public void MotionVelocityCalculateExpansionTest()
{
// Test values.
var initialLinearVelocity = new float2(3.0f, 4.0f);
var initialAngularVelocity = 4.0f;
var inverseMass = 0.5f;
var inverseInertia = 2.0f;
var angularExpansionFactor = 1.2f;
var timeStep = 1.0f / 60.0f;
// Expectations.
var expectedLinear = initialLinearVelocity * timeStep;
var expectedUniform = math.min(math.length(initialAngularVelocity) * timeStep, (float)math.PI / 2.0f) * angularExpansionFactor;
var motionVelocity = new PhysicsBody.MotionVelocity()
{
LinearVelocity = initialLinearVelocity,
AngularVelocity = initialAngularVelocity,
InverseMass = inverseMass,
InverseInertia = inverseInertia,
AngularExpansionFactor = angularExpansionFactor
};
var motionExpansion = motionVelocity.CalculateExpansion(timeStep);
Assert.AreEqual(expectedLinear, motionExpansion.Linear);
Assert.AreEqual(expectedUniform, motionExpansion.Uniform);
}
public void MotionVelocityApplyAngularImpulseTest()
{
// Test values.
var initialAngularVelocity = 4.0f;
var inverseInertia = 2.0f;
var impulse = 5.0f;
// Expectations.
var expectedAngularVelocity = initialAngularVelocity + impulse * inverseInertia;
var motionVelocity = new PhysicsBody.MotionVelocity()
{
AngularVelocity = initialAngularVelocity,
InverseInertia = inverseInertia
};
motionVelocity.ApplyAngularImpulse(impulse);
Assert.AreEqual(expectedAngularVelocity, motionVelocity.AngularVelocity);
}
public void MotionVelocityApplyLinearImpulseTest()
{
// Test values.
var initialLinearVelocity = new float2(3.0f, 4.0f);
var inverseMass = 0.5f;
var impulse = new float2(2.0f, 3.0f);
// Expectations.
var expectedLinearVelocity = initialLinearVelocity + impulse * inverseMass;
var motionVelocity = new PhysicsBody.MotionVelocity()
{
LinearVelocity = initialLinearVelocity,
InverseMass = inverseMass
};
motionVelocity.ApplyLinearImpulse(impulse);
Assert.AreEqual(expectedLinearVelocity, motionVelocity.LinearVelocity);
}
