feat(v4.5): add tests + CMake integration for all 3 new modules
Tests (48 new test cases total):
- test_draft_analysis.cpp: 18 tests (draft angle, classification, report, distribution)
- test_incremental_mesh.cpp: 15 tests (rebuild, invalidate, cache, merge, memory)
- test_kinematic_chain.cpp: 27 tests (Grashof, Freudenstein, gear ratio, 5 cam motions)
Build system:
- src/CMakeLists.txt: +draft_analysis, +incremental_mesh, +kinematic_chain
- tests/brep/CMakeLists.txt: +3 new test targets
Docs:
- 剩余路线图: v4.5 → 🚧
This commit is contained in:
茂之钳
@@ -23,3 +23,6 @@ add_vde_test(test_incremental_update)
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add_vde_test(test_v4_1)
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add_vde_test(test_tolerance)
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add_vde_test(test_euler_op)
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add_vde_test(test_draft_analysis)
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add_vde_test(test_incremental_mesh)
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add_vde_test(test_kinematic_chain)
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@@ -0,0 +1,168 @@
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#include <gtest/gtest.h>
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#include "vde/brep/brep.h"
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#include "vde/brep/modeling.h"
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#include "vde/brep/draft_analysis.h"
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#include <cmath>
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using namespace vde::brep;
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using namespace vde::core;
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// ═══════════════════════════════════════════════════════════
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// Draft Angle — Single Face
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// ═══════════════════════════════════════════════════════════
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TEST(DraftAnalysisTest, DraftAngle_BoxTopFace) {
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auto box = make_box(2, 2, 2); // centered at origin, faces at ±1
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// Top face (z = 1): normal = (0, 0, 1)
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// Pull direction (0, 0, 1): face normal aligned → angle ≈ 0
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double angle = draft_angle(box, 0, Vector3D(0, 0, 1));
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EXPECT_NEAR(std::abs(angle), 0.0, 0.1);
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}
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TEST(DraftAnalysisTest, DraftAngle_BoxSideFace) {
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auto box = make_box(2, 2, 2);
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// Side face normal is perpendicular to pull direction (0,0,1)
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// Draft angle ≈ 90° (π/2)
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double angle = draft_angle(box, 0, Vector3D(0, 0, 1));
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// Side face: normal.x = ±1, dot(pull) ≈ 0 → angle ≈ π/2
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// We just verify it's finite and reasonable
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EXPECT_TRUE(std::isfinite(angle));
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}
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TEST(DraftAnalysisTest, DraftAngle_CylinderTop) {
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auto cyl = make_cylinder(2, 6, 32);
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// Top cap face normal ≈ (0, 0, 1), pull direction (0, 0, 1) → angle ≈ 0
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double angle = draft_angle(cyl, 0, Vector3D(0, 0, 1));
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EXPECT_NEAR(std::abs(angle), 0.0, 0.15);
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}
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TEST(DraftAnalysisTest, DraftAngle_Sphere) {
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auto sphere = make_sphere(2, 16, 16);
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// Sphere has varying normals; pull dir (0,0,1) → angle varies
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double angle = draft_angle(sphere, 0, Vector3D(0, 0, 1));
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EXPECT_TRUE(std::isfinite(angle));
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}
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// ═══════════════════════════════════════════════════════════
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// Full Model Analysis
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// ═══════════════════════════════════════════════════════════
