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
|
/*************************************************************************
* *
* 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/fixed.cpp
//
//
////////////////////////////////////////////////////////////////////////////////
#include <UnitTest++.h>
#include <ode/ode.h>
#include "../../ode/src/config.h"
#include "../../ode/src/joints/fixed.h"
SUITE (TestdxJointFixed)
{
struct dxJointFixed_Fixture_1
{
dxJointFixed_Fixture_1()
{
wId = dWorldCreate();
bId1 = dBodyCreate (wId);
dBodySetPosition (bId1, 0, -1, 0);
bId2 = dBodyCreate (wId);
dBodySetPosition (bId2, 0, 1, 0);
jId = dJointCreateFixed (wId, 0);
joint = (dxJointFixed*) jId;
dJointAttach (jId, bId1, bId2);
}
~dxJointFixed_Fixture_1()
{
dWorldDestroy (wId);
}
dWorldID wId;
dBodyID bId1;
dBodyID bId2;
dJointID jId;
dxJointFixed* joint;
};
TEST_FIXTURE (dxJointFixed_Fixture_1, test_dJointSetFixed)
{
// the 2 bodies are align
dJointSetFixed (jId);
CHECK_CLOSE (joint->qrel[0], 1.0, 1e-4);
CHECK_CLOSE (joint->qrel[1], 0.0, 1e-4);
CHECK_CLOSE (joint->qrel[2], 0.0, 1e-4);
CHECK_CLOSE (joint->qrel[3], 0.0, 1e-4);
dMatrix3 R;
// Rotate 2nd body 90deg around X
dBodySetPosition (bId2, 0, 0, 1);
dRFromAxisAndAngle (R, 1, 0, 0, M_PI/2.0);
dBodySetRotation (bId2, R);
dJointSetFixed (jId);
CHECK_CLOSE (joint->qrel[0], 0.70710678118654757, 1e-4);
CHECK_CLOSE (joint->qrel[1], 0.70710678118654757, 1e-4);
CHECK_CLOSE (joint->qrel[2], 0.0, 1e-4);
CHECK_CLOSE (joint->qrel[3], 0.0, 1e-4);
// Rotate 2nd body -90deg around X
dBodySetPosition (bId2, 0, 0, -1);
dRFromAxisAndAngle (R, 1, 0, 0, -M_PI/2.0);
dBodySetRotation (bId2, R);
dJointSetFixed (jId);
CHECK_CLOSE (joint->qrel[0], 0.70710678118654757, 1e-4);
CHECK_CLOSE (joint->qrel[1], -0.70710678118654757, 1e-4);
CHECK_CLOSE (joint->qrel[2], 0.0, 1e-4);
CHECK_CLOSE (joint->qrel[3], 0.0, 1e-4);
// Rotate 2nd body 90deg around Z
dBodySetPosition (bId2, 0, 1, 0);
dRFromAxisAndAngle (R, 0, 0, 1, M_PI/2.0);
dBodySetRotation (bId2, R);
dJointSetFixed (jId);
CHECK_CLOSE (joint->qrel[0], 0.70710678118654757, 1e-4);
CHECK_CLOSE (joint->qrel[1], 0.0, 1e-4);
CHECK_CLOSE (joint->qrel[2], 0.0, 1e-4);
CHECK_CLOSE (joint->qrel[3], 0.70710678118654757, 1e-4);
// Rotate 2nd body 45deg around Y
dBodySetPosition (bId2, 0, 1, 0);
dRFromAxisAndAngle (R, 0, 1, 0, M_PI/4.0);
dBodySetRotation (bId2, R);
dJointSetFixed (jId);
CHECK_CLOSE (joint->qrel[0], 0.92387953251128674, 1e-4);
CHECK_CLOSE (joint->qrel[1], 0.0, 1e-4);
CHECK_CLOSE (joint->qrel[2], 0.38268343236508984, 1e-4);
CHECK_CLOSE (joint->qrel[3], 0.0, 1e-4);
// Rotate in a strange manner
// Both bodies at origin
dRFromEulerAngles (R, REAL(0.23), REAL(3.1), REAL(-0.73));
dBodySetPosition (bId1, 0, 0, 0);
dBodySetRotation (bId1, R);
dRFromEulerAngles (R, REAL(-0.57), REAL(1.49), REAL(0.81));
dBodySetPosition (bId2, 0, 0, 0);
dBodySetRotation (bId2, R);
dJointSetFixed (jId);
CHECK_CLOSE (joint->qrel[0], -0.25526036263124319, 1e-4);
CHECK_CLOSE (joint->qrel[1], 0.28434861188441968, 1e-4);
CHECK_CLOSE (joint->qrel[2], -0.65308047160141625, 1e-4);
CHECK_CLOSE (joint->qrel[3], 0.65381489108282143, 1e-4);
}
} // End of SUITE TestdxJointFixed
|
