65 lines
1.7 KiB
V
65 lines
1.7 KiB
V
module sim
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const (
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sim_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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sim_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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)
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pub fn test_satisfy_rope_constraint() {
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mut state := SimState{
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...sim.sim_test_mock_state
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}
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state.satisfy_rope_constraint(sim.sim_test_mock_params)
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assert state.position.x == -0.016957230930171364
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assert state.position.y == -0.02937078552673521
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assert state.position.z == 0.002311063475327252
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assert state.velocity.x == -7.251158929833104
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assert state.velocity.y == -12.559375680227724
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assert state.velocity.z == -105.91539687686381
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assert state.accel.x == -8.337034766251843e-11
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assert state.accel.y == -2.842170943040401e-10
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assert state.accel.z == 1.2126596023639044e-10
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}
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pub fn test_increment() {
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mut state := SimState{
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...sim.sim_test_mock_state
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}
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delta_t := 0.0005
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state.increment(delta_t, sim.sim_test_mock_params)
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assert state.position.x == -0.016957230930171364
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assert state.position.y == -0.02937078552673524
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assert state.position.z == 0.0023110634753272796
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assert state.velocity.x == -7.251158929833044
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assert state.velocity.y == -12.559375680227637
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assert state.velocity.z == -105.9153968768638
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assert state.accel.x == 1.2126596023639044e-10
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assert state.accel.y == 1.7431981783981126e-10
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assert state.accel.z == 3.031649005909761e-11
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}
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