WheelJoint.cpp

This is the googletest based unit testing file for the interfaces to playrho::d2::WheelJointConf.

/*
 * Copyright (c) 2023 Louis Langholtz https://github.com/louis-langholtz/PlayRho
 *
 * This software is provided 'as-is', without any express or implied
 * warranty. In no event will the authors be held liable for any damages
 * arising from the use of this software.
 *
 * Permission is granted to anyone to use this software for any purpose,
 * including commercial applications, and to alter it and redistribute it
 * freely, subject to the following restrictions:
 *
 * 1. The origin of this software must not be misrepresented; you must not
 *    claim that you wrote the original software. If you use this software
 *    in a product, an acknowledgment in the product documentation would be
 *    appreciated but is not required.
 * 2. Altered source versions must be plainly marked as such, and must not be
 *    misrepresented as being the original software.
 * 3. This notice may not be removed or altered from any source distribution.
 */
 
#include "UnitTests.hpp"
 
#include <playrho/d2/Joint.hpp>
#include <playrho/d2/WheelJointConf.hpp>
 
#include <playrho/d2/World.hpp>
#include <playrho/d2/BodyConf.hpp>
#include <playrho/d2/WorldBody.hpp>
#include <playrho/d2/WorldShape.hpp>
#include <playrho/d2/WorldJoint.hpp>
#include <playrho/d2/WorldMisc.hpp>
#include <playrho/StepConf.hpp>
#include <playrho/d2/BodyConstraint.hpp>
#include <playrho/ConstraintSolverConf.hpp>
#include <playrho/d2/DiskShapeConf.hpp>
 
#include <cstring> // for std::memcmp
 
using namespace playrho;
using namespace playrho::d2;
 
TEST(WheelJointConf, DefaultConstruction)
{
    WheelJointConf def{};
 
    EXPECT_EQ(def.bodyA, InvalidBodyID);
    EXPECT_EQ(def.bodyB, InvalidBodyID);
    EXPECT_EQ(def.collideConnected, false);
 
    EXPECT_EQ(def.localAnchorA, (Length2{}));
    EXPECT_EQ(def.localAnchorB, (Length2{}));
    EXPECT_EQ(def.localXAxisA, UnitVec::GetRight());
    EXPECT_EQ(def.localYAxisA, GetRevPerpendicular(UnitVec::GetRight()));
    EXPECT_FALSE(def.enableMotor);
    EXPECT_EQ(def.maxMotorTorque, Torque(0));
    EXPECT_EQ(def.motorSpeed, 0_rpm);
    EXPECT_EQ(def.frequency, WheelJointConf::DefaultFrequency);
    EXPECT_EQ(def.frequency, 2_Hz);
    EXPECT_EQ(def.dampingRatio, WheelJointConf::DefaultDampingRatio);
}
 
TEST(WheelJointConf, Traits)
{
    EXPECT_FALSE((IsIterableV<WheelJointConf>));
    EXPECT_FALSE((IsAddableV<WheelJointConf>));
    EXPECT_FALSE((IsAddableV<WheelJointConf, WheelJointConf>));
}
 
TEST(WheelJointConf, Construction)
{
    WheelJointConf def;
    Joint joint{def};
 
    EXPECT_EQ(GetType(joint), GetTypeID<WheelJointConf>());
    EXPECT_EQ(GetBodyA(joint), def.bodyA);
    EXPECT_EQ(GetBodyB(joint), def.bodyB);
    EXPECT_EQ(GetCollideConnected(joint), def.collideConnected);
    EXPECT_EQ(GetLinearReaction(joint), Momentum2{});
    EXPECT_EQ(GetAngularReaction(joint), AngularMomentum{0});
 
