91 lines
2.0 KiB
C++
91 lines
2.0 KiB
C++
|
#include <UnitTest++.h>
|
||
|
|
|
||
|
|
#include "Logging.h"
|
||
|
|
#include "EntityBase.h"
|
||
|
|
|
||
|
|
using namespace std;
|
||
|
|
using namespace Engine;
|
||
|
|
|
||
|
|
struct EntityFixture {
|
||
|
|
EntityFixture () {
|
||
|
|
LoggingModule.Init (0, NULL);
|
||
|
|
LoggingModule.SetLogPrintLevel (LogLevelWarning);
|
||
|
|
}
|
||
|
|
|
||
|
|
~EntityFixture () {
|
||
|
|
LoggingModule.Destroy ();
|
||
|
|
}
|
||
|
|
|
||
|
|
Logging LoggingModule;
|
||
|
|
};
|
||
|
|
|
||
|
|
TEST_FIXTURE ( EntityFixture, EntityPhysicStateGlobalizeTranslation ) {
|
||
|
|
EntityPhysicState phys_entity;
|
||
|
|
|
||
|
|
vector3d position (1, 0, -2);
|
||
|
|
vector3d orientation (0, 0.25 * M_PI, 0);
|
||
|
|
|
||
|
|
phys_entity.SetPosition (position);
|
||
|
|
phys_entity.SetOrientation (orientation);
|
||
|
|
|
||
|
|
vector3d origin (0, 0, 0);
|
||
|
|
phys_entity.Globalize (origin);
|
||
|
|
|
||
|
|
CHECK_EQUAL (origin[0], 1);
|
||
|
|
CHECK_EQUAL (origin[1], 0);
|
||
|
|
CHECK_EQUAL (origin[2], -2);
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST_FIXTURE ( EntityFixture, EntityPhysicStateGlobalizeFull ) {
|
||
|
|
EntityPhysicState phys_entity;
|
||
|
|
|
||
|
|
vector3d position (3, 0, 1);
|
||
|
|
vector3d orientation (0, 45, 0);
|
||
|
|
|
||
|
|
phys_entity.SetPosition (position);
|
||
|
|
phys_entity.SetOrientation (orientation);
|
||
|
|
|
||
|
|
vector3d front (5, 0, 0);
|
||
|
|
phys_entity.Globalize (front);
|
||
|
|
|
||
|
|
CHECK_CLOSE (3 + cos (45 * M_PI / 180) * 5., front[0], 1.0e-5);
|
||
|
|
CHECK_CLOSE (0, front[1], 1.0e-5);
|
||
|
|
CHECK_CLOSE (1 - sin (45 * M_PI / 180) * 5., front[2], 1.0e-5);
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST_FIXTURE ( EntityFixture, EntityPhysicStateLocalizeTranslation ) {
|
||
|
|
EntityPhysicState phys_entity;
|
||
|
|
|
||
|
|
vector3d position (1, 0, -2);
|
||
|
|
vector3d orientation (0, 45, 0);
|
||
|
|
|
||
|
|
phys_entity.SetPosition (position);
|
||
|
|
phys_entity.SetOrientation (orientation);
|
||
|
|
|
||
|
|
vector3d origin (1., 0, -2.);
|
||
|
|
phys_entity.Localize (origin);
|
||
|
|
|
||
|
|
CHECK_CLOSE (0, origin[0], 1.0e-5);
|
||
|
|
CHECK_CLOSE (0, origin[1], 1.0e-5);
|
||
|
|
CHECK_CLOSE (0, origin[2], 1.0e-5);
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST_FIXTURE ( EntityFixture, EntityPhysicStateLocalizeFull ) {
|
||
|
|
EntityPhysicState phys_entity;
|
||
|
|
|
||
|
|
vector3d position (1, 0, -1);
|
||
|
|
vector3d orientation (0, 45, 0);
|
||
|
|
|
||
|
|
phys_entity.SetPosition (position);
|
||
|
|
phys_entity.SetOrientation (orientation);
|
||
|
|
|
||
|
|
vector3d origin (0, 0, 0);
|
||
|
|
phys_entity.Localize (origin);
|
||
|
|
|
||
|
|
CHECK_CLOSE (-sqrt (2), origin[0], 1.0e-5);
|
||
|
|
CHECK_CLOSE (0, origin[1], 1.0e-5);
|
||
|
|
CHECK_CLOSE (0, origin[2], 1.0e-5);
|
||
|
|
}
|
||
|
|
|
||
|
|
|