vinihcrosaandClaude Sonnet 4.6
3e8e95d544
Implements the 6-DOF rigid body dynamics core: - Types (Vector6, Matrix6x6), Forces, BodyState value type - ForceModel abstract interface (non-const compute, D-09) - Body: mass matrix inversion at construction, friend CvodeIntegrator (D-11) - CvodeIntegrator: BDF integrator via SUNDIALS CVODE 7.x, static rhsCallback - Simulation: orchestrates Body + CvodeIntegrator + ForceModel registry - Math utilities: LinearAlgebra (invert6x6, matVecProduct), AngleUtils, Interpolation - 29 tests, 100% passing (zero-force, constant-force, SHO period, time accumulation) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
63 lines
1.4 KiB
C++
63 lines
1.4 KiB
C++
#include <catch2/catch_test_macros.hpp>
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#include <catch2/matchers/catch_matchers_floating_point.hpp>
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#include <ymir/core/Forces.h>
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using Catch::Matchers::WithinAbs;
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using namespace ymir;
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TEST_CASE("Forces default constructed to zero", "[forces]")
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{
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Forces f;
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for (int i = 0; i < 6; ++i)
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REQUIRE_THAT(f.f[i], WithinAbs(0.0, 1e-15));
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}
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TEST_CASE("Forces::zero() returns zeroed forces", "[forces]")
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{
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Forces f = Forces::zero();
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for (int i = 0; i < 6; ++i)
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REQUIRE_THAT(f.f[i], WithinAbs(0.0, 1e-15));
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}
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TEST_CASE("Forces operator+", "[forces]")
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{
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Forces a, b;
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a.f[0] = 100.0;
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a.f[5] = 50.0;
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b.f[0] = 200.0;
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b.f[3] = -10.0;
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Forces c = a + b;
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REQUIRE_THAT(c.f[0], WithinAbs(300.0, 1e-12));
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REQUIRE_THAT(c.f[3], WithinAbs(-10.0, 1e-12));
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REQUIRE_THAT(c.f[5], WithinAbs(50.0, 1e-12));
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}
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TEST_CASE("Forces operator+=", "[forces]")
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{
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Forces a, b;
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a.f[1] = 10.0;
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b.f[1] = 5.0;
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a += b;
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REQUIRE_THAT(a.f[1], WithinAbs(15.0, 1e-12));
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}
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TEST_CASE("Forces operator-", "[forces]")
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{
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Forces a, b;
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a.f[2] = 30.0;
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b.f[2] = 10.0;
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Forces c = a - b;
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REQUIRE_THAT(c.f[2], WithinAbs(20.0, 1e-12));
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}
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TEST_CASE("Forces operator* scalar", "[forces]")
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{
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Forces a;
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a.f[0] = 100.0;
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Forces b = a * 3.0;
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REQUIRE_THAT(b.f[0], WithinAbs(300.0, 1e-12));
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REQUIRE_THAT(a.f[0], WithinAbs(100.0, 1e-12)); // original unchanged
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}
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