Add initial prototype.

3-mid/physics/implement/box2d/contrib/unit-test/math_test.cpp

@@ -0,0 +1,54 @@
+// MIT License
+
+// Copyright (c) 2020 Erin Catto
+
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+
+// The above copyright notice and this permission notice shall be included in all
+// copies or substantial portions of the Software.
+
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+
+#include "box2d/box2d.h"
+#include "doctest.h"
+#include <stdio.h>
+
+DOCTEST_TEST_CASE("math test")
+{
+	SUBCASE("sweep")
+	{
+		// From issue #447
+		b2Sweep sweep;
+		sweep.localCenter.SetZero();
+		sweep.c0.Set(-2.0f, 4.0f);
+		sweep.c.Set(3.0f, 8.0f);
+		sweep.a0 = 0.5f;
+		sweep.a = 5.0f;
+		sweep.alpha0 = 0.0f;
+
+		b2Transform transform;
+
+		sweep.GetTransform(&transform, 0.0f);
+		DOCTEST_REQUIRE_EQ(transform.p.x, sweep.c0.x);
+		DOCTEST_REQUIRE_EQ(transform.p.y, sweep.c0.y);
+		DOCTEST_REQUIRE_EQ(transform.q.c, cosf(sweep.a0));
+		DOCTEST_REQUIRE_EQ(transform.q.s, sinf(sweep.a0));
+
+		sweep.GetTransform(&transform, 1.0f);
+		DOCTEST_REQUIRE_EQ(transform.p.x, sweep.c.x);
+		DOCTEST_REQUIRE_EQ(transform.p.y, sweep.c.y);
+		DOCTEST_REQUIRE_EQ(transform.q.c, cosf(sweep.a));
+		DOCTEST_REQUIRE_EQ(transform.q.s, sinf(sweep.a));
+	}
+}