vinihcrosa
408738d3f0
- Implemented comprehensive unit tests for the NavalSimulation class, covering N-body state independence, vessel control updates, and integration with maneuver systems. - Created tests for the CouplingRegistry to validate force consumption and resolution behavior. - Developed tests for the Environment and NavalEnvironment classes to ensure proper state management and functionality. - Added tests for the IDomain interface to verify compliance with expected behaviors and constraints. - Established tests for the World class to confirm domain management, time accumulation, and snapshot integrity.
84 lines
2.1 KiB
C++
84 lines
2.1 KiB
C++
#include <catch2/catch_test_macros.hpp>
|
|
#include <catch2/catch_approx.hpp>
|
|
|
|
#include <ymir/vessel/NavalContext.h>
|
|
#include <ymir/world/Environment.h>
|
|
#pragma clang diagnostic push
|
|
#pragma clang diagnostic ignored "-Wdeprecated-declarations"
|
|
#include <ymir/simulation/NavalSimulation.h>
|
|
#pragma clang diagnostic pop
|
|
#include <ymir/common/PhysicalConstants.h>
|
|
#include <ymir/physics/RigidBody6DOF.h>
|
|
#include <ymir/common/Types.h>
|
|
|
|
#include <memory>
|
|
|
|
using Catch::Approx;
|
|
using namespace ymir::naval;
|
|
|
|
static std::unique_ptr<ymir::RigidBody6DOF> makeTestBody(const ymir::CvodeConfig& cfg = {})
|
|
{
|
|
ymir::Matrix6x6 mass{};
|
|
for (int i = 0; i < 6; ++i) mass[i][i] = 1000.0;
|
|
|
|
ymir::Matrix6x6 added{};
|
|
ymir::Vector6 q{};
|
|
ymir::Vector6 qdot{};
|
|
|
|
return std::make_unique<ymir::RigidBody6DOF>(0, mass, added, q, qdot, cfg);
|
|
}
|
|
|
|
TEST_CASE("NavalContext default construction")
|
|
{
|
|
NavalContext ctx{};
|
|
REQUIRE(ctx.waterDepth == Approx(100.0));
|
|
REQUIRE(ctx.tide == Approx(0.0));
|
|
for (int i = 0; i < 6; ++i)
|
|
{
|
|
REQUIRE(ctx.speedToWater[i] == Approx(0.0));
|
|
REQUIRE(ctx.speedToWind[i] == Approx(0.0));
|
|
REQUIRE(ctx.q_avg[i] == Approx(0.0));
|
|
}
|
|
}
|
|
|
|
TEST_CASE("PhysicalConstants values")
|
|
{
|
|
REQUIRE(g == Approx(9.81));
|
|
REQUIRE(rho_water == Approx(1025.0));
|
|
REQUIRE(rho_air == Approx(1.225));
|
|
}
|
|
|
|
TEST_CASE("NavalEnvironment default values")
|
|
{
|
|
ymir::Environment env{};
|
|
REQUIRE(env.currentSpeed() == Approx(0.0));
|
|
REQUIRE(env.windSpeed() == Approx(0.0));
|
|
REQUIRE(env.waterDepth() == Approx(100.0));
|
|
REQUIRE(env.tide() == Approx(0.0));
|
|
}
|
|
|
|
TEST_CASE("NavalSimulation constructs without crash")
|
|
{
|
|
ymir::CvodeConfig cfg{};
|
|
cfg.reltol = 1e-6;
|
|
cfg.abstol = 1e-9;
|
|
|
|
NavalSimulation sim;
|
|
sim.addBody(0, makeTestBody(cfg));
|
|
sim.initialize();
|
|
REQUIRE(sim.time() == Approx(0.0));
|
|
}
|
|
|
|
TEST_CASE("NavalSimulation step advances time")
|
|
{
|
|
ymir::CvodeConfig cfg{};
|
|
cfg.reltol = 1e-6;
|
|
cfg.abstol = 1e-9;
|
|
|
|
NavalSimulation sim;
|
|
sim.addBody(0, makeTestBody(cfg));
|
|
sim.initialize();
|
|
sim.step(0.1);
|
|
REQUIRE(sim.time() == Approx(0.1).margin(1e-10));
|
|
}
|