    EXPECT_EQ(GetLocalAnchorA(joint), def.localAnchorA);
    EXPECT_EQ(GetLocalAnchorB(joint), def.localAnchorB);
    EXPECT_EQ(GetLocalXAxisA(joint), def.localXAxisA);
    EXPECT_EQ(IsMotorEnabled(joint), def.enableMotor);
    EXPECT_EQ(GetMaxMotorTorque(joint), def.maxMotorTorque);
    EXPECT_EQ(GetMotorSpeed(joint), def.motorSpeed);
    EXPECT_EQ(GetFrequency(joint), def.frequency);
    EXPECT_EQ(GetDampingRatio(joint), def.dampingRatio);
    EXPECT_EQ(GetMotorTorque(joint, 1_Hz), 0 * NewtonMeter);
}
 
TEST(WheelJointConf, EnableMotor)
{
    World world;
    const auto b0 = CreateBody(world);
    const auto b1 = CreateBody(world);
 
    auto jd = WheelJointConf{};
    jd.bodyA = b0;
    jd.bodyB = b1;
    jd.localAnchorA = Length2(4_m, 5_m);
    jd.localAnchorB = Length2(6_m, 7_m);
 
    auto joint = Joint{jd};
    EXPECT_FALSE(IsMotorEnabled(joint));
    EnableMotor(joint, false);
    EXPECT_FALSE(IsMotorEnabled(joint));
    EnableMotor(joint, true);
    EXPECT_TRUE(IsMotorEnabled(joint));
}
 
TEST(WheelJointConf, MotorSpeed)
{
    World world;
    const auto b0 = CreateBody(world);
    const auto b1 = CreateBody(world);
 
    auto jd = WheelJointConf{};
    jd.bodyA = b0;
    jd.bodyB = b1;
    jd.localAnchorA = Length2(4_m, 5_m);
    jd.localAnchorB = Length2(6_m, 7_m);
 
    const auto newValue = 5_rad / 1_s;
    auto joint = Joint{jd};
    ASSERT_NE(GetMotorSpeed(joint), newValue);
    EXPECT_EQ(GetMotorSpeed(joint), jd.motorSpeed);
    SetMotorSpeed(joint, newValue);
    EXPECT_EQ(GetMotorSpeed(joint), newValue);
}
 
TEST(WheelJointConf, MaxMotorTorque)
{
    World world;
    const auto b0 = CreateBody(world);
    const auto b1 = CreateBody(world);
 
    auto jd = WheelJointConf{};
    jd.bodyA = b0;
    jd.bodyB = b1;
    jd.localAnchorA = Length2(4_m, 5_m);
    jd.localAnchorB = Length2(6_m, 7_m);
 
    const auto newValue = 5_Nm;
    auto joint = Joint{jd};
    ASSERT_NE(GetMaxMotorTorque(joint), newValue);
    EXPECT_EQ(GetMaxMotorTorque(joint), jd.maxMotorTorque);
    SetMaxMotorTorque(joint, newValue);
    EXPECT_EQ(GetMaxMotorTorque(joint), newValue);
}
 
TEST(WheelJointConf, GetAnchorAandB)
{
    World world;
 
    const auto loc0 = Length2{+1_m, -3_m};
    const auto loc1 = Length2{-2_m, Real(+1.2f) * Meter};
 
    const auto b0 = CreateBody(world, BodyConf{}.UseLocation(loc0));
    const auto b1 = CreateBody(world, BodyConf{}.UseLocation(loc1));
 
    auto jd = WheelJointConf{};
    jd.bodyA = b0;
    jd.bodyB = b1;
    jd.localAnchorA = Length2(4_m, 5_m);
    jd.localAnchorB = Length2(6_m, 7_m);
 
    auto joint = CreateJoint(world, Joint{jd});
    ASSERT_EQ(GetLocalAnchorA(world, joint), jd.localAnchorA);
    ASSERT_EQ(GetLocalAnchorB(world, joint), jd.localAnchorB);
    EXPECT_EQ(GetAnchorA(world, joint), loc0 + jd.localAnchorA);
    EXPECT_EQ(GetAnchorB(world, joint), loc1 + jd.localAnchorB);
}
 
