public void Integration1()
{
RotationalFrame frame = new RotationalFrame();
Quaternion initOrient = new Quaternion();
frame.SetOrientation(initOrient);
Vector3 initV = new Vector3(0, 0, 0);
frame.SetAngularVelocity(initV);
Vector3 torque = new Vector3(0, 0, 0);
frame.SetInitialTorque(torque);
// Integrate for 10 seconds
for (int i = 0; i < 1000; i++)
{
frame.IntegrateStep1(0.01f);
torque.Set(0, 1, 0);
torque = torque - frame.GetAngularVelocity() * 10.0f;
frame.ApplyTorque(torque);
frame.IntegrateStep2(0.01f);
}
Assert.AreEqual(frame.GetAngularVelocity()[1], 0.1f, 0.0001f);
}
public void Integration2()
{
RotationalFrame frame = new RotationalFrame();
Quaternion initOrient = new Quaternion();
frame.SetOrientation(initOrient);
Vector3 initV = new Vector3(0, 0, 0);
frame.SetAngularVelocity(initV);
Vector3 torque = new Vector3(0, 1, 0);
frame.SetInitialTorque(torque);
Matrix3x3 inertia = new Matrix3x3();
inertia.Scale(0.1f);
frame.SetInertia(inertia);
// Integrate for 10 seconds
for (int i = 0; i < 1000; i++)
{
frame.IntegrateStep1(0.01f);
frame.ApplyTorque(torque);
frame.IntegrateStep2(0.01f);
}
Assert.AreEqual(frame.GetAngularVelocity()[1], 100.0f, 0.002f); // TODO: 0.0001f
}