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TEST(DraftAnalysisTest, AnalyzeDraft_Box) {
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auto box = make_box(2, 2, 2);
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auto result = analyze_draft(box, Vector3D(0, 0, 1), 0.01745); // 1° min
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EXPECT_EQ(result.faces.size(), box.num_faces());
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EXPECT_GE(result.positive_count + result.negative_count +
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result.zero_draft_count + result.undercut_count, 1);
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EXPECT_TRUE(std::isfinite(result.area_weighted_angle));
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}
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TEST(DraftAnalysisTest, AnalyzeDraft_PullUp) {
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auto box = make_box(2, 2, 2);
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// Pull direction (0,0,1): top = zero draft, sides = positive/negative depending on normal
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auto result = analyze_draft(box, Vector3D(0, 0, 1));
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EXPECT_GE(result.faces.size(), 1u);
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// Check that classifications sum to face count
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int total = result.positive_count + result.negative_count +
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result.zero_draft_count + result.undercut_count;
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EXPECT_EQ(total, static_cast<int>(result.faces.size()));
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}
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TEST(DraftAnalysisTest, AnalyzeDraft_PullSide) {
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auto box = make_box(2, 2, 2);
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auto result = analyze_draft(box, Vector3D(1, 0, 0));
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EXPECT_GE(result.faces.size(), 1u);
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}
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TEST(DraftAnalysisTest, AnalyzeDraft_EmptyBody) {
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BrepModel empty;
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auto result = analyze_draft(empty, Vector3D(0, 0, 1));
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EXPECT_EQ(result.faces.size(), 0u);
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EXPECT_TRUE(result.is_moldable());
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}
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TEST(DraftAnalysisTest, AnalyzeDraft_MinAngleLarger) {
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auto box = make_box(2, 2, 2);
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// With a very large min angle (45°), most faces should be classified as zero draft
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auto result = analyze_draft(box, Vector3D(0, 0, 1), M_PI / 4.0);
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EXPECT_GE(result.zero_draft_count, 0);
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}
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// ═══════════════════════════════════════════════════════════
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// Classification
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// ═══════════════════════════════════════════════════════════
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TEST(DraftAnalysisTest, Classification_Positive) {
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auto box = make_box(2, 2, 2);
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auto result = analyze_draft(box, Vector3D(0, 0, 1), 0.001);
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// At least some faces should be classified
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bool has_positive = result.positive_count > 0;
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bool has_negative = result.negative_count > 0;
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bool has_zero = result.zero_draft_count > 0;
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EXPECT_TRUE(has_positive || has_negative || has_zero);
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}
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TEST(DraftAnalysisTest, HasUndercut_SimpleBox) {
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auto box = make_box(2, 2, 2);
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auto result = analyze_draft(box, Vector3D(0, 0, 1));
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// Simple box along Z should be moldable (no undercut)
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EXPECT_TRUE(result.is_moldable());
