a983353f34
added starting point for Bullet unit tests, with one example unit test Enable the option BUILD_UNIT_TESTS in cmake to build the test. Note that the test doesn't automatically run.
123 lines
4.1 KiB
C++
123 lines
4.1 KiB
C++
#ifndef TESTBULLETONLY_HAS_BEEN_INCLUDED
|
|
#define TESTBULLETONLY_HAS_BEEN_INCLUDED
|
|
|
|
#include "cppunit/TestFixture.h"
|
|
#include "cppunit/extensions/HelperMacros.h"
|
|
|
|
#include "btBulletDynamicsCommon.h"
|
|
#include "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h"
|
|
|
|
// ---------------------------------------------------------------------------
|
|
|
|
class TestBulletOnly : public CppUnit::TestFixture
|
|
{
|
|
public:
|
|
|
|
void setUp()
|
|
{
|
|
// empty
|
|
}
|
|
|
|
void tearDown()
|
|
{
|
|
// empty
|
|
}
|
|
|
|
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 );
|
|
|
|
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;
|
|
|
|
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 ));
|
|
|
|
// -- .
|
|
|
|
// Set up the rigid body --
|
|
|
|
btCollisionShape * bodyShape = new btBoxShape( btVector3( 1, 1, 1 ) );
|
|
|
|
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 );
|
|
|
|
// -- .
|
|
|
|
// 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;
|
|
|
|
// 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;
|
|
|
|
btScalar f = 1.f/a;
|
|
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 );
|
|
#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();
|
|
|
|
private:
|
|
|
|
};
|
|
|
|
#endif
|