TEST(WheelJointConf, GetJointTranslation)
{
    World world;
 
    const auto loc0 = Length2{+1_m, -3_m};
    const auto loc1 = Length2{+1_m, +3_m};
 
    const auto b0 = CreateBody(world, BodyConf{}.UseLocation(loc0));
    const auto b1 = CreateBody(world, BodyConf{}.UseLocation(loc1));
 
    auto jd = WheelJointConf{};
    jd.bodyA = b0;
    jd.bodyB = b1;
    jd.localAnchorA = Length2(-1_m, 5_m);
    jd.localAnchorB = Length2(+1_m, 5_m);
 
    auto joint = CreateJoint(world, Joint{jd});
    EXPECT_EQ(GetJointTranslation(world, joint), Length(2_m));
}
 
TEST(WheelJointConf, GetWheelJointConfThrows)
{
    EXPECT_THROW(GetWheelJointConf(Joint{}), std::bad_cast);
}
 
TEST(WheelJointConf, GetWheelJointConf)
{
    WheelJointConf def;
    Joint joint{def};
 
    ASSERT_EQ(GetType(joint), GetTypeID<WheelJointConf>());
    ASSERT_EQ(GetBodyA(joint), def.bodyA);
    ASSERT_EQ(GetBodyB(joint), def.bodyB);
    ASSERT_EQ(GetCollideConnected(joint), def.collideConnected);
 
    ASSERT_EQ(GetLocalAnchorA(joint), def.localAnchorA);
    ASSERT_EQ(GetLocalAnchorB(joint), def.localAnchorB);
    ASSERT_EQ(GetLocalXAxisA(joint), def.localXAxisA);
    ASSERT_EQ(GetLocalYAxisA(joint), def.localYAxisA);
    ASSERT_EQ(IsMotorEnabled(joint), def.enableMotor);
    ASSERT_EQ(GetMaxMotorTorque(joint), def.maxMotorTorque);
    ASSERT_EQ(GetMotorSpeed(joint), def.motorSpeed);
    ASSERT_EQ(GetFrequency(joint), def.frequency);
    ASSERT_EQ(GetDampingRatio(joint), def.dampingRatio);
 
    const auto cdef = GetWheelJointConf(joint);
    EXPECT_EQ(cdef.bodyA, InvalidBodyID);
    EXPECT_EQ(cdef.bodyB, InvalidBodyID);
    EXPECT_EQ(cdef.collideConnected, false);
 
    EXPECT_EQ(cdef.localAnchorA, (Length2{}));
    EXPECT_EQ(cdef.localAnchorB, (Length2{}));
    EXPECT_EQ(cdef.localXAxisA, UnitVec::GetRight());
    EXPECT_FALSE(cdef.enableMotor);
    EXPECT_EQ(cdef.maxMotorTorque, Torque(0));
    EXPECT_EQ(cdef.motorSpeed, 0_rpm);
    EXPECT_EQ(cdef.frequency, 2_Hz);
    EXPECT_EQ(cdef.dampingRatio, Real(0.7f));
}
 
TEST(WheelJointConf, WithDynamicCircles)
{
    auto world = World{};
    const auto p1 = Length2{-1_m, 0_m};
    const auto p2 = Length2{+1_m, 0_m};
    const auto shapeId = CreateShape(world, DiskShapeConf{}.UseRadius(2_m).UseDensity(10_kgpm2));
    const auto b1 = CreateBody(world, BodyConf{}.Use(BodyType::Dynamic).UseLocation(p1));
    const auto b2 = CreateBody(world, BodyConf{}.Use(BodyType::Dynamic).UseLocation(p2));
    Attach(world, b1, shapeId);
    Attach(world, b2, shapeId);
    const auto anchor = Length2(2_m, 1_m);
    const auto jd = GetWheelJointConf(world, b1, b2, anchor);
    const auto joint = CreateJoint(world, Joint{jd});
    ASSERT_NE(joint, InvalidJointID);
    auto stepConf = StepConf{};
 