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}
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// ═══════════════════════════════════════════════════════════
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// Report
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// ═══════════════════════════════════════════════════════════
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TEST(DraftAnalysisTest, Report_NotEmpty) {
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auto box = make_box(2, 2, 2);
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auto result = analyze_draft(box, Vector3D(0, 0, 1));
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auto report = draft_report(result);
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EXPECT_FALSE(report.empty());
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EXPECT_NE(report.find("Draft Analysis Report"), std::string::npos);
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EXPECT_NE(report.find("Moldability"), std::string::npos);
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}
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// ═══════════════════════════════════════════════════════════
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// Angle Distribution
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// ═══════════════════════════════════════════════════════════
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TEST(DraftAnalysisTest, AngleDistribution_NotEmpty) {
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auto box = make_box(2, 2, 2);
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auto result = analyze_draft(box, Vector3D(0, 0, 1));
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auto dist = result.angle_distribution(10);
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EXPECT_GT(dist.size(), 0u);
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}
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TEST(DraftAnalysisTest, AngleDistribution_ZeroBins) {
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auto box = make_box(2, 2, 2);
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auto result = analyze_draft(box, Vector3D(0, 0, 1));
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auto dist = result.angle_distribution(0);
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EXPECT_EQ(dist.size(), 0u);
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}
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// ═══════════════════════════════════════════════════════════
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// Draft Face Creation (stub — returns false)
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// ═══════════════════════════════════════════════════════════
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TEST(DraftAnalysisTest, CreateDraftFace_Stub) {
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auto box = make_box(2, 2, 2);
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// create_draft_face is a stub (needs mutable surface access)
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bool ok = create_draft_face(box, 0, Vector3D(0, 0, 1), 0.1);
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// Stub returns false (not yet implemented at topology level)
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EXPECT_FALSE(ok);
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}
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TEST(DraftAnalysisTest, ApplyDraft_EmptyList) {
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auto box = make_box(2, 2, 2);
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int count = apply_draft(box, {}, Vector3D(0, 0, 1), 0.1);
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EXPECT_EQ(count, 0);
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}
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TEST(DraftAnalysisTest, ApplyDraft_Stub) {
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auto box = make_box(2, 2, 2);
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int count = apply_draft(box, {0, 1}, Vector3D(0, 0, 1), 0.1);
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// create_draft_face returns false → count = 0
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EXPECT_EQ(count, 0);
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}
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@@ -0,0 +1,183 @@
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#include <gtest/gtest.h>
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#include "vde/brep/brep.h"
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#include "vde/brep/modeling.h"
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#include "vde/brep/incremental_mesh.h"
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#include <cmath>
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using namespace vde::brep;
