@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 300000)
public void testTwoIntersectingBoxes() {
CombinedTerrainObject3D combinedTerrainObject =
new CombinedTerrainObject3D("Combined Terrain Object to Test");
Point3d pointToCheck = new Point3d();
Point3d expectedIntersection = new Point3d();
Vector3d expectedNormal = new Vector3d();
Point3d resultIntersection = new Point3d();
Vector3d resultNormal = new Vector3d();
setupTwoIntersectingBoxesMadeFromPolygons(combinedTerrainObject);
pointToCheck.set(0.4, 0.45, 0.25);
expectedIntersection.set(0.4, 0.5, 0.25);
expectedNormal.set(0.0, 1.0, 0.0);
combinedTerrainObject.checkIfInside(
pointToCheck.getX(),
pointToCheck.getY(),
pointToCheck.getZ(),
resultIntersection,
resultNormal);
JUnitTools.assertTuple3dEquals(expectedIntersection, resultIntersection, 1e-4);
JUnitTools.assertTuple3dEquals(expectedNormal, resultNormal, 1e-4);
}
@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testSingleRigidBodyRotation() {
Random random = new Random(1766L);
RigidBody elevator = new RigidBody("elevator", world);
Vector3d jointAxis = RandomTools.generateRandomVector(random);
jointAxis.normalize();
RigidBodyTransform transformToParent = new RigidBodyTransform();
transformToParent.setIdentity();
RevoluteJoint joint =
ScrewTools.addRevoluteJoint("joint", elevator, transformToParent, jointAxis);
RigidBody body =
ScrewTools.addRigidBody(
"body",
joint,
RandomTools.generateRandomDiagonalMatrix3d(random),
random.nextDouble(),
new Vector3d());
joint.setQ(random.nextDouble());
joint.setQd(random.nextDouble());
Momentum momentum = computeMomentum(elevator, world);
momentum.changeFrame(world);
FrameVector linearMomentum =
new FrameVector(momentum.getExpressedInFrame(), momentum.getLinearPartCopy());
FrameVector angularMomentum =
new FrameVector(momentum.getExpressedInFrame(), momentum.getAngularPartCopy());
FrameVector linearMomentumCheck = new FrameVector(world);
Matrix3d inertia = body.getInertia().getMassMomentOfInertiaPartCopy();
Vector3d angularMomentumCheckVector = new Vector3d(jointAxis);
angularMomentumCheckVector.scale(joint.getQd());
inertia.transform(angularMomentumCheckVector);
FrameVector angularMomentumCheck =
new FrameVector(body.getInertia().getExpressedInFrame(), angularMomentumCheckVector);
angularMomentumCheck.changeFrame(world);
double epsilon = 1e-9;
JUnitTools.assertTuple3dEquals(
linearMomentumCheck.getVector(), linearMomentum.getVector(), epsilon);
JUnitTools.assertTuple3dEquals(
angularMomentumCheck.getVector(), angularMomentum.getVector(), epsilon);
assertTrue(angularMomentum.length() > epsilon);
}