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prepared some unit test for LinearMath

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This commit is contained in:
erwin.coumans
2010-07-24 01:16:42 +00:00
parent a983353f34
commit 9bee6f6afd
5 changed files with 166 additions and 87 deletions
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171
UnitTests/BulletUnitTests/TestBulletOnly.h
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@@ -11,112 +11,109 @@
class TestBulletOnly : public CppUnit::TestFixture
{
btCollisionConfiguration * mCollisionConfig;
btCollisionDispatcher * mCollisionDispatch;
btBroadphaseInterface * mBroadphase;
btConstraintSolver * mConstraintSolver;
btDiscreteDynamicsWorld * mWorld;
btCollisionShape* mBodyShape;
btRigidBody* mRigidBody;
btDefaultMotionState* mMotionState;
public:
void setUp()
{
// empty
}
void setUp()
{
// Setup the world --
mCollisionConfig = new btDefaultCollisionConfiguration;
mCollisionDispatch = new btCollisionDispatcher( mCollisionConfig );
mBroadphase = new btDbvtBroadphase();
mConstraintSolver = new btSequentialImpulseConstraintSolver();
mWorld = new btDiscreteDynamicsWorld( mCollisionDispatch, mBroadphase, mConstraintSolver, mCollisionConfig );
mWorld->setGravity( btVector3( 0, -9.81, 0 ));
void tearDown()
{
// empty
}
// Set up the rigid body --
mBodyShape = new btBoxShape( btVector3( 1, 1, 1 ) );
btScalar mass = 1;
btVector3 localInertia(0,0,0);
mBodyShape->calculateLocalInertia(mass,localInertia);
btTransform bodyInitial;
btRigidBody::btRigidBodyConstructionInfo buildConstructionInfo( btScalar mass, btScalar friction, btScalar restitution, btScalar linearDamping,
btScalar angularDamping, btDefaultMotionState & state, btCollisionShape * shape )
{
btVector3 inertia;
shape->calculateLocalInertia( mass, inertia );
btRigidBody::btRigidBodyConstructionInfo info( mass, &state, shape, inertia );
mMotionState = new btDefaultMotionState();
info.m_friction = friction;
info.m_restitution = restitution;
info.m_linearDamping = linearDamping;
info.m_angularDamping = angularDamping;
return info;
}
void testKinematicVelocity0()
{
// Setup the world --
btCollisionConfiguration * mCollisionConfig;
btCollisionDispatcher * mCollisionDispatch;
btBroadphaseInterface * mBroadphase;
btConstraintSolver * mConstraintSolver;
btDiscreteDynamicsWorld * mWorld;
bodyInitial.setIdentity();
bodyInitial.setOrigin( btVector3( 0, 0, 0 ) );
mRigidBody = new btRigidBody( buildConstructionInfo(mass, 0.5, 0.5, 0, 0, *mMotionState, mBodyShape ) );
mCollisionConfig = new btDefaultCollisionConfiguration;
mCollisionDispatch = new btCollisionDispatcher( mCollisionConfig );
mBroadphase = new btDbvtBroadphase();
mConstraintSolver = new btSequentialImpulseConstraintSolver();
mWorld = new btDiscreteDynamicsWorld( mCollisionDispatch, mBroadphase, mConstraintSolver, mCollisionConfig );
mWorld->setGravity( btVector3( 0, -9.81, 0 ));
// -- .
mWorld->addRigidBody( mRigidBody );
}
// Set up the rigid body --
btCollisionShape * bodyShape = new btBoxShape( btVector3( 1, 1, 1 ) );
void tearDown()
{
mWorld->removeRigidBody(mRigidBody);
delete mRigidBody;
delete mMotionState;
delete mBodyShape;
delete mWorld;
delete mConstraintSolver;
delete mBroadphase;
delete mCollisionDispatch;
delete mCollisionConfig;
}
btTransform bodyInitial;
btDefaultMotionState mMotionState;
bodyInitial.setIdentity();
bodyInitial.setOrigin( btVector3( 0, 0, 0 ) );
btRigidBody mRigidBody( buildConstructionInfo( 1, 0.5, 0.5, 0, 0, mMotionState, bodyShape ) );
mWorld->addRigidBody( &mRigidBody );
mRigidBody.setMassProps( 1, btVector3( 1, 1, 1 ) );
mRigidBody.updateInertiaTensor();
mRigidBody.setCollisionFlags( btCollisionObject::CF_KINEMATIC_OBJECT );
// -- .
