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/*************************************************************************
* *
* 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
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