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UncoupledConstraintCorrection_test.cpp
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UncoupledConstraintCorrection_test.cpp
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/******************************************************************************
* SOFA, Simulation Open-Framework Architecture *
* (c) 2006 INRIA, USTL, UJF, CNRS, MGH *
* *
* This program is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by *
* the Free Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. *
* *
* This program is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this program. If not, see <http://www.gnu.org/licenses/>. *
*******************************************************************************
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#include <sofa/testing/BaseSimulationTest.h>
using sofa::testing::BaseSimulationTest;
#include <SofaSimulationGraph/SimpleApi.h>
#include <sofa/simulation/DeleteVisitor.h>
#include <sofa/simulation/CleanupVisitor.h>
using namespace sofa::simulation;
namespace
{
/** Test the UncoupledConstraintCorrection class */
struct UncoupledConstraintCorrection_test: public BaseSimulationTest
{
/// create a component and replace it with an other one
void objectRemovalThenStep()
{
SceneInstance sceneinstance("xml",
"<Node>\n"
" <RequiredPlugin name='Sofa.Component'/>"
" <RequiredPlugin name='Sofa.Component.Collision.Geometry'/>"
" <RequiredPlugin name='Sofa.Component.Collision.Detection.Intersection'/>"
" <RequiredPlugin name='Sofa.Component.Collision.Response.Contact'/>"
" <LCPConstraintSolver maxIt='1000' tolerance='0.001' />\n"
" <FreeMotionAnimationLoop />\n"
" <Node name='collision'>\n"
" <MechanicalObject />\n"
" <UncoupledConstraintCorrection useOdeSolverIntegrationFactors='0' />\n"
" </Node>\n"
"</Node>\n"
);
sceneinstance.initScene();
/// removal
sofa::core::sptr<sofa::simulation::Node> nodeToRemove = sceneinstance.root->getChild("collision");
ASSERT_NE(nodeToRemove.get(), nullptr);
nodeToRemove->detachFromGraph();
nodeToRemove->execute<sofa::simulation::CleanupVisitor>(sofa::core::execparams::defaultInstance());
nodeToRemove->execute<sofa::simulation::DeleteVisitor>(sofa::core::execparams::defaultInstance());
sceneinstance.simulate(0.04);
}
};
/// run the tests
TEST_F( UncoupledConstraintCorrection_test,objectRemovalThenStep)
{
EXPECT_MSG_NOEMIT(Error) ;
objectRemovalThenStep();
}
}/// namespace sofa