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