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.
114 lines
3.0 KiB
C++
114 lines
3.0 KiB
C++
#include <catch2/catch_test_macros.hpp>
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#include <catch2/catch_approx.hpp>
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#include <ymir/simulation/CouplingForceModel.h>
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using Catch::Approx;
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static ymir::naval::NavalContext makeDummyContext()
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{
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return ymir::naval::NavalContext{};
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}
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static ymir::BodyState makeDummyState()
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{
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return ymir::BodyState{};
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}
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static ymir::Forces makeForces(double surge, double sway = 0.0,
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double heave = 0.0, double roll = 0.0,
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double pitch = 0.0, double yaw = 0.0)
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{
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ymir::Forces f{};
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f.f[0] = surge; f.f[1] = sway; f.f[2] = heave;
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f.f[3] = roll; f.f[4] = pitch; f.f[5] = yaw;
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return f;
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}
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static void requireForcesApproxEqual(const ymir::Forces& a, const ymir::Forces& b)
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{
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for (int i = 0; i < 6; ++i)
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REQUIRE(a.f[i] == Approx(b.f[i]));
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}
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static void requireForcesApproxZero(const ymir::Forces& f)
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{
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requireForcesApproxEqual(f, ymir::Forces::zero());
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}
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TEST_CASE("CouplingForceModel: compute returns Forces::zero when no force written to registry")
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{
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ymir::CouplingRegistry reg;
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reg.addLink(1, 0);
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ymir::CouplingForceModel model(0, reg);
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auto ctx = makeDummyContext();
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model.bindContext(&ctx);
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requireForcesApproxZero(model.compute(makeDummyState()));
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}
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TEST_CASE("CouplingForceModel: compute returns resolved force after writeForce + resolve")
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{
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ymir::CouplingRegistry reg;
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reg.addLink(1, 0);
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const ymir::Forces F = makeForces(100.0, 50.0, -10.0);
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reg.writeForce(1, F);
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reg.resolve();
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ymir::CouplingForceModel model(0, reg);
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auto ctx = makeDummyContext();
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model.bindContext(&ctx);
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requireForcesApproxEqual(model.compute(makeDummyState()), F);
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}
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TEST_CASE("CouplingForceModel: Jacobi invariant — reset without new writeForce retains previous force")
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{
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ymir::CouplingRegistry reg;
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reg.addLink(1, 0);
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const ymir::Forces F = makeForces(200.0);
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reg.writeForce(1, F);
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reg.resolve();
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reg.reset();
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reg.resolve(); // no writeForce this tick
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ymir::CouplingForceModel model(0, reg);
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auto ctx = makeDummyContext();
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model.bindContext(&ctx);
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requireForcesApproxEqual(model.compute(makeDummyState()), F);
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}
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TEST_CASE("CouplingForceModel: name() returns CouplingForceModel")
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{
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ymir::CouplingRegistry reg;
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ymir::CouplingForceModel model(0, reg);
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REQUIRE(model.name() == "CouplingForceModel");
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}
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TEST_CASE("CouplingForceModel: multiple instances on same registry return independent forces")
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{
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ymir::CouplingRegistry reg;
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reg.addLink(1, 0);
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reg.addLink(2, 3);
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const ymir::Forces FA = makeForces(100.0);
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const ymir::Forces FB = makeForces(0.0, 200.0);
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reg.writeForce(1, FA);
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reg.writeForce(2, FB);
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reg.resolve();
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ymir::CouplingForceModel model0(0, reg);
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ymir::CouplingForceModel model3(3, reg);
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auto ctx = makeDummyContext();
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model0.bindContext(&ctx);
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model3.bindContext(&ctx);
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requireForcesApproxEqual(model0.compute(makeDummyState()), FA);
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requireForcesApproxEqual(model3.compute(makeDummyState()), FB);
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}
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