public void BuildTest()
{
var jacobian = new LinearLimitJacobian();
var aFromConstraint = MTransform.Identity;
var bFromConstraint = MTransform.Identity;
var velocityA = MotionVelocity.Zero;
var velocityB = MotionVelocity.Zero;
var motionA = MotionData.Zero;
var motionB = MotionData.Zero;
var constraint = new Constraint()
{
ConstrainedAxes = new bool3(true, true, true)
};
var tau = 1.0f;
var damping = 1.0f;
jacobian.Build(aFromConstraint, bFromConstraint, velocityA, velocityB, motionA, motionB, constraint, tau, damping);
Assert.AreEqual(RigidTransform.identity, jacobian.WorldFromA);
Assert.AreEqual(RigidTransform.identity, jacobian.WorldFromB);
Assert.AreEqual(float3.zero, jacobian.PivotAinA);
Assert.AreEqual(float3.zero, jacobian.PivotBinB);
Assert.AreEqual(float3.zero, jacobian.AxisInB);
Assert.IsFalse(jacobian.Is1D);
Assert.AreEqual(0.0f, jacobian.MinDistance);
Assert.AreEqual(0.0f, jacobian.MaxDistance);
Assert.AreEqual(1.0f, jacobian.Tau);
Assert.AreEqual(1.0f, jacobian.Damping);
Assert.AreEqual(0.0f, jacobian.InitialError);
}
public void SolveTest()
{
var jacobian = new LinearLimitJacobian()
{
WorldFromA = RigidTransform.identity, WorldFromB = RigidTransform.identity
};
var velocityA = MotionVelocity.Zero;
var velocityB = MotionVelocity.Zero;
var timestep = 1.0f;
jacobian.Solve(ref velocityA, ref velocityB, timestep);
Assert.AreEqual(MotionVelocity.Zero, velocityA);
Assert.AreEqual(MotionVelocity.Zero, velocityB);
}