    stepConf.doWarmStart = true;
    Step(world, stepConf);
    EXPECT_NEAR(double(Real{GetX(GetLocation(world, b1)) / Meter}), -1.0, 0.001);
    EXPECT_NEAR(double(Real{GetY(GetLocation(world, b1)) / Meter}), 0.0, 0.001);
    EXPECT_NEAR(double(Real{GetX(GetLocation(world, b2)) / Meter}), +1.0, 0.01);
    EXPECT_NEAR(double(Real{GetY(GetLocation(world, b2)) / Meter}), 0.0, 0.01);
    EXPECT_EQ(GetAngle(world, b1), 0_deg);
    EXPECT_EQ(GetAngle(world, b2), 0_deg);
    EXPECT_EQ(GetAngularVelocity(world, joint), 0 * RadianPerSecond);
    EXPECT_EQ(GetAngularMass(world, joint), RotInertia(0));
 
    SetFrequency(world, joint, 0_Hz);
    Step(world, stepConf);
    EXPECT_FALSE(IsMotorEnabled(world, joint));
    EXPECT_EQ(GetFrequency(world, joint), 0_Hz);
    EXPECT_EQ(GetLinearReaction(world, joint), Momentum2{});
    EXPECT_EQ(GetAngularMass(world, joint), RotInertia(0));
 
    EnableMotor(world, joint, true);
    EXPECT_TRUE(IsMotorEnabled(world, joint));
    Step(world, stepConf);
    EXPECT_NEAR(static_cast<double>(StripUnit(GetAngularMass(world, joint))), 125.66370391845703,
                0.1);
 
    stepConf.doWarmStart = false;
    Step(world, stepConf);
    EXPECT_NEAR(double(Real{GetX(GetLocation(world, b1)) / Meter}), -1.0, 0.001);
    EXPECT_NEAR(double(Real{GetY(GetLocation(world, b1)) / Meter}), 0.0, 0.001);
    EXPECT_NEAR(double(Real{GetX(GetLocation(world, b2)) / Meter}), +1.0, 0.01);
    EXPECT_NEAR(double(Real{GetY(GetLocation(world, b2)) / Meter}), 0.0, 0.01);
    EXPECT_EQ(GetAngle(world, b1), 0_deg);
    EXPECT_EQ(GetAngle(world, b2), 0_deg);
    EXPECT_EQ(GetAngularVelocity(world, joint), 0 * RadianPerSecond);
    EXPECT_NEAR(static_cast<double>(StripUnit(GetAngularMass(world, joint))), 125.66370391845703,
                0.1);
}
 
TEST(WheelJointConf, GetAngularVelocity)
{
    auto world = World{};
    const auto bodyA = CreateBody(world);
    const auto bodyB = CreateBody(world);
    auto conf = WheelJointConf{bodyA, bodyB};
    auto angularVelocity = AngularVelocity{};
    EXPECT_NO_THROW(angularVelocity = GetAngularVelocity(world, conf));
    EXPECT_EQ(angularVelocity, 0_rpm);
    // TODO: add tests for angularVelocity other than 0 rpm
}
 
TEST(WheelJointConf, ShiftOrigin)
{
    auto jd = WheelJointConf{BodyID(0u), BodyID(1u)};
    auto copy = WheelJointConf{};
 
    // Do copy = jd without missing padding so memcmp works
    std::memcpy(&copy, &jd, sizeof(WheelJointConf));
 
    EXPECT_FALSE(ShiftOrigin(jd, Length2{0_m, 0_m}));
 
    // Use memcmp since easier than writing full == suport pre C++20.
    EXPECT_TRUE(std::memcmp(&jd, &copy, sizeof(WheelJointConf)) == 0);
}
 
