82 lines
3.2 KiB
C++
82 lines
3.2 KiB
C++
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/*************************************************************************
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* *
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* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
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* All rights reserved. Email: russ@q12.org Web: www.q12.org *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of EITHER: *
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* (1) The GNU Lesser General Public License as published by the Free *
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* Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. The text of the GNU Lesser *
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* General Public License is included with this library in the *
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* file LICENSE.TXT. *
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* (2) The BSD-style license that is included with this library in *
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* the file LICENSE-BSD.TXT. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
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* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
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* *
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*************************************************************************/
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//234567890123456789012345678901234567890123456789012345678901234567890123456789
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// 1 2 3 4 5 6 7
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////////////////////////////////////////////////////////////////////////////////
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// This file creates unit tests for some of the functions found in:
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// ode/src/joinst/dball.cpp
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//
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//
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////////////////////////////////////////////////////////////////////////////////
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#include <UnitTest++.h>
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#include <ode/ode.h>
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#include "../../ode/src/config.h"
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using namespace std;
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SUITE (TestdxJointDBall)
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{
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struct SimpleFixture {
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dWorldID w;
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dBodyID b1, b2;
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dJointID j;
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SimpleFixture() :
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w(dWorldCreate()),
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b1(dBodyCreate(w)),
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b2(dBodyCreate(w)),
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j(dJointCreateDBall(w, 0))
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{
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dJointAttach(j, b1, b2);
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}
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~SimpleFixture()
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{
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dJointDestroy(j);
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dBodyDestroy(b1);
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dBodyDestroy(b2);
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dWorldDestroy(w);
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}
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};
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TEST_FIXTURE(SimpleFixture, testTargetDistance)
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{
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dBodySetPosition(b1, -1, -2, -3);
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dBodySetPosition(b2, 3, 5, 7);
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dJointAttach(j, b1, b2); // this recomputes the deduced target distance
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CHECK_CLOSE(dJointGetDBallDistance(j), dSqrt(REAL(165.0)), 1e-4);
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// moving body should not change target distance
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dBodySetPosition(b1, 2,3,4);
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CHECK_CLOSE(dJointGetDBallDistance(j), dSqrt(REAL(165.0)), 1e-4);
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// setting target distance manually should override the deduced one
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dJointSetDBallDistance(j, REAL(6.0));
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CHECK_EQUAL(dJointGetDBallDistance(j), REAL(6.0));
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}
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}
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