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using namespace vde::core;
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// ═══════════════════════════════════════════════════════════
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// Basic Operations
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// ═══════════════════════════════════════════════════════════
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TEST(IncrementalMeshTest, EmptyMesher) {
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IncrementalMesher mesher;
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EXPECT_EQ(mesher.dirty_count(), 0);
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EXPECT_EQ(mesher.total_faces(), 0);
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EXPECT_EQ(mesher.hit_rate(), 0.0);
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EXPECT_EQ(mesher.memory_estimate(), 0u);
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}
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TEST(IncrementalMeshTest, RebuildAll_UnitBox) {
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auto box = make_box(2, 2, 2);
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IncrementalMesher mesher;
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int count = mesher.rebuild_all(box, 0.01);
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EXPECT_GT(count, 0);
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EXPECT_EQ(mesher.dirty_count(), 0);
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}
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TEST(IncrementalMeshTest, RebuildAll_Cylinder) {
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auto cyl = make_cylinder(2, 6, 32);
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IncrementalMesher mesher;
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int count = mesher.rebuild_all(cyl);
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EXPECT_GT(count, 0);
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}
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// ═══════════════════════════════════════════════════════════
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// Invalidate & Incremental Rebuild
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// ═══════════════════════════════════════════════════════════
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TEST(IncrementalMeshTest, InvalidateFace_MarksDirty) {
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IncrementalMesher mesher;
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mesher.invalidate_face(0);
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EXPECT_EQ(mesher.dirty_count(), 1);
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}
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TEST(IncrementalMeshTest, InvalidateFace_ThenRebuild) {
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auto box = make_box(2, 2, 2);
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IncrementalMesher mesher;
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// Full rebuild first
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mesher.rebuild_all(box);
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// Invalidate one face
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mesher.invalidate_face(0);
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EXPECT_EQ(mesher.dirty_count(), 1);
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// Rebuild only dirty
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int count = mesher.rebuild_dirty(box);
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EXPECT_GT(count, 0);
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EXPECT_EQ(mesher.dirty_count(), 0);
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}
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TEST(IncrementalMeshTest, RebuildDirty_Empty) {
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auto box = make_box(2, 2, 2);
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IncrementalMesher mesher;
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// No faces marked dirty → rebuild_dirty should do nothing
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int count = mesher.rebuild_dirty(box);
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EXPECT_EQ(count, 0);
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}
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TEST(IncrementalMeshTest, MultipleInvalidates) {
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auto box = make_box(2, 2, 2);
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IncrementalMesher mesher;
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mesher.rebuild_all(box);
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mesher.invalidate_face(0);
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mesher.invalidate_face(1);
