v/examples/pendulum-simulation/modules/sim/params_test.v

126 lines
2.9 KiB
V
Raw Normal View History

module sim
import math
const (
params_test_mock_params = SimParams{
rope_length: 0.25
bearing_mass: 0.03
magnet_spacing: 0.05
magnet_height: 0.03
magnet_strength: 10
gravity: 4.9
}
params_test_mock_state = SimState{
position: vector(
x: -0.016957230930171364
y: -0.02937078552673521
z: 0.002311063475327252
)
velocity: vector(
x: -7.251158929833104
y: -12.559375680227724
z: -105.91539687686381
)
accel: vector(
x: -8.337034766251843e-11
y: -2.842170943040401e-10
z: 1.2126596023639044e-10
)
}
params_test_mock_tetha = 2.0 * math.pi / 3.0
)
pub fn test_get_rope_vector() {
result := sim.params_test_mock_params.get_rope_vector(sim.params_test_mock_state)
expected := vector(
x: -0.016957230930171364
y: -0.02937078552673521
z: -0.24768893652467275
)
assert result == expected
}
pub fn test_get_forces_sum() {
result := sim.params_test_mock_params.get_forces_sum(sim.params_test_mock_state)
expected := vector(
x: 3.637978807091713e-12
y: 5.229594535194337e-12
z: 9.094947017729282e-13
)
assert result == expected
}
pub fn test_get_grav_force() {
result := sim.params_test_mock_params.get_grav_force(sim.params_test_mock_state)
expected := vector(
z: -0.147
)
assert result == expected
}
pub fn test_get_magnet_position() {
result := sim.params_test_mock_params.get_magnet_position(sim.params_test_mock_tetha)
expected := vector(
x: -0.024999999999999988
y: 0.043301270189221946
z: -0.03
)
assert result == expected
}
pub fn test_get_magnet_force() {
result := sim.params_test_mock_params.get_magnet_force(sim.params_test_mock_tetha,
sim.params_test_mock_state)
expected := vector(
x: -157.45722976925555
y: 1422.736432604726
z: -632.5695169850264
)
assert result == expected
}
pub fn test_get_magnet_dist() {
result := sim.params_test_mock_params.get_magnet_dist(sim.params_test_mock_tetha,
sim.params_test_mock_state)
expected := 0.07993696666249227
assert result == expected
}
pub fn test_get_magnet1_force() {
result := sim.params_test_mock_params.get_magnet1_force(sim.params_test_mock_state)
expected := vector(
x: 1310.8545084099674
y: 575.0062553126633
z: -632.5695169850262
)
assert result == expected
}
pub fn test_get_magnet2_force() {
result := sim.params_test_mock_params.get_magnet2_force(sim.params_test_mock_state)
expected := vector(
x: -157.45722976925555
y: 1422.736432604726
z: -632.5695169850264
)
assert result == expected
}
pub fn test_get_magnet3_force() {
result := sim.params_test_mock_params.get_magnet3_force(sim.params_test_mock_state)
expected := vector(
x: -1710.46541088048
y: -2962.612996234165
z: -6871.632889552589
)
assert result == expected
}
pub fn test_get_tension_force() {
result := sim.params_test_mock_params.get_tension_force(sim.params_test_mock_state,
vector(x: 0.0, y: 0.0, z: 0.0))
expected := vector(x: 0.0, y: 0.0, z: 0.0)
assert result == expected
}