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v/examples/pendulum-simulation/modules/sim/sim_test.v

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1.7 KiB
V

module sim
const (
sim_test_mock_params = SimParams{
rope_length: 0.25
bearing_mass: 0.03
magnet_spacing: 0.05
magnet_height: 0.03
magnet_strength: 10
gravity: 4.9
}
sim_test_mock_state = SimState{
position: vector(
x: -0.016957230930171364
y: -0.02937078552673521
z: 0.002311063475327252
)
velocity: vector(
x: -7.251158929833104
y: -12.559375680227724
z: -105.91539687686381
)
accel: vector(
x: -8.337034766251843e-11
y: -2.842170943040401e-10
z: 1.2126596023639044e-10
)
}
)
pub fn test_satisfy_rope_constraint() {
mut state := SimState{
...sim.sim_test_mock_state
}
state.satisfy_rope_constraint(sim.sim_test_mock_params)
assert state.position.x == -0.016957230930171364
assert state.position.y == -0.02937078552673521
assert state.position.z == 0.002311063475327252
assert state.velocity.x == -7.251158929833104
assert state.velocity.y == -12.559375680227724
assert state.velocity.z == -105.91539687686381
assert state.accel.x == -8.337034766251843e-11
assert state.accel.y == -2.842170943040401e-10
assert state.accel.z == 1.2126596023639044e-10
}
pub fn test_increment() {
mut state := SimState{
...sim.sim_test_mock_state
}
delta_t := 0.0005
state.increment(delta_t, sim.sim_test_mock_params)
assert state.position.x == -0.016957230930171364
assert state.position.y == -0.02937078552673524
assert state.position.z == 0.0023110634753272796
assert state.velocity.x == -7.251158929833044
assert state.velocity.y == -12.559375680227637
assert state.velocity.z == -105.9153968768638
assert state.accel.x == 1.2126596023639044e-10
assert state.accel.y == 1.7431981783981126e-10
assert state.accel.z == 3.031649005909761e-11
}