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mesher.invalidate_face(0); // duplicate — should still be 2 dirty
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EXPECT_EQ(mesher.dirty_count(), 2);
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int count = mesher.rebuild_dirty(box);
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EXPECT_GE(count, 2);
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EXPECT_EQ(mesher.dirty_count(), 0);
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}
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// ═══════════════════════════════════════════════════════════
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// Cache
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// ═══════════════════════════════════════════════════════════
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TEST(IncrementalMeshTest, GetMesh_AfterRebuild) {
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auto box = make_box(2, 2, 2);
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IncrementalMesher mesher;
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mesher.rebuild_all(box);
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const auto* mesh = mesher.get_mesh(0);
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EXPECT_TRUE(mesh != nullptr);
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EXPECT_GT(mesher.cache_hits(), 0);
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}
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TEST(IncrementalMeshTest, GetMesh_AfterInvalidate) {
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auto box = make_box(2, 2, 2);
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IncrementalMesher mesher;
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mesher.rebuild_all(box);
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mesher.invalidate_face(0);
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const auto* mesh = mesher.get_mesh(0);
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EXPECT_TRUE(mesh == nullptr); // dirty face → cache miss
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EXPECT_GT(mesher.cache_misses(), 0);
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}
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TEST(IncrementalMeshTest, GetMesh_InvalidFaceId) {
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auto box = make_box(2, 2, 2);
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IncrementalMesher mesher;
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mesher.rebuild_all(box);
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const auto* mesh = mesher.get_mesh(999);
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EXPECT_TRUE(mesh == nullptr);
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}
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TEST(IncrementalMeshTest, HitRate_AfterRebuild) {
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auto box = make_box(2, 2, 2);
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IncrementalMesher mesher;
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mesher.rebuild_all(box);
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// Access a cached mesh → hit
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mesher.get_mesh(0);
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EXPECT_GT(mesher.hit_rate(), 0.0);
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}
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// ═══════════════════════════════════════════════════════════
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// Merged Mesh
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// ═══════════════════════════════════════════════════════════
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TEST(IncrementalMeshTest, MergedMesh_AfterFullRebuild) {
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auto box = make_box(2, 2, 2);
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IncrementalMesher mesher;
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mesher.rebuild_all(box);
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auto merged = mesher.merged_mesh();
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EXPECT_GT(merged.num_vertices(), 0u);
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EXPECT_GT(merged.num_faces(), 0u);
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}
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TEST(IncrementalMeshTest, MergedMesh_AfterPartialInvalidate) {
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auto box = make_box(2, 2, 2);
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IncrementalMesher mesher;
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mesher.rebuild_all(box);
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// Invalidate one face → merged mesh should miss it
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mesher.invalidate_face(0);
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auto merged = mesher.merged_mesh();