btRigidBody::btRigidBodyConstructionInfo buildConstructionInfo( btScalar mass, btScalar friction, btScalar restitution, btScalar linearDamping,
btScalar angularDamping, btDefaultMotionState & state, btCollisionShape * shape )
{
btVector3 inertia(0,0,0);
if (mass>0)
shape->calculateLocalInertia( mass, inertia );
// Interpolate the velocity --
//btVector3 velocity( 1., 2., 3. ), spin( 0.1, 0.2, 0.3 );
btRigidBody::btRigidBodyConstructionInfo info( mass, &state, shape, inertia );
info.m_friction = friction;
info.m_restitution = restitution;
info.m_linearDamping = linearDamping;
info.m_angularDamping = angularDamping;
return info;
}
void testKinematicVelocity0()
{
mRigidBody->setMassProps( 1, btVector3( 1, 1, 1 ) );
mRigidBody->updateInertiaTensor();
mRigidBody->setCollisionFlags( btCollisionObject::CF_KINEMATIC_OBJECT );
// -- .
// Interpolate the velocity --
//btVector3 velocity( 1., 2., 3. ), spin( 0.1, 0.2, 0.3 );
btVector3 velocity( 1., 2., 3. ), spin( 0.1, 0.2, .3 );
btTransform interpolated;
btTransform interpolated;
// TODO: This is inaccurate for small spins.
btTransformUtil::integrateTransform( mRigidBody.getCenterOfMassTransform(), velocity, spin, 1.0f/60.f, interpolated );
// TODO: This is inaccurate for small spins.
btTransformUtil::integrateTransform( mRigidBody->getCenterOfMassTransform(), velocity, spin, 1.0f/60.f, interpolated );
mRigidBody.setInterpolationWorldTransform( interpolated );
// -- .
mWorld->stepSimulation( 1.f/60.f, 60, 1.0f/60.f );
btScalar a = 0.f;
mRigidBody->setInterpolationWorldTransform( interpolated );
btScalar f = 1.f/a;
CPPUNIT_ASSERT_DOUBLES_EQUAL( mRigidBody.getLinearVelocity().length2(), velocity.length2(), 1e-8 );
mWorld->stepSimulation( 1.f/60.f, 60, 1.0f/60.f );
CPPUNIT_ASSERT_DOUBLES_EQUAL( mRigidBody->getLinearVelocity().length2(), velocity.length2(), 1e-8 );
#ifdef BT_USE_DOUBLE_PRECISION
CPPUNIT_ASSERT_DOUBLES_EQUAL( mRigidBody.getAngularVelocity().length2(), spin.length2(), 1e-4 );
#else
CPPUNIT_ASSERT_DOUBLES_EQUAL( mRigidBody.getAngularVelocity().length2(), spin.length2(), 5e-3 );
CPPUNIT_ASSERT_DOUBLES_EQUAL( mRigidBody->getAngularVelocity().length2(), spin.length2(), 5e-3 );
#endif //CPPUNIT_ASSERT_DOUBLES_EQUAL
delete mWorld;
delete mConstraintSolver;
delete mBroadphase;
delete mCollisionDispatch;
delete mCollisionConfig;
delete bodyShape;
}
CPPUNIT_TEST_SUITE(TestBulletOnly);
CPPUNIT_TEST(testKinematicVelocity0);
CPPUNIT_TEST_SUITE_END();
}
CPPUNIT_TEST_SUITE(TestBulletOnly);
CPPUNIT_TEST(testKinematicVelocity0);
CPPUNIT_TEST_SUITE_END();
private:
};
#endif