const dReal offset; + }; + const dVector3 Fixture_dxJointPR_B2_At_Zero_Axis_Inverse_of_X::axis = + { + -1, 0, 0 + }; + const dReal Fixture_dxJointPR_B2_At_Zero_Axis_Inverse_of_X::offset = REAL (3.1); + + // Move 2nd 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_dxJointPR_B2_At_Zero_Axis_Inverse_of_X, + test_dJointSetPRAxisOffset_B2_OffsetUnit) + { + dJointSetPRAnchor (jId, 0, 0, 0); + + CHECK_CLOSE (0.0, dJointGetPRPosition (jId), 1e-4); + + dBodySetPosition (bId2, offset, 0, 0); + + CHECK_CLOSE (offset, dJointGetPRPosition (jId), 1e-4); + +// dJointSetPRAnchorOffset (jId, 0, 0, 0, +// offset*axis[0],offset*axis[1],offset*axis[2]); +// CHECK_CLOSE (offset, dJointGetPRPosition (jId), 1e-4); + +// dBodySetPosition (bId2, 0, 0, 0); +// CHECK_CLOSE (0.0, dJointGetPRPosition (jId), 1e-4); +// dJointSetPRAxisDelta (jId, 1, 0, 0, 0, 0, 0); + } + + // 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_dxJointPR_B2_At_Zero_Axis_Inverse_of_X, + test_dJointSetPRAxisOffset_B2_Minus_OffsetUnit) + { + dJointSetPRAnchor (jId, 0, 0, 0); + + CHECK_CLOSE (0.0, dJointGetPRPosition (jId), 1e-4); + + dBodySetPosition (bId2, -offset, 0, 0); + + CHECK_CLOSE (-offset, dJointGetPRPosition (jId), 1e-4); + +// dJointSetPRAnchorOffset (jId, 0, 0, 0, +// -offset*axis[0],-offset*axis[1],-offset*axis[2]); +// CHECK_CLOSE (-offset, dJointGetPRPosition (jId), 1e-4); + +// dBodySetPosition (bId2, 0, 0, 0); +// CHECK_CLOSE (0.0, dJointGetPRPosition (jId), 1e-4); + } + + + // The 2 bodies are positionned at (0, 0, 0), and (0, 0, 0) + // The bodis have rotation of 27deg around some axis. + // The joint is a PR Joint + // Axis is along the X axis + // Anchor at (0, 0, 0) + struct Fixture_dxJointPR_B1_and_B2_Random_Orientation_At_Zero_Axis_Along_X + { + Fixture_dxJointPR_B1_and_B2_Random_Orientation_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; + + 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 (bId1, 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 (bId2, R); + + jId = dJointCreatePR (wId, 0); + joint = (dxJointPR*) jId; + + + dJointAttach (jId, bId1, bId2); + } + + ~Fixture_dxJointPR_B1_and_B2_Random_Orientation_At_Zero_Axis_Along_X() + { + dWorldDestroy (wId); + } + + dWorldID wId; + + dBodyID bId1; + dBodyID bId2; + + + dJointID jId; + dxJointPR* joint; + }; + + // Test is dJointSetPRAxis and dJointGetPRAxis return same value + TEST_FIXTURE (Fixture_dxJointPR_B1_and_B2_Random_Orientation_At_Zero_Axis_Along_X, + test_dJointSetGetPRAxis) + { + dVector3 axisOrig, axis; + + + dJointGetPRAxis1 (jId, axisOrig); + dJointGetPRAxis1 (jId, axis); + dJointSetPRAxis1 (jId, axis[0], axis[1], axis[2]); + dJointGetPRAxis1 (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); + + + dJointGetPRAxis2 (jId, axisOrig); + dJointGetPRAxis2(jId, axis); + dJointSetPRAxis2 (jId, axis[0], axis[1], axis[2]); + dJointGetPRAxis2 (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); + } + + + + // Create 2 bodies attached by a PR joint + // Axis is along the X axis (Default value + // Anchor at (0, 0, 0) (Default value) + // + // ^Y + // | + // * Body2 + // | + // | + // Body1 | + // * Z--------> + struct dxJointPR_Test_Initialization + { + dxJointPR_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] = dJointCreatePR (wId, 0); + dJointAttach (jId[j], bId[j][0], bId[j][1]); + } + } + + ~dxJointPR_Test_Initialization() + { + dWorldDestroy (wId); + } + + dWorldID wId; + + dBodyID bId[2][2]; + + + dJointID jId[2]; + + }; + + + // Test if setting a PR with its default values + // will behave the same as a default PR joint + TEST_FIXTURE (dxJointPR_Test_Initialization, + test_PR_Initialization) + { + using namespace std; + + dVector3 axis; + dJointGetPRAxis1(jId[1], axis); + dJointSetPRAxis1(jId[1], axis[0], axis[1], axis[2]); + + dJointGetPRAxis2(jId[1], axis); + dJointSetPRAxis2(jId[1], axis[0], axis[1], axis[2]); + + dVector3 anchor; + dJointGetPRAnchor(jId[1], anchor); + dJointSetPRAnchor(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-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); + } + } + + + + + + + // This