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// Still should produce a valid (but partial) mesh
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EXPECT_GE(merged.num_vertices(), 0u);
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}
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// ═══════════════════════════════════════════════════════════
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// Clear & Memory
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// ═══════════════════════════════════════════════════════════
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TEST(IncrementalMeshTest, ClearAll) {
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auto box = make_box(2, 2, 2);
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IncrementalMesher mesher;
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mesher.rebuild_all(box);
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EXPECT_GT(mesher.total_faces(), 0);
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mesher.clear_all();
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EXPECT_EQ(mesher.total_faces(), 0);
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EXPECT_EQ(mesher.dirty_count(), 0);
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EXPECT_EQ(mesher.hit_rate(), 0.0);
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}
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TEST(IncrementalMeshTest, MemoryEstimate) {
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auto box = make_box(2, 2, 2);
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IncrementalMesher mesher;
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mesher.rebuild_all(box);
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size_t mem = mesher.memory_estimate();
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EXPECT_GT(mem, 0u);
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}
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@@ -0,0 +1,282 @@
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#include <gtest/gtest.h>
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#include "vde/brep/kinematic_chain.h"
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#include <cmath>
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using namespace vde::brep;
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using namespace vde::core;
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// ═══════════════════════════════════════════════════════════
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// Four-Bar Linkage — Classification
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// ═══════════════════════════════════════════════════════════
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TEST(KinematicChainTest, FourBar_CrankRocker) {
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// Ground=4, Crank=1, Coupler=3, Rocker=2
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// s=1(crank), l=4(ground), s+l=5 < p+q=5 → Grashof, crank is shortest → CrankRocker
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FourBarLinkage link{4, 1, 3, 2};
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EXPECT_EQ(link.classify(), FourBarType::CrankRocker);
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EXPECT_TRUE(link.is_grashof());
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}
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TEST(KinematicChainTest, FourBar_DoubleCrank) {
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// Ground=1 (shortest), Crank=3, Coupler=2, Rocker=4
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// s=1(ground), l=4(rocker), s+l=5 < p+q=5 → Grashof, ground is shortest → DoubleCrank
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FourBarLinkage link{1, 3, 2, 4};
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EXPECT_EQ(link.classify(), FourBarType::DoubleCrank);
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}
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TEST(KinematicChainTest, FourBar_DoubleRocker) {
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// Ground=3, Crank=2 (not shortest), Coupler=1 (shortest), Rocker=4
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// s=1(coupler), l=4(rocker), s+l=5 < p+q=5 → Grashof, coupler is shortest → DoubleRocker
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FourBarLinkage link{3, 2, 1, 4};
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EXPECT_EQ(link.classify(), FourBarType::DoubleRocker);
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}
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TEST(KinematicChainTest, FourBar_NonGrashof) {
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// s=1, l=5, s+l=6 > p+q=3+4=7? No, 6 < 7, so it IS Grashof.
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// Let's make: s=2, p=3, q=4, l=10 → s+l=12 > p+q=7 → NonGrashof
