UnitTests/BulletUnitTests/TestBulletOnly.h

   1 #ifndef TESTBULLETONLY_HAS_BEEN_INCLUDED\r
   2 #define TESTBULLETONLY_HAS_BEEN_INCLUDED\r
   3 \r
   4 #include "cppunit/TestFixture.h"\r
   5 #include "cppunit/extensions/HelperMacros.h"\r
   6 \r
   7 #include "btBulletDynamicsCommon.h"\r
   8 #include "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h"\r
   9 \r
  10 // ---------------------------------------------------------------------------\r
  11 \r
  12 class TestBulletOnly : public CppUnit::TestFixture\r
  13 {\r
  14         btCollisionConfiguration *          mCollisionConfig;\r
  15         btCollisionDispatcher *             mCollisionDispatch;\r
  16         btBroadphaseInterface *             mBroadphase;\r
  17         btConstraintSolver *                mConstraintSolver;\r
  18         btDiscreteDynamicsWorld *           mWorld;\r
  19         btCollisionShape*                                       mBodyShape;\r
  20         btRigidBody*                                            mRigidBody;\r
  21         btDefaultMotionState*                           mMotionState;\r
  22 \r
  23 public:\r
  24 \r
  25         void setUp() \r
  26         {\r
  27                 // Setup the world --\r
  28                 mCollisionConfig = new btDefaultCollisionConfiguration;\r
  29                 mCollisionDispatch = new btCollisionDispatcher( mCollisionConfig );\r
  30                 mBroadphase = new btDbvtBroadphase();\r
  31                 mConstraintSolver = new btSequentialImpulseConstraintSolver();\r
  32                 mWorld = new btDiscreteDynamicsWorld( mCollisionDispatch, mBroadphase, mConstraintSolver, mCollisionConfig );\r
  33                 mWorld->setGravity( btVector3( 0, -9.81, 0 ));\r
  34 \r
  35                 // Set up the rigid body --\r
  36                 mBodyShape = new btBoxShape( btVector3( 1, 1, 1 ) );\r
  37                 btScalar mass = 1;\r
  38                 btVector3 localInertia(0,0,0);\r
  39                 mBodyShape->calculateLocalInertia(mass,localInertia);\r
  40                 btTransform             bodyInitial;\r
  41 \r
  42                 mMotionState =                  new btDefaultMotionState();\r
  43 \r
  44                 bodyInitial.setIdentity();\r
  45                 bodyInitial.setOrigin( btVector3( 0, 0, 0 ) );\r
  46                 mRigidBody = new btRigidBody( buildConstructionInfo(mass, 0.5, 0.5, 0, 0, *mMotionState, mBodyShape ) );\r
  47 \r
  48                 mWorld->addRigidBody( mRigidBody );\r
  49         }\r
  50 \r
  51         void tearDown() \r
  52         {\r
  53                 mWorld->removeRigidBody(mRigidBody);\r
  54                 delete mRigidBody;\r
  55                 delete mMotionState;\r
  56                 delete mBodyShape;\r
  57                 delete mWorld;\r
  58                 delete mConstraintSolver;\r
  59                 delete mBroadphase;\r
  60                 delete mCollisionDispatch;\r
  61                 delete mCollisionConfig;\r
  62                 \r
  63         }\r
  64 \r
  65         btRigidBody::btRigidBodyConstructionInfo buildConstructionInfo( btScalar mass, btScalar friction, btScalar restitution, btScalar linearDamping,\r
  66                 btScalar angularDamping, btDefaultMotionState & state, btCollisionShape * shape )\r
  67         {\r
  68                 btVector3 inertia(0,0,0);\r
  69                 if (mass>0)\r
  70                         shape->calculateLocalInertia( mass, inertia );\r
  71 \r
  72                 btRigidBody::btRigidBodyConstructionInfo info( mass, &state, shape, inertia );\r
  73 \r
  74                 info.m_friction = friction;\r
  75                 info.m_restitution = restitution;\r
  76                 info.m_linearDamping = linearDamping;\r
  77                 info.m_angularDamping = angularDamping;\r
  78 \r
  79                 return info;\r
  80         }\r
  81 \r
  82         void testKinematicVelocity0()\r
  83         {\r
  84                 mRigidBody->setMassProps( 1, btVector3( 1, 1, 1 ) );\r
  85                 mRigidBody->updateInertiaTensor();\r
  86                 mRigidBody->setCollisionFlags( btCollisionObject::CF_KINEMATIC_OBJECT );\r
  87                 // -- .\r
  88 \r
  89                 // Interpolate the velocity -- \r
  90 \r
  91                 //btVector3 velocity( 1., 2., 3. ), spin( 0.1, 0.2, 0.3 );\r
  92                 btVector3 velocity( 1., 2., 3. ), spin( 0.1, 0.2, .3 );\r
  93                 btTransform interpolated;\r
  94 \r
  95                 // TODO: This is inaccurate for small spins.\r
  96                 btTransformUtil::integrateTransform( mRigidBody->getCenterOfMassTransform(), velocity, spin, 1.0f/60.f, interpolated );\r
  97 \r
  98                 mRigidBody->setInterpolationWorldTransform( interpolated );\r
  99 \r
 100                 mWorld->stepSimulation( 1.f/60.f, 60, 1.0f/60.f );\r
 101         \r
 102                 CPPUNIT_ASSERT_DOUBLES_EQUAL( mRigidBody->getLinearVelocity().length2(), velocity.length2(), 1e-8 );\r
 103 #ifdef BT_USE_DOUBLE_PRECISION\r
 104                 CPPUNIT_ASSERT_DOUBLES_EQUAL( mRigidBody->getAngularVelocity().length2(), spin.length2(), 1e-4 );\r
 105 #else\r
 106                 CPPUNIT_ASSERT_DOUBLES_EQUAL( mRigidBody->getAngularVelocity().length2(), spin.length2(), 5e-3 );\r
 107 #endif //CPPUNIT_ASSERT_DOUBLES_EQUAL\r
 108                 \r
 109         }\r
 110 \r
 111         CPPUNIT_TEST_SUITE(TestBulletOnly);\r
 112         CPPUNIT_TEST(testKinematicVelocity0);\r
 113         CPPUNIT_TEST_SUITE_END();\r
 114 \r
 115 private:\r
 116 \r
 117 };\r
 118 \r
 119 #endif\r