+init

1 files changed, 106 insertions, 0 deletions

diff --git a/Client/ThirdParty/Box2D/unit-test/joint_test.cpp b/Client/ThirdParty/Box2D/unit-test/joint_test.cpp
new file mode 100644
index 0000000..94a0880
--- /dev/null
+++ b/Client/ThirdParty/Box2D/unit-test/joint_test.cpp
@@ -0,0 +1,106 @@
+// MIT License
+
+// Copyright (c) 2019 Erin Catto
+
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+
+// The above copyright notice and this permission notice shall be included in all
+// copies or substantial portions of the Software.
+
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
+#include "box2d/box2d.h"
+#include "doctest.h"
+#include <stdio.h>
+
+DOCTEST_TEST_CASE("joint reactions")
+{
+	b2Vec2 gravity(0, -10.0f);
+	b2World world = b2World(gravity);
+
+	b2BodyDef bodyDef;
+	b2Body* ground = world.CreateBody(&bodyDef);
+
+	b2CircleShape circle;
+	circle.m_radius = 1.0f;
+
+	b2FixtureDef fixtureDef;
+
+	// Disable collision
+	fixtureDef.filter.maskBits = 0;
+	fixtureDef.density = 1.0f;
+	fixtureDef.shape = &circle;
+
+	bodyDef.type = b2_dynamicBody;
+	bodyDef.position.Set(-2.0f, 3.0f);
+
+	b2Body* bodyA = world.CreateBody(&bodyDef);
+	b2Body* bodyB = world.CreateBody(&bodyDef);
+	b2Body* bodyC = world.CreateBody(&bodyDef);
+
+	b2MassData massData;
+	circle.ComputeMass(&massData, fixtureDef.density);
+	const float mg = massData.mass * gravity.y;
+
+	bodyA->CreateFixture(&fixtureDef);
+	bodyB->CreateFixture(&fixtureDef);
+	bodyC->CreateFixture(&fixtureDef);
+
+	b2DistanceJointDef distanceJointDef;
+	distanceJointDef.Initialize(ground, bodyA, bodyDef.position + b2Vec2(0.0f, 4.0f), bodyDef.position);
+	distanceJointDef.minLength = distanceJointDef.length;
+	distanceJointDef.maxLength = distanceJointDef.length;
+
+	b2PrismaticJointDef prismaticJointDef;
+	prismaticJointDef.Initialize(ground, bodyB, bodyDef.position, b2Vec2(1.0f, 0.0f));
+
+	b2RevoluteJointDef revoluteJointDef;
+	revoluteJointDef.Initialize(ground, bodyC, bodyDef.position);
+
+	b2DistanceJoint* distanceJoint = (b2DistanceJoint*)world.CreateJoint(&distanceJointDef);
+	b2PrismaticJoint* prismaticJoint = (b2PrismaticJoint*)world.CreateJoint(&prismaticJointDef);
+	b2RevoluteJoint* revoluteJoint = (b2RevoluteJoint*)world.CreateJoint(&revoluteJointDef);
+
+	const float timeStep = 1.f / 60.f;
+	const float invTimeStep = 60.0f;
+	const int32 velocityIterations = 6;
+	const int32 positionIterations = 2;
+
+	world.Step(timeStep, velocityIterations, positionIterations);
+
+	const float tol = 1e-5f;
+	{
+		b2Vec2 F = distanceJoint->GetReactionForce(invTimeStep);
+		float T = distanceJoint->GetReactionTorque(invTimeStep);
+		CHECK(F.x == 0.0f);
+		CHECK(b2Abs(F.y + mg) < tol);
+		CHECK(T == 0.0f);
+	}
+
+	{
+		b2Vec2 F = prismaticJoint->GetReactionForce(invTimeStep);
+		float T = prismaticJoint->GetReactionTorque(invTimeStep);
+		CHECK(F.x == 0.0f);
+		CHECK(b2Abs(F.y + mg) < tol);
+		CHECK(T == 0.0f);
+	}
+
+	{
+		b2Vec2 F = revoluteJoint->GetReactionForce(invTimeStep);
+		float T = revoluteJoint->GetReactionTorque(invTimeStep);
+		CHECK(F.x == 0.0f);
+		CHECK(b2Abs(F.y + mg) < tol);
+		CHECK(T == 0.0f);
+	}
+}