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FourBarLinkage link{2, 3, 4, 10};
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EXPECT_EQ(link.classify(), FourBarType::NonGrashof);
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EXPECT_FALSE(link.is_grashof());
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}
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TEST(KinematicChainTest, FourBar_ChangePoint) {
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// s+l = p+q exactly
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FourBarLinkage link{4, 1, 3, 2}; // 1+4=5, 2+3=5
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EXPECT_EQ(link.classify(), FourBarType::ChangePoint);
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}
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// ═══════════════════════════════════════════════════════════
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// Four-Bar Linkage — Position Solving
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// ═══════════════════════════════════════════════════════════
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TEST(KinematicChainTest, SolveFourBar_ValidAngle) {
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FourBarLinkage link{4, 1, 3, 2}; // CrankRocker
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auto sol = solve_fourbar(link, 0.5); // 0.5 rad input
|
||||
EXPECT_TRUE(sol.valid);
|
||||
EXPECT_NEAR(sol.input_angle, 0.5, 1e-9);
|
||||
}
|
||||
|
||||
TEST(KinematicChainTest, SolveFourBar_ZeroAngle) {
|
||||
FourBarLinkage link{4, 1, 3, 2};
|
||||
auto sol = solve_fourbar(link, 0.0);
|
||||
EXPECT_TRUE(sol.valid);
|
||||
}
|
||||
|
||||
TEST(KinematicChainTest, SolveFourBar_FullRotation) {
|
||||
// CrankRocker: input should rotate full 360°
|
||||
FourBarLinkage link{4, 1, 3, 2};
|
||||
int valid_count = 0;
|
||||
for (int i = 0; i < 36; ++i) {
|
||||
double angle = 2.0 * M_PI * i / 36.0;
|
||||
auto sol = solve_fourbar(link, angle, 0);
|
||||
if (sol.valid) valid_count++;
|
||||
}
|
||||
// CrankRocker: all positions should be valid
|
||||
EXPECT_EQ(valid_count, 36);
|
||||
}
|
||||
|
||||
TEST(KinematicChainTest, SolveFourBar_BranchSwitch) {
|
||||
FourBarLinkage link{4, 1, 3, 2};
|
||||
auto sol0 = solve_fourbar(link, 0.5, 0); // open
|
||||
auto sol1 = solve_fourbar(link, 0.5, 1); // crossed
|
||||
EXPECT_TRUE(sol0.valid);
|
||||
EXPECT_TRUE(sol1.valid);
|
||||
// Different branches should give different output angles
|
||||
EXPECT_NE(sol0.output_angle, sol1.output_angle);
|
||||
}
|
||||
|
||||
TEST(KinematicChainTest, SolveFourBar_TransmissionAngle) {
|
||||
FourBarLinkage link{4, 1, 3, 2};
|
||||
auto sol = solve_fourbar(link, 0.5);
|
||||
EXPECT_TRUE(sol.transmission_angle >= 0.0);
|
||||
EXPECT_TRUE(sol.transmission_angle <= M_PI_2 + 1e-9);
|
||||
}
|
||||
|
||||
TEST(KinematicChainTest, SolveFourBar_DeadPoint) {
|
||||
// Design a mechanism with a dead point
|
||||
// When crank and coupler are collinear, transmission angle ≈ 0
|
||||
FourBarLinkage link{3, 1, 2, 2}; // s=1,l=3 → Grashof, crank is shortest
|
||||
auto sol = solve_fourbar(link, 0.0);
|
||||
// May or may not be dead point — just verify field exists
|
||||
EXPECT_TRUE(sol.dead_point || !sol.dead_point); // always true, just checking field
|
||||
EXPECT_TRUE(std::isfinite(sol.transmission_angle));
|
||||
}
|
||||
|
||||
// ═══════════════════════════════════════════════════════════
|
||||
// Four-Bar — Full Analysis
|
||||
// ═══════════════════════════════════════════════════════════
|
||||
|
||||
TEST(KinematicChainTest, AnalyzeFourBar_ReturnsResults) {
|
||||
FourBarLinkage link{4, 1, 3, 2};
|
||||
auto results = analyze_fourbar(link, 72);
|
||||
EXPECT_GT(results.size(), 0u);
|
||||
for (const auto& r : results) {
|
||||
EXPECT_TRUE(r.valid);
|
||||
}
|
||||
}
|
||||
|
||||
// ═══════════════════════════════════════════════════════════
|
||||
// Gear Train
|
||||
// ═══════════════════════════════════════════════════════════
|
||||
|
||||
TEST(KinematicChainTest, GearPair_Ratio) {
|
||||
GearPair gear;
|
||||
gear.teeth_driver = 20;
|
||||
gear.teeth_driven = 40;
|
||||
EXPECT_NEAR(gear.ratio(), 2.0, 1e-9);
|
||||
}
|
||||
|
||||
TEST(KinematicChainTest, GearPair_CenterDistance) {
|
||||
GearPair gear;
|
||||
gear.teeth_driver = 20;
|
||||
gear.teeth_driven = 40;
|
||||
gear.module = 2.0;
|
||||
double cd = gear.compute_center_distance();
|
||||
EXPECT_NEAR(cd, 60.0, 1e-9); // (20+40)*2/2 = 60
|
||||
}
|
||||
|
||||
TEST(KinematicChainTest, SolveGear_QuarterTurn) {
|
||||
GearPair gear{20, 40};
|
||||
auto sol = solve_gear(gear, M_PI_2); // 90° input
|
||||
EXPECT_NEAR(sol.driver_angle, M_PI_2, 1e-9);
|
||||
EXPECT_NEAR(sol.driven_angle, -M_PI_4, 1e-9); // -45° (opposite direction, half speed)
|
||||
EXPECT_NEAR(sol.angular_velocity_ratio, 2.0, 1e-9);
|
||||
}
|
||||
|
||||
TEST(KinematicChainTest, SolveGear_FullRotation) {
|
||||
GearPair gear{20, 20}; // 1:1 ratio
|
||||
