nikolay-egorov
e777acec15
- SixDOF target orientations supported for Jolt, trivial fallback to identity quaternion is used when explicit angular rotation is unconfigured or unsupported - Conversion between BS and CS is handled inside, surface exposes BS Implements godotengine/godot-proposals#3891
112 lines
4.9 KiB
C++
112 lines
4.9 KiB
C++
/**************************************************************************/
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/* test_generic_6dof_joint_3d.cpp */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/**************************************************************************/
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#include "tests/test_macros.h"
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TEST_FORCE_LINK(test_generic_6dof_joint_3d)
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#ifndef PHYSICS_3D_DISABLED
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#include "scene/3d/physics/joints/generic_6dof_joint_3d.h"
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namespace TestGeneric6DOFJoint3D {
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TEST_CASE("[SceneTree][Generic6DOFJoint3D] Quaternion angular target is normalized and stored") {
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Generic6DOFJoint3D *joint = memnew(Generic6DOFJoint3D);
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const Quaternion target_rotation(Vector3(0, 1, 0), 0.5);
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joint->set_angular_target_rotation(target_rotation * 2.0);
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CHECK(joint->get_angular_target_rotation().is_normalized());
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CHECK(joint->get_angular_target_rotation().is_equal_approx(target_rotation));
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CHECK(joint->has_target_rotation());
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memdelete(joint);
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}
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TEST_CASE("[SceneTree][Generic6DOFJoint3D] Euler equilibrium setter clears stored quaternion target") {
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Generic6DOFJoint3D *joint = memnew(Generic6DOFJoint3D);
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joint->set_angular_target_rotation(Quaternion(Vector3(0, 0, 1), 0.25));
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CHECK(joint->has_target_rotation());
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joint->set_param_x(Generic6DOFJoint3D::PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT, 0.1);
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CHECK_FALSE(joint->has_target_rotation());
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memdelete(joint);
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}
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TEST_CASE("[SceneTree][Generic6DOFJoint3D] clear_angular_target_rotation resets state") {
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Generic6DOFJoint3D *joint = memnew(Generic6DOFJoint3D);
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joint->set_angular_target_rotation(Quaternion(Vector3(1, 0, 0), 0.5));
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CHECK(joint->has_target_rotation());
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joint->clear_angular_target_rotation();
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CHECK_FALSE(joint->has_target_rotation());
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ERR_PRINT_OFF;
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CHECK(joint->get_angular_target_rotation().is_equal_approx(Quaternion()));
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ERR_PRINT_ON;
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memdelete(joint);
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}
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TEST_CASE("[SceneTree][Generic6DOFJoint3D] Getter returns identity before configuration when no explicit target is set") {
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Generic6DOFJoint3D *joint = memnew(Generic6DOFJoint3D);
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joint->set_param_x(Generic6DOFJoint3D::PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT, 0.3);
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joint->set_param_y(Generic6DOFJoint3D::PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT, -0.2);
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joint->set_param_z(Generic6DOFJoint3D::PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT, 0.4);
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CHECK_FALSE(joint->has_target_rotation());
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ERR_PRINT_OFF;
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CHECK(joint->get_angular_target_rotation().is_equal_approx(Quaternion()));
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ERR_PRINT_ON;
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memdelete(joint);
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}
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TEST_CASE("[SceneTree][Generic6DOFJoint3D] Explicit quaternion target shadows Euler equilibrium derivation") {
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Generic6DOFJoint3D *joint = memnew(Generic6DOFJoint3D);
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joint->set_param_x(Generic6DOFJoint3D::PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT, 0.3);
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const Quaternion explicit_target(Vector3(0, 1, 0), 0.7);
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joint->set_angular_target_rotation(explicit_target);
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CHECK(joint->has_target_rotation());
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CHECK(joint->get_angular_target_rotation().is_equal_approx(explicit_target));
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memdelete(joint);
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}
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} // namespace TestGeneric6DOFJoint3D
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#endif // PHYSICS_3D_DISABLED
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