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b5b31ce52b2b8c47c003b12a9c1d9e9cd72d7982
bullet3/UnitTests/BulletUnitTests/TestLinearMath.h
erwin.coumans b5b31ce52b added VoronoiFractureDemo, thanks to RBD 
fix in infinite recursion in quickSort, exclude the pivot in each sub partition
disabled constraints don't merge simulation islands, and they don't disable collision between linked rigid bodies either.
2012-03-05 21:47:05 +00:00

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#ifndef TEST_LINEAR_MATH_HAS_BEEN_INCLUDED
#define TEST_LINEAR_MATH_HAS_BEEN_INCLUDED
#include "cppunit/TestFixture.h"
#include "cppunit/extensions/HelperMacros.h"
#include "LinearMath/btScalar.h"
#define TEST_NUM_UNITSPHERE_POINTS 42
static btVector3 sPenetrationDirections[TEST_NUM_UNITSPHERE_POINTS] =
{
btVector3(btScalar(0.000000) , btScalar(-0.000000),btScalar(-1.000000)),
btVector3(btScalar(0.723608) , btScalar(-0.525725),btScalar(-0.447219)),
btVector3(btScalar(-0.276388) , btScalar(-0.850649),btScalar(-0.447219)),
btVector3(btScalar(-0.894426) , btScalar(-0.000000),btScalar(-0.447216)),
btVector3(btScalar(-0.276388) , btScalar(0.850649),btScalar(-0.447220)),
btVector3(btScalar(0.723608) , btScalar(0.525725),btScalar(-0.447219)),
btVector3(btScalar(0.276388) , btScalar(-0.850649),btScalar(0.447220)),
btVector3(btScalar(-0.723608) , btScalar(-0.525725),btScalar(0.447219)),
btVector3(btScalar(-0.723608) , btScalar(0.525725),btScalar(0.447219)),
btVector3(btScalar(0.276388) , btScalar(0.850649),btScalar(0.447219)),
btVector3(btScalar(0.894426) , btScalar(0.000000),btScalar(0.447216)),
btVector3(btScalar(-0.000000) , btScalar(0.000000),btScalar(1.000000)),
btVector3(btScalar(0.425323) , btScalar(-0.309011),btScalar(-0.850654)),
btVector3(btScalar(-0.162456) , btScalar(-0.499995),btScalar(-0.850654)),
btVector3(btScalar(0.262869) , btScalar(-0.809012),btScalar(-0.525738)),
btVector3(btScalar(0.425323) , btScalar(0.309011),btScalar(-0.850654)),
btVector3(btScalar(0.850648) , btScalar(-0.000000),btScalar(-0.525736)),
btVector3(btScalar(-0.525730) , btScalar(-0.000000),btScalar(-0.850652)),
btVector3(btScalar(-0.688190) , btScalar(-0.499997),btScalar(-0.525736)),
btVector3(btScalar(-0.162456) , btScalar(0.499995),btScalar(-0.850654)),
btVector3(btScalar(-0.688190) , btScalar(0.499997),btScalar(-0.525736)),
btVector3(btScalar(0.262869) , btScalar(0.809012),btScalar(-0.525738)),
btVector3(btScalar(0.951058) , btScalar(0.309013),btScalar(0.000000)),
btVector3(btScalar(0.951058) , btScalar(-0.309013),btScalar(0.000000)),
btVector3(btScalar(0.587786) , btScalar(-0.809017),btScalar(0.000000)),
btVector3(btScalar(0.000000) , btScalar(-1.000000),btScalar(0.000000)),
btVector3(btScalar(-0.587786) , btScalar(-0.809017),btScalar(0.000000)),
btVector3(btScalar(-0.951058) , btScalar(-0.309013),btScalar(-0.000000)),
btVector3(btScalar(-0.951058) , btScalar(0.309013),btScalar(-0.000000)),
btVector3(btScalar(-0.587786) , btScalar(0.809017),btScalar(-0.000000)),
btVector3(btScalar(-0.000000) , btScalar(1.000000),btScalar(-0.000000)),
btVector3(btScalar(0.587786) , btScalar(0.809017),btScalar(-0.000000)),
btVector3(btScalar(0.688190) , btScalar(-0.499997),btScalar(0.525736)),
btVector3(btScalar(-0.262869) , btScalar(-0.809012),btScalar(0.525738)),
btVector3(btScalar(-0.850648) , btScalar(0.000000),btScalar(0.525736)),
btVector3(btScalar(-0.262869) , btScalar(0.809012),btScalar(0.525738)),