TEST(WheelJointConf, EqualsOperator)
{
    EXPECT_TRUE(WheelJointConf() == WheelJointConf());
    {
        auto conf = WheelJointConf{};
        conf.localAnchorA = Length2{1.2_m, -3_m};
        EXPECT_TRUE(conf == conf);
        EXPECT_FALSE(WheelJointConf() == conf);
    }
    {
        auto conf = WheelJointConf{};
        conf.localAnchorB = Length2{1.2_m, -3_m};
        EXPECT_TRUE(conf == conf);
        EXPECT_FALSE(WheelJointConf() == conf);
    }
    {
        auto conf = WheelJointConf{};
        conf.motorSpeed = 0.12_rpm;
        EXPECT_TRUE(conf == conf);
        EXPECT_FALSE(WheelJointConf() == conf);
    }
    // TODO: test remaining fields.
}
 
TEST(WheelJointConf, NotEqualsOperator)
{
    EXPECT_FALSE(WheelJointConf() != WheelJointConf());
    {
        auto conf = WheelJointConf{};
        conf.frequency = 13_Hz;
        EXPECT_FALSE(conf != conf);
        EXPECT_TRUE(WheelJointConf() != conf);
    }
    // TODO: test remaining fields.
}
 
TEST(WheelJointConf, GetName)
{
    EXPECT_STREQ(GetName(GetTypeID<WheelJointConf>()), "d2::WheelJointConf");
}
 
TEST(WheelJointConf, InitVelocity)
{
    auto conf = WheelJointConf{};
    std::vector<BodyConstraint> bodies;
    EXPECT_NO_THROW(InitVelocity(conf, Span<BodyConstraint>(bodies), StepConf{}, ConstraintSolverConf{}));
    conf.bodyA = BodyID(0);
    conf.bodyB = BodyID(0);
    EXPECT_THROW(InitVelocity(conf, bodies, StepConf{}, ConstraintSolverConf{}), std::out_of_range);
    const auto posA = Position{Length2{-5_m, 0_m}, 0_deg};
    bodies.push_back(BodyConstraint{Real(1) / 4_kg, InvRotInertia{}, Length2{}, posA, Velocity{}});
    EXPECT_NO_THROW(InitVelocity(conf, bodies, StepConf{}, ConstraintSolverConf{}));
}
 
TEST(WheelJointConf, SolveVelocity)
{
    auto conf = WheelJointConf{};
    std::vector<BodyConstraint> bodies;
    auto result = false;
    EXPECT_NO_THROW(result = SolveVelocity(conf, bodies, StepConf{}));
    EXPECT_TRUE(result);
    conf.bodyA = BodyID(0);
    conf.bodyB = BodyID(0);
    EXPECT_THROW(SolveVelocity(conf, bodies, StepConf{}), std::out_of_range);
    const auto posA = Position{Length2{-5_m, 0_m}, 0_deg};
    bodies.push_back(BodyConstraint{Real(1) / 4_kg, InvRotInertia{}, Length2{}, posA, Velocity{}});
    EXPECT_NO_THROW(result = SolveVelocity(conf, bodies, StepConf{}));
}
 
TEST(WheelJointConf, SolvePosition)
{
    auto conf = WheelJointConf{};
    std::vector<BodyConstraint> bodies;
    auto result = false;
    EXPECT_NO_THROW(result = SolvePosition(conf, bodies, ConstraintSolverConf{}));
    EXPECT_TRUE(result);
    conf.bodyA = BodyID(0);
    conf.bodyB = BodyID(0);
    EXPECT_THROW(SolvePosition(conf, bodies, ConstraintSolverConf{}), std::out_of_range);
    const auto posA = Position{Length2{-5_m, 0_m}, 0_deg};
    bodies.push_back(BodyConstraint{Real(1) / 4_kg, InvRotInertia{}, Length2{}, posA, Velocity{}});
    EXPECT_NO_THROW(result = SolvePosition(conf, bodies, ConstraintSolverConf{}));
}