ode-base 0.2.1

ODE Open Dynamics Engine bindings base for Rust
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142

#![doc(html_root_url = "https://docs.rs/ode-base/0.2.1")]
//! ODE Open Dynamics Engine bindings base for Rust
//!
//! # Requirements
//!
//! - [ ode ]( https://ode.org/ )
//!
//! to build dll
//!
//! - premake4 --with-demos --only-double --with-libccd --cc=gcc --platform--x64 --os=windows codeblocks
//! - premake4 --with-demos --only-double --with-libccd --platform--x64 --os=windows vs2010
//!
//! in the running directory
//!
//! - ode.dll
//! - libstdc++-6.dll
//! - libgcc_s_seh-1.dll
//! - libwinpthread-1.dll
//!
//! see also
//!
//! - [ https://crates.io/crates/ode-rs ]( https://crates.io/crates/ode-rs )
//! - [ https://github.com/nomissbowling/ode-rs ]( https://github.com/nomissbowling/ode-rs )
//!
//! # Examples
//!
//! - [ https://crates.io/crates/ode-rs-0000 ]( https://crates.io/crates/ode-rs-0000 )
//! - [ https://github.com/nomissbowling/ode-rs-0000 ]( https://github.com/nomissbowling/ode-rs-0000 )
//!

pub mod ode;

#[cfg(test)]
mod tests {
  use super::ode::{size_type_of, dReal};
  use super::ode::{dVector3, dVector4, dQuaternion};
  use super::ode::{dMatrix3, dMatrix4};

  /// with [-- --nocapture] or with [-- --show-output]
  #[test]
  fn test_ode_base() {
    let r: dReal = 0.0;
    assert_eq!(size_type_of(&r), (8, "f64"));
    let v3: dVector3 = [1.0, 1.0, 1.0, 0.0];
    assert_eq!(size_type_of(&v3), (32, "[f64; 4]"));
    let v4: dVector4 = [1.0, 1.0, 1.0, 1.0];
    assert_eq!(size_type_of(&v4), (32, "[f64; 4]"));
    let q: dQuaternion = [1.0, 0.0, 0.0, 0.0];
    assert_eq!(size_type_of(&q), (32, "[f64; 4]"));
    let m3: dMatrix3 = [
      1.0, 0.0, 0.0, 0.0,
      0.0, 1.0, 0.0, 0.0,
      0.0, 0.0, 1.0, 0.0];
    assert_eq!(size_type_of(&m3), (96, "[f64; 12]"));
    let m4: dMatrix4 = [
      1.0, 0.0, 0.0, 0.0,
      0.0, 1.0, 0.0, 0.0,
      0.0, 0.0, 1.0, 0.0,
      0.0, 0.0, 0.0, 1.0];
    assert_eq!(size_type_of(&m4), (128, "[f64; 16]"));
  }

/*
  #[test]
  fn check_quaternion_matrix() {
    let q = dQuaternion::from_axis_and_angle([1.0, 0.0, 0.0], PIh);
    let p = dQuaternion::from_axis_and_angle([0.0, 1.0, 0.0], PIh);
    let o = dQuaternion::from_axis_and_angle([0.0, 0.0, 1.0], PIh);
    println!("q, p, o");
    println!("{}", q.as_vec());
    println!("{}", p.as_vec());
    println!("{}", o.as_vec());
    assert!(q.prec_eq(1e-15, [PIq.cos(), PIq.sin(), 0.0, 0.0]));
    assert!(p.prec_eq(1e-15, [PIq.cos(), 0.0, PIq.sin(), 0.0]));
    assert!(o.prec_eq(1e-15, [PIq.cos(), 0.0, 0.0, PIq.sin()]));

    let oq = dQuaternion::multiply0(o, q);
    let po = dQuaternion::multiply0(p, o);
    let pq = dQuaternion::multiply0(p, q);
    println!("oq, po, pq");
    println!("{}", oq.as_vec());
    println!("{}", po.as_vec());
    println!("{}", pq.as_vec());
    assert!(oq.prec_eq(1e-15, [0.5, 0.5, 0.5, 0.5])); // j
    assert!(po.prec_eq(1e-15, [0.5, 0.5, 0.5, 0.5])); // i
    assert!(pq.prec_eq(1e-15, [0.5, 0.5, 0.5, -0.5])); // k
    assert!(oq.prec_eq(1e-15, po));

    let nq = dMatrix4::from_P(q);
    let np = dMatrix4::from_P(p);
    let no = dMatrix4::from_P(o);
    println!("nq, np, no");
    println!("{}", nq.as_mat());
    println!("{}", np.as_mat());
    println!("{}", no.as_mat());
    assert!(dQuaternion::multiply0_441(nq, o).prec_eq(1e-15, oq));
    assert!(dQuaternion::multiply0_441(no, p).prec_eq(1e-15, po));
    assert!(dQuaternion::multiply0_441(nq, p).prec_eq(1e-15, pq));

    let nqno = dMatrix4::multiply0_444(nq, no);
    let nonp = dMatrix4::multiply0_444(no, np);
    let nqnp = dMatrix4::multiply0_444(nq, np);
    println!("nqno, nonp, nqnp");
    println!("{}", nqno.as_mat());
    println!("{}", nonp.as_mat());
    println!("{}", nqnp.as_mat());
    assert!(nqno.is_quaternion());
    assert!(nqno.to_Q().prec_eq(1e-15, oq));
    assert!(nonp.is_quaternion());
    assert!(nonp.to_Q().prec_eq(1e-15, po));
    assert!(nqnp.is_quaternion());
    assert!(nqnp.to_Q().prec_eq(1e-15, pq));
    assert!(nqno.prec_eq(1e-15, nonp));

    let mq = dMatrix4::from_Q(q);
    let mp = dMatrix4::from_Q(p);
    let mo = dMatrix4::from_Q(o);
    println!("mq, mp, mo");
    println!("{}", mq.as_mat());
    println!("{}", mp.as_mat());
    println!("{}", mo.as_mat());
    assert!(dQuaternion::multiply0_441(mo, q).prec_eq(1e-15, oq));
    assert!(dQuaternion::multiply0_441(mp, o).prec_eq(1e-15, po));
    assert!(dQuaternion::multiply0_441(mp, q).prec_eq(1e-15, pq));

    let momq = dMatrix4::multiply0_444(mo, mq);
    let mpmo = dMatrix4::multiply0_444(mp, mo);
    let mpmq = dMatrix4::multiply0_444(mp, mq);
    println!("momq, mpmo, mpmq");
    println!("{}", momq.as_mat());
    println!("{}", mpmo.as_mat());
    println!("{}", mpmq.as_mat());
    assert!(momq.is_quaternion());
    assert!(momq.to_Q().prec_eq(1e-15, oq));
    assert!(mpmo.is_quaternion());
    assert!(mpmo.to_Q().prec_eq(1e-15, po));
    assert!(mpmq.is_quaternion());
    assert!(mpmq.to_Q().prec_eq(1e-15, pq));
    assert!(momq.prec_eq(1e-15, mpmo));
  }
*/
}