btVector3(btScalar(0.688190) , btScalar(0.499997),btScalar(0.525736)),
btVector3(btScalar(0.525730) , btScalar(0.000000),btScalar(0.850652)),
btVector3(btScalar(0.162456) , btScalar(-0.499995),btScalar(0.850654)),
btVector3(btScalar(-0.425323) , btScalar(-0.309011),btScalar(0.850654)),
btVector3(btScalar(-0.425323) , btScalar(0.309011),btScalar(0.850654)),
btVector3(btScalar(0.162456) , btScalar(0.499995),btScalar(0.850654))
};
// ---------------------------------------------------------------------------
class TestLinearMath : public CppUnit::TestFixture
{
public:
void setUp()
{
}
void tearDown()
{
}
void testNormalize()
{
const btVector3 xaxis(1,0,0);
const btVector3 yaxis(0,1,0);
const btVector3 zaxis(0,0,1);
const btVector3 negxaxis(-1,0,0);
const btVector3 negyaxis(0,-1,0);
const btVector3 negzaxis(0,0,-1);
btVector3 vec;
vec.setValue(1e-20,0,0);
vec.safeNormalize();
CPPUNIT_ASSERT_DOUBLES_EQUAL( 1.0, vec.length2(), 1e-6 );
vec.setValue(1e20,0,0);
vec.safeNormalize();
CPPUNIT_ASSERT_DOUBLES_EQUAL( 1.0, vec.length2(), 1e-6 );
vec.setValue(1e-20,0,0);
vec.normalize();
CPPUNIT_ASSERT_DOUBLES_EQUAL( 1.0, vec.length2(), 1e-5 );
vec.setValue(1e19,0,0);
vec.normalize();
CPPUNIT_ASSERT_DOUBLES_EQUAL( 1.0, vec.length2(), 1e-5 );
}
void testQuicksort()
{
int tests = 0;
int numElems = 100;
btAlignedObjectArray<int> m_unsortedIntegers;
m_unsortedIntegers.resize(numElems);
for (int i=0;i<numElems;i++)
{
m_unsortedIntegers[i] = i;
}
struct compLess
{
bool operator()(const int& p1, const int& p2) const
{
return p1 < p2;
}
};
m_unsortedIntegers.quickSort(compLess());
for (int i=1;i<numElems;i++)
{
CPPUNIT_ASSERT(m_unsortedIntegers[i-1]<=m_unsortedIntegers[i]);
}
for (int i=0;i<numElems;i++)
{
m_unsortedIntegers[i] = numElems-i;
}
m_unsortedIntegers.quickSort(compLess());
for (int i=1;i<numElems;i++)
{
CPPUNIT_ASSERT(m_unsortedIntegers[i-1]<=m_unsortedIntegers[i]);
}
}
void testQuaternionGetAxisAngle()
{
int steps=100;
for (int j=0;j<TEST_NUM_UNITSPHERE_POINTS;j++)
{
btVector3 axis = sPenetrationDirections[j];
for (int i=-steps+1;i<steps;i++)
{
btScalar angle=i*SIMD_2_PI/btScalar(steps);
btQuaternion quat(axis,angle);
btScalar compAngle = quat.getAngle();
if (i>=0)
CPPUNIT_ASSERT_DOUBLES_EQUAL( angle, compAngle, 1e-5 );
else
{
CPPUNIT_ASSERT_DOUBLES_EQUAL( btFabs(angle), btFabs(compAngle), 1e-5 );
}
btVector3 compAxis = quat.getAxis();
if (compAngle>SIMD_EPSILON)
{
if (i>=0)
{
CPPUNIT_ASSERT_DOUBLES_EQUAL( axis.getX(), compAxis.getX(), 1e-4 );
CPPUNIT_ASSERT_DOUBLES_EQUAL( axis.getY(), compAxis.getY(), 1e-4 );
CPPUNIT_ASSERT_DOUBLES_EQUAL( axis.getZ(), compAxis.getZ(), 1e-4 );
} else
{
btScalar sign = compAngle*angle<0? -1 : 1;
CPPUNIT_ASSERT_DOUBLES_EQUAL( sign*axis.getX(), compAxis.getX(), 1e-4 );
CPPUNIT_ASSERT_DOUBLES_EQUAL( sign*axis.getY(), compAxis.getY(), 1e-4 );
CPPUNIT_ASSERT_DOUBLES_EQUAL( sign*axis.getZ(), compAxis.getZ(), 1e-4 );
}
} else
{
CPPUNIT_ASSERT_DOUBLES_EQUAL( 1.f, compAxis.getX(), 1e-4 );
CPPUNIT_ASSERT_DOUBLES_EQUAL( 0.f, compAxis.getY(), 1e-4 );
CPPUNIT_ASSERT_DOUBLES_EQUAL( 0.f, compAxis.getZ(), 1e-4 );
}
}
}
}
CPPUNIT_TEST_SUITE(TestLinearMath);
CPPUNIT_TEST(testQuicksort);
CPPUNIT_TEST(testNormalize);
CPPUNIT_TEST(testQuaternionGetAxisAngle);
CPPUNIT_TEST_SUITE_END();
private:
};
#endif //TEST_LINEAR_MATH_HAS_BEEN_INCLUDED
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