test compare the result of a slider with 2 bodies where body body 2 is + // fixed to the world to a slider with only one body at position 1. + // + // Test the limits [-1, 0.25] when only one body at is attached to the joint + // using dJointAttache(jId, bId, 0); + // + TEST_FIXTURE(Fixture_dxJointPR_Compare_Body_At_Zero_AxisP_Along_Y, + test_Limit_minus1_025_One_Body_on_left) + { + // Linear velocity along the prismatic axis; + dVector3 axis; + dJointGetPRAxis1(jId_12, axis); + dBodySetLinearVel (bId1_12, 4*axis[0], 4*axis[1], 4*axis[2]); + + dJointAttach(jId_12, bId1_12, bId2_12); + dJointSetPRParam(jId_12, dParamLoStop, -1); + dJointSetPRParam(jId_12, dParamHiStop, 0.25); + + dJointAttach(fixed, 0, bId2_12); + dJointSetFixed(fixed); + + dJointAttach(jId, bId, 0); + dJointSetPRParam(jId, dParamLoStop, -1); + dJointSetPRParam(jId, dParamHiStop, 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); + } + + + + // This test compare the result of a slider with 2 bodies where body body 1 is + // fixed to the world to a slider with only one body at position 2. + // + // Test the limits [-1, 0.25] when only one body at is attached to the joint + // using dJointAttache(jId, 0, bId); + // + TEST_FIXTURE(Fixture_dxJointPR_Compare_Body_At_Zero_AxisP_Along_Y, + test_Limit_minus1_025_One_Body_on_right) + { + // Linear velocity along the prismatic axis; + dVector3 axis; + dJointGetPRAxis1(jId_12, axis); + dBodySetLinearVel (bId2_12, 4*axis[0], 4*axis[1], 4*axis[2]); + + dJointAttach(jId_12, bId1_12, bId2_12); + dJointSetPRParam(jId_12, dParamLoStop, -1); + dJointSetPRParam(jId_12, dParamHiStop, 0.25); + + dJointAttach(fixed, bId1_12, 0); + dJointSetFixed(fixed); + + + dJointAttach(jId, 0, bId); + dJointSetPRParam(jId, dParamLoStop, -1); + dJointSetPRParam(jId, dParamHiStop, 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); + } + + + + // This test compare the result of a slider with 2 bodies where body body 2 is + // fixed to the world to a slider with only one body at position 1. + // + // Test the limits [0, 0] when only one body at is attached to the joint + // using dJointAttache(jId, bId, 0); + // + // The body should not move since their is no room between the two limits + // + TEST_FIXTURE(Fixture_dxJointPR_Compare_Body_At_Zero_AxisP_Along_Y, + test_Limit_0_0_One_Body_on_left) + { + // Linear velocity along the prismatic axis; + dVector3 axis; + dJointGetPRAxis1(jId_12, axis); + dBodySetLinearVel (bId1_12, 4*axis[0], 4*axis[1], 4*axis[2]); + + dJointAttach(jId_12, bId1_12, bId2_12); + dJointSetPRParam(jId_12, dParamLoStop, 0); + dJointSetPRParam(jId_12, dParamHiStop, 0); + + dJointAttach(fixed, 0, bId2_12); + dJointSetFixed(fixed); + + + dJointAttach(jId, bId, 0); + dJointSetPRParam(jId, dParamLoStop, 0); + dJointSetPRParam(jId, dParamHiStop, 0); + + 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-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 compare the result of a slider with 2 bodies where body body 1 is + // fixed to the world to a slider with only one body at position 2. + // + // Test the limits [0, 0] when only one body at is attached to the joint + // using dJointAttache(jId, 0, bId); + // + // The body should not move since their is no room between the two limits + // + TEST_FIXTURE(Fixture_dxJointPR_Compare_Body_At_Zero_AxisP_Along_Y, + test_Limit_0_0_One_Body_on_right) + { + // Linear velocity along the prismatic axis; + dVector3 axis; + dJointGetPRAxis1(jId_12, axis); + dBodySetLinearVel (bId2_12, 4*axis[0], 4*axis[1], 4*axis[2]); + + dJointAttach(jId_12, bId1_12, bId2_12); + dJointSetPRParam(jId_12, dParamLoStop, 0); + dJointSetPRParam(jId_12, dParamHiStop, 0); + + dJointAttach(fixed, bId1_12, 0); + dJointSetFixed(fixed); + + + dJointAttach(jId, 0, bId); + dJointSetPRParam(jId, dParamLoStop, 0); + dJointSetPRParam(jId, dParamHiStop, 0); + + 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-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 TestdxJointPR + |