first commit

2022-10-20 20:29:11 +08:00
commit 4d531f8044
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+#include "testYASimGear.hxx"
+
+#include "test_suite/FGTestApi/testGlobals.hxx"
+
+#include "FDM/YASim/Gear.hpp"
+
+#include <simgear/debug/logstream.hxx>
+
+#include <sstream>
+
+
+void YASimGearTests::setUp()
+{
+    FGTestApi::setUp::initTestGlobals("");
+}
+
+void YASimGearTests::tearDown()
+{
+    FGTestApi::tearDown::shutdownTestGlobals();
+}
+
+
+void YASimGearTests::test()
+{
+    /* Check we get expected values for a particular set of inputs. */
+    
+    float ground[4] = { -0.22097, 0.00507429, -0.975263, 2.35943};
+    float wheel_pos[3] = { -0.953044, 2.20823, -2.00883};
+    yasim::GearVector wheel_axle( -0, 0.16383, -0.114715);
+    float wheel_radius = 0.261257;
+    float tyre_radius = 0.130629;
+    yasim::GearVector   compression( -0.139389, -0, 0.480178);
+    
+    float contact[3];
+    float compress_distance_vertical;
+    float compress_norm;
+    
+    bool on_ground = yasim::gearCompression(
+            ground,
+            compression,
+            wheel_pos,
+            wheel_axle,
+            wheel_radius,
+            tyre_radius,
+            [] () { return 0; },
+            
+            /* output params: */
+            contact,
+            compress_distance_vertical,
+            compress_norm
+            );
+    
+    SG_LOG( SG_GENERAL, SG_ALERT, "on_ground=" << on_ground);
+    SG_LOG( SG_GENERAL, SG_ALERT, "contact=(" << contact[0] << ", " << contact[1] << ", " << contact[1] << ")");
+    SG_LOG( SG_GENERAL, SG_ALERT, "compress_distance_vertical=" << compress_distance_vertical);
+    SG_LOG( SG_GENERAL, SG_ALERT, "compress_norm=" << compress_norm);
+    
+    double e = 0.0001;
+    CPPUNIT_ASSERT( on_ground);
+    CPPUNIT_ASSERT_DOUBLES_EQUAL( -1.1053, contact[0], e);
+    CPPUNIT_ASSERT_DOUBLES_EQUAL( 2.0645, contact[1], e);
+    CPPUNIT_ASSERT_DOUBLES_EQUAL( -2.1581, contact[2], e);
+    CPPUNIT_ASSERT_DOUBLES_EQUAL( 0.167955, compress_distance_vertical, e);
+    CPPUNIT_ASSERT_DOUBLES_EQUAL( 0.383887, compress_norm, e);
+    
+    
+    /* Now check we get same results as old point-contact algorithm, when using
+    wheel_radius=0 and tyre_radius=0. */
+    
+    /* For this test we set gear contact point to bottom of what was the wheel,
+    so that it will be approximately in same position as earlier contact point,
+    and so slightly underground. */
+    wheel_pos[2] -= wheel_radius + tyre_radius;
+    
+    float bump_altitude_override = 0.1;
+    
+    on_ground = yasim::gearCompression(
+            ground,
+            compression,
+            wheel_pos /* contact point. */,
+            wheel_axle /* values don't matter. */,
+            0 /*wheel_radius*/,
+            0 /*tyre_radius*/,
+            [bump_altitude_override] () { return bump_altitude_override; },
+            
+            /* output params: */
+            contact,
+            compress_distance_vertical,
+            compress_norm
+            );
+    
+    float contact_old[3];
+    float compress_distance_vertical_old;
+    float compress_norm_old;
+    
+    bool on_ground_old = yasim::gearCompressionOld(
+            ground,
+            compression,
+            wheel_pos /* contact point. */,
+            [bump_altitude_override] () { return bump_altitude_override; },
+            
+            /* output params: */
+            contact_old,
+            compress_distance_vertical_old,
+            compress_norm_old
+            );
+    
+    SG_LOG( SG_GENERAL, SG_ALERT, "comparing with old algorithm.");
+    SG_LOG( SG_GENERAL, SG_ALERT, "old:");
+    SG_LOG( SG_GENERAL, SG_ALERT, "    on_ground_old=" << on_ground_old);
+    SG_LOG( SG_GENERAL, SG_ALERT, "    contact=(" << contact_old[0] << ", " << contact_old[1] << ", " << contact_old[1] << ")");
+    SG_LOG( SG_GENERAL, SG_ALERT, "    compress_distance_vertical=" << compress_distance_vertical_old);
+    SG_LOG( SG_GENERAL, SG_ALERT, "    compress_norm=" << compress_norm_old);
+    SG_LOG( SG_GENERAL, SG_ALERT, "new:");
+    SG_LOG( SG_GENERAL, SG_ALERT, "    on_ground=" << on_ground);
+    SG_LOG( SG_GENERAL, SG_ALERT, "    contact=(" << contact[0] << ", " << contact[1] << ", " << contact[1] << ")");
+    SG_LOG( SG_GENERAL, SG_ALERT, "    compress_distance_vertical=" << compress_distance_vertical);
+    SG_LOG( SG_GENERAL, SG_ALERT, "    compress_norm=" << compress_norm);
+    
+    CPPUNIT_ASSERT( on_ground);
+    CPPUNIT_ASSERT_EQUAL( on_ground_old, on_ground);
+    CPPUNIT_ASSERT_DOUBLES_EQUAL( contact_old[0], contact[0], e);
+    CPPUNIT_ASSERT_DOUBLES_EQUAL( contact_old[1], contact[1], e);
+    CPPUNIT_ASSERT_DOUBLES_EQUAL( contact_old[2], contact[2], e);
+    CPPUNIT_ASSERT_DOUBLES_EQUAL( compress_distance_vertical_old, compress_distance_vertical, e);
+    CPPUNIT_ASSERT_DOUBLES_EQUAL( compress_norm_old, compress_norm, e);
+}
+