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61 lines
1.5 KiB
61 lines
1.5 KiB
2 years ago
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#include <catch2/catch.hpp>
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#include <iostream>
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#include <io/read_rb_scene.hpp>
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#include <physics/mass.hpp>
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//-----------------
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// Tests
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//-----------------
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TEST_CASE("Read 2D RB Scene", "[io][json][rigid-body]")
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{
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std::vector<ipc::rigid::RigidBody> rbs;
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using namespace nlohmann;
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auto j = R"({"rigid_bodies": [
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{
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"vertices": [
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[0, 0],
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[2, 0],
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[2, 3],
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[5, 3],
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[5, 5],
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[0, 5]
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],
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"edges": [
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[0, 1],
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[1, 2],
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[2, 3],
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[3, 4],
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[4, 5],
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[5, 0]
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],
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"linear_velocity": [0.0, 0.0],
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"angular_velocity": [0.0]
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}
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]})"_json;
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ipc::rigid::read_rb_scene(j, rbs);
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CHECK(rbs.size() == 1);
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Eigen::MatrixXd positions(6, 2);
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positions << 0, 0, 2, 0, 2, 3, 5, 3, 5, 5, 0, 5;
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CHECK(
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(positions - rbs[0].world_vertices()).squaredNorm()
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== Approx(0.0).margin(1e-12));
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Eigen::MatrixXi edges(6, 2);
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edges << 0, 1, 1, 2, 2, 3, 3, 4, 4, 5, 5, 0;
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CHECK((edges - rbs[0].edges).squaredNorm() == Approx(0.0).margin(1e-12));
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Eigen::Vector3d velocity(3);
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velocity << 0, 0, 0;
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CHECK(
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(velocity - rbs[0].velocity.dof()).squaredNorm()
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== Approx(0.0).margin(1e-12));
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}
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// TODO: Test reading 3D RB scenes
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