129 lines
4.6 KiB
C++
129 lines
4.6 KiB
C++
#include "testYASimGear.hxx"
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#include "test_suite/FGTestApi/testGlobals.hxx"
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#include "FDM/YASim/Gear.hpp"
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#include <simgear/debug/logstream.hxx>
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#include <sstream>
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void YASimGearTests::setUp()
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{
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FGTestApi::setUp::initTestGlobals("");
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}
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void YASimGearTests::tearDown()
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{
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FGTestApi::tearDown::shutdownTestGlobals();
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}
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void YASimGearTests::test()
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{
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/* Check we get expected values for a particular set of inputs. */
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float ground[4] = { -0.22097, 0.00507429, -0.975263, 2.35943};
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float wheel_pos[3] = { -0.953044, 2.20823, -2.00883};
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yasim::GearVector wheel_axle( -0, 0.16383, -0.114715);
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float wheel_radius = 0.261257;
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float tyre_radius = 0.130629;
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yasim::GearVector compression( -0.139389, -0, 0.480178);
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float contact[3];
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float compress_distance_vertical;
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float compress_norm;
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bool on_ground = yasim::gearCompression(
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ground,
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compression,
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wheel_pos,
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wheel_axle,
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wheel_radius,
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tyre_radius,
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[] () { return 0; },
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/* output params: */
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contact,
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compress_distance_vertical,
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compress_norm
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);
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SG_LOG( SG_GENERAL, SG_ALERT, "on_ground=" << on_ground);
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SG_LOG( SG_GENERAL, SG_ALERT, "contact=(" << contact[0] << ", " << contact[1] << ", " << contact[1] << ")");
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SG_LOG( SG_GENERAL, SG_ALERT, "compress_distance_vertical=" << compress_distance_vertical);
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SG_LOG( SG_GENERAL, SG_ALERT, "compress_norm=" << compress_norm);
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double e = 0.0001;
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CPPUNIT_ASSERT( on_ground);
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CPPUNIT_ASSERT_DOUBLES_EQUAL( -1.1053, contact[0], e);
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CPPUNIT_ASSERT_DOUBLES_EQUAL( 2.0645, contact[1], e);
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CPPUNIT_ASSERT_DOUBLES_EQUAL( -2.1581, contact[2], e);
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CPPUNIT_ASSERT_DOUBLES_EQUAL( 0.167955, compress_distance_vertical, e);
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CPPUNIT_ASSERT_DOUBLES_EQUAL( 0.383887, compress_norm, e);
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/* Now check we get same results as old point-contact algorithm, when using
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wheel_radius=0 and tyre_radius=0. */
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/* For this test we set gear contact point to bottom of what was the wheel,
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so that it will be approximately in same position as earlier contact point,
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and so slightly underground. */
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wheel_pos[2] -= wheel_radius + tyre_radius;
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float bump_altitude_override = 0.1;
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on_ground = yasim::gearCompression(
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ground,
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compression,
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wheel_pos /* contact point. */,
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wheel_axle /* values don't matter. */,
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0 /*wheel_radius*/,
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0 /*tyre_radius*/,
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[bump_altitude_override] () { return bump_altitude_override; },
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/* output params: */
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contact,
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compress_distance_vertical,
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compress_norm
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);
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float contact_old[3];
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float compress_distance_vertical_old;
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float compress_norm_old;
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bool on_ground_old = yasim::gearCompressionOld(
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ground,
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compression,
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wheel_pos /* contact point. */,
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[bump_altitude_override] () { return bump_altitude_override; },
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/* output params: */
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contact_old,
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compress_distance_vertical_old,
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compress_norm_old
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);
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SG_LOG( SG_GENERAL, SG_ALERT, "comparing with old algorithm.");
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SG_LOG( SG_GENERAL, SG_ALERT, "old:");
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SG_LOG( SG_GENERAL, SG_ALERT, " on_ground_old=" << on_ground_old);
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SG_LOG( SG_GENERAL, SG_ALERT, " contact=(" << contact_old[0] << ", " << contact_old[1] << ", " << contact_old[1] << ")");
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SG_LOG( SG_GENERAL, SG_ALERT, " compress_distance_vertical=" << compress_distance_vertical_old);
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SG_LOG( SG_GENERAL, SG_ALERT, " compress_norm=" << compress_norm_old);
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SG_LOG( SG_GENERAL, SG_ALERT, "new:");
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SG_LOG( SG_GENERAL, SG_ALERT, " on_ground=" << on_ground);
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SG_LOG( SG_GENERAL, SG_ALERT, " contact=(" << contact[0] << ", " << contact[1] << ", " << contact[1] << ")");
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SG_LOG( SG_GENERAL, SG_ALERT, " compress_distance_vertical=" << compress_distance_vertical);
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SG_LOG( SG_GENERAL, SG_ALERT, " compress_norm=" << compress_norm);
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CPPUNIT_ASSERT( on_ground);
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CPPUNIT_ASSERT_EQUAL( on_ground_old, on_ground);
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CPPUNIT_ASSERT_DOUBLES_EQUAL( contact_old[0], contact[0], e);
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CPPUNIT_ASSERT_DOUBLES_EQUAL( contact_old[1], contact[1], e);
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CPPUNIT_ASSERT_DOUBLES_EQUAL( contact_old[2], contact[2], e);
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CPPUNIT_ASSERT_DOUBLES_EQUAL( compress_distance_vertical_old, compress_distance_vertical, e);
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CPPUNIT_ASSERT_DOUBLES_EQUAL( compress_norm_old, compress_norm, e);
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}
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