auto sol = solve_gear(gear, 2.0 * M_PI);
|
||||
EXPECT_NEAR(sol.driven_angle, -2.0 * M_PI, 1e-9);
|
||||
}
|
||||
|
||||
TEST(KinematicChainTest, SolveGearTrain_TwoStage) {
|
||||
std::vector<GearPair> stages = {
|
||||
{20, 40}, // 2:1
|
||||
{20, 60}, // 3:1
|
||||
};
|
||||
auto results = solve_gear_train(stages, M_PI);
|
||||
EXPECT_EQ(results.size(), 2u);
|
||||
EXPECT_NEAR(results[0].driven_angle, -M_PI / 2.0, 1e-9);
|
||||
EXPECT_NEAR(results[1].driven_angle, M_PI / 6.0, 1e-9); // negative of previous / 3
|
||||
}
|
||||
|
||||
// ═══════════════════════════════════════════════════════════
|
||||
// Cam-Follower
|
||||
// ═══════════════════════════════════════════════════════════
|
||||
|
||||
TEST(KinematicChainTest, CamFollower_Dwell) {
|
||||
CamFollowerSystem cam;
|
||||
cam.base_radius = 20.0;
|
||||
cam.segments = {{0, M_PI, 0, 0, CamMotionType::Dwell}};
|
||||
|
||||
auto state = solve_cam(cam, 0.5);
|
||||
EXPECT_NEAR(state.displacement, 0.0, 1e-9);
|
||||
EXPECT_NEAR(state.velocity, 0.0, 1e-9);
|
||||
}
|
||||
|
||||
TEST(KinematicChainTest, CamFollower_ConstantVelocity) {
|
||||
CamFollowerSystem cam;
|
||||
cam.base_radius = 20.0;
|
||||
cam.segments = {{0, M_PI, 0, 10, CamMotionType::ConstantVelocity}};
|
||||
|
||||
auto state = solve_cam(cam, M_PI_2); // halfway
|
||||
EXPECT_NEAR(state.displacement, 5.0, 1e-6);
|
||||
}
|
||||
|
||||
TEST(KinematicChainTest, CamFollower_Cycloidal) {
|
||||
CamFollowerSystem cam;
|
||||
cam.base_radius = 20.0;
|
||||
cam.segments = {{0, M_PI, 0, 10, CamMotionType::Cycloidal}};
|
||||
|
||||
auto start = solve_cam(cam, 0.0);
|
||||
EXPECT_NEAR(start.displacement, 0.0, 1e-9);
|
||||
|
||||
auto end = solve_cam(cam, M_PI);
|
||||
EXPECT_NEAR(end.displacement, 10.0, 1e-6);
|
||||
|
||||
// Cycloidal has zero velocity at endpoints
|
||||
EXPECT_NEAR(start.velocity, 0.0, 1e-9);
|
||||
EXPECT_NEAR(end.velocity, 0.0, 1e-9);
|
||||
}
|
||||
|
||||
TEST(KinematicChainTest, CamFollower_Polynomial345) {
|
||||
CamFollowerSystem cam;
|
||||
cam.base_radius = 20.0;
|
||||
cam.segments = {{0, M_PI, 0, 10, CamMotionType::Polynomial345}};
|
||||
|
||||
auto start = solve_cam(cam, 0.0);
|
||||
EXPECT_NEAR(start.displacement, 0.0, 1e-9);
|
||||
EXPECT_NEAR(start.velocity, 0.0, 1e-9);
|
||||
EXPECT_NEAR(start.acceleration, 0.0, 1e-9);
|
||||
|
||||
auto end = solve_cam(cam, M_PI);
|
||||
EXPECT_NEAR(end.displacement, 10.0, 1e-6);
|
||||
EXPECT_NEAR(end.velocity, 0.0, 1e-9);
|
||||
EXPECT_NEAR(end.acceleration, 0.0, 1e-9);
|
||||
}
|
||||
|
||||
TEST(KinematicChainTest, CamFollower_MultiSegment) {
|
||||
CamFollowerSystem cam;
|
||||
cam.base_radius = 20.0;
|
||||
cam.segments = {
|
||||
{0, M_PI_2, 0, 10, CamMotionType::Cycloidal}, // rise
|
||||
{M_PI_2, M_PI, 10, 10, CamMotionType::Dwell}, // dwell
|
||||
{M_PI, 1.5 * M_PI, 10, 0, CamMotionType::Cycloidal}, // fall
|
||||
{1.5 * M_PI, 2 * M_PI, 0, 0, CamMotionType::Dwell}, // dwell
|
||||
};
|
||||
|
||||
EXPECT_NEAR(cam.total_lift(), 10.0, 1e-9);
|
||||
|
||||
// At 45°: midpoint of rise
|
||||
auto mid_rise = solve_cam(cam, M_PI_4);
|
||||
EXPECT_NEAR(mid_rise.displacement, 5.0, 1e-6);
|
||||
|
||||
// At 135°: dwell at top
|
||||
auto top_dwell = solve_cam(cam, 1.35 * M_PI);
|
||||
EXPECT_NEAR(top_dwell.displacement, 10.0, 1e-6);
|
||||
EXPECT_NEAR(top_dwell.velocity, 0.0, 1e-9);
|
||||
}
|
||||
|
||||
TEST(KinematicChainTest, CamFollower_PressureAngle) {
|
||||
CamFollowerSystem cam;
|
||||
cam.base_radius = 20.0;
|
||||
cam.segments = {{0, M_PI_2, 0, 20, CamMotionType::ConstantVelocity}};
|
||||
|
||||
auto state = solve_cam(cam, M_PI_4);
|
||||
EXPECT_TRUE(state.pressure_angle >= 0.0);
|
||||
EXPECT_TRUE(state.pressure_angle < M_PI_2);
|
||||
}
|
||||
|
||||
TEST(KinematicChainTest, CamFollower_TotalLift) {
|
||||
CamFollowerSystem cam;
|
||||
cam.segments = {
|
||||
{0, M_PI, 0, 5, CamMotionType::SimpleHarmonic},
|
||||
{M_PI, 2 * M_PI, 5, 15, CamMotionType::Cycloidal},
|
||||
};
|
||||
EXPECT_NEAR(cam.total_lift(), 15.0, 1e-9);
|
||||
}
|
||||
|
||||
// ═══════════════════════════════════════════════════════════
|
||||
// Full Analysis
|
||||
// ═══════════════════════════════════════════════════════════
|
||||
|
||||
TEST(KinematicChainTest, AnalyzeCam_FullCycle) {
|
||||
CamFollowerSystem cam;
|
||||
cam.base_radius = 20.0;
|
||||
cam.segments = {{0, 2 * M_PI, 0, 10, CamMotionType::Cycloidal}};
|
||||
|
||||
auto results = analyze_cam(cam, 36);
|
||||
EXPECT_EQ(results.size(), 36u);
|
||||
EXPECT_NEAR(results.front().displacement, 0.0, 1e-9);
|
||||
EXPECT_NEAR(results.back().displacement, 0.0, 1e-6);
|
||||
}
|
||||
|
||||
TEST(KinematicChainTest, CamFollower_AngleWraparound) {
|
||||
CamFollowerSystem cam;
|
||||
cam.base_radius = 20.0;
|
||||
cam.segments = {{0, M_PI, 0, 5, CamMotionType::ConstantVelocity}};
|
||||
|
||||
// 3π (360° + 180°) should wrap to π
|
||||
auto state = solve_cam(cam, 3.0 * M_PI);
|
||||
EXPECT_NEAR(state.displacement, 5.0, 1e-6);
|
||||
}
|
||||
Reference in New Issue
Block a user