1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
|
/*************************************************************************
* *
* 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/joint.cpp
//
//
////////////////////////////////////////////////////////////////////////////////
#include <algorithm>
#include <UnitTest++.h>
#include <ode/ode.h>
#include "../ode/src/config.h"
#include "../ode/src/joints/joints.h"
/*
* Tests for contact friction
*/
SUITE(JointContact)
{
struct ContactSetup
{
dWorldID world;
dBodyID body1;
dBodyID body2;
dJointID joint;
ContactSetup()
{
world = dWorldCreate();
body1 = dBodyCreate(world);
body2 = dBodyCreate(world);
dBodySetPosition(body1, -1, 0, 0);
dBodySetPosition(body2, 1, 0, 0);
}
~ContactSetup()
{
dBodyDestroy(body1);
dBodyDestroy(body2);
dWorldDestroy(world);
}
};
TEST_FIXTURE(ContactSetup,
test_ZeroMu)
{
dxJoint::Info1 info1;
dReal dummy_J[3][16] = {{0}};
int dummy_findex[3];
dReal info2_fps = 100;
dReal info2_erp = 0;
dReal *J1 = dummy_J[0];
dReal *J2 = dummy_J[0] + 8;
dReal *rhscfm = dummy_J[0] + 6;
dReal *lohi = dummy_J[0] + 14;
unsigned rowskip = 16;
int *findex = dummy_findex;
#define ZERO_ALL do { \
memset(dummy_J, 0, sizeof dummy_J); \
std::fill(dummy_findex, dummy_findex+3, -1); \
} \
while (0)
dContact contact;
contact.surface.mode = dContactMu2 | dContactFDir1 | dContactApprox1;
contact.geom.pos[0] = 0;
contact.geom.pos[1] = 0;
contact.geom.pos[2] = 0;
// normal points into body1
contact.geom.normal[0] = -1;
contact.geom.normal[1] = 0;
contact.geom.normal[2] = 0;
contact.geom.depth = 0;
contact.geom.g1 = 0;
contact.geom.g2 = 0;
// we ask for fdir1 = +Y, so fdir2 = normal x fdir1 = -Z
contact.fdir1[0] = 0;
contact.fdir1[1] = 1;
contact.fdir1[2] = 0;
/*
* First, test with mu = 0, mu2 = 1
* Because there is no friction on the first direction (+Y) the body
* is allowed to translate in the Y axis and rotate around the Z axis.
*
* That is, the only constraint will be for the second dir (-Z):
* so J[1] = [ 0 0 -1 0 1 0 0 0 1 0 1 0 ]
*/
contact.surface.mu = 0;
contact.surface.mu2 = 1;
joint = dJointCreateContact(world, 0, &contact);
dJointAttach(joint, body1, body2);
joint->getInfo1(&info1);
CHECK_EQUAL(2, (int)info1.m);
ZERO_ALL;
joint->getInfo2(info2_fps, info2_erp, rowskip, J1, J2,
rowskip, rhscfm, lohi, findex);
CHECK_CLOSE(0, dummy_J[1][0], 1e-6);
CHECK_CLOSE(0, dummy_J[1][1], 1e-6);
CHECK_CLOSE(-1, dummy_J[1][2], 1e-6);
CHECK_CLOSE(0, dummy_J[1][3], 1e-6);
CHECK_CLOSE(1, dummy_J[1][4], 1e-6);
CHECK_CLOSE(0, dummy_J[1][5], 1e-6);
CHECK_CLOSE(0, dummy_J[1][8], 1e-6);
CHECK_CLOSE(0, dummy_J[1][9], 1e-6);
CHECK_CLOSE(1, dummy_J[1][10], 1e-6);
CHECK_CLOSE(0, dummy_J[1][11], 1e-6);
CHECK_CLOSE(1, dummy_J[1][12], 1e-6);
CHECK_CLOSE(0, dummy_J[1][13], 1e-6);
CHECK_EQUAL(0, dummy_findex[1]); // because of dContactApprox1
dJointDestroy(joint);
/*
* Now try with no frictino in the second direction. The Jacobian should look like:
* J[1] = [ 0 1 0 0 0 1 0 -1 0 0 0 1 ]
*/
// try again, with zero mu2
contact.surface.mu = 1;
contact.surface.mu2 = 0;
joint = dJointCreateContact(world, 0, &contact);
dJointAttach(joint, body1, body2);
joint->getInfo1(&info1);
CHECK_EQUAL(2, (int)info1.m);
ZERO_ALL;
joint->getInfo2(info2_fps, info2_erp, rowskip, J1, J2,
rowskip, rhscfm, lohi, findex);
CHECK_CLOSE(0, dummy_J[1][0], 1e-6);
CHECK_CLOSE(1, dummy_J[1][1], 1e-6);
CHECK_CLOSE(0, dummy_J[1][2], 1e-6);
CHECK_CLOSE(0, dummy_J[1][3], 1e-6);
CHECK_CLOSE(0, dummy_J[1][4], 1e-6);
CHECK_CLOSE(1, dummy_J[1][5], 1e-6);
CHECK_CLOSE(0, dummy_J[1][8], 1e-6);
CHECK_CLOSE(-1, dummy_J[1][9], 1e-6);
CHECK_CLOSE(0, dummy_J[1][10], 1e-6);
CHECK_CLOSE(0, dummy_J[1][11], 1e-6);
CHECK_CLOSE(0, dummy_J[1][12], 1e-6);
CHECK_CLOSE(1, dummy_J[1][13], 1e-6);
CHECK_EQUAL(0, dummy_findex[1]); // because of dContactApprox1
dJointDestroy(joint);
}
}
|
