@ -11,7 +11,7 @@ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# Test case ID : 18243589
# Test Case Title : Check that ball joint allows soft limit constraints
# URL of the test case : https://testrail.agscollab.com/index.php?/cases/view/18243589
# fmt: off
class Tests :
@ -57,6 +57,7 @@ def C18243589_Joints_BallSoftLimitsConstrained():
"""
import os
import sys
import math
import ImportPathHelper as imports
@ -95,13 +96,33 @@ def C18243589_Joints_BallSoftLimitsConstrained():
Report . info_vector3 ( follower . position , " follower initial position: " )
leadInitialPosition = lead . position
followerInitialPosition = follower . position
# 4) Wait for several seconds
general . idle_wait ( 1.0 ) # wait for lead and follower to move
followerMovedAboveJoint = False
#calculate the start vector from follower and lead positions
normalizedStartPos = JointsHelper . getRelativeVector ( lead . position , follower . position )
normalizedStartPos = normalizedStartPos . GetNormalizedSafe ( )
#the targeted angle to reach between the initial vector and the current follower-lead vector
TARGET_ANGLE_DEG = 45
targetAngle = math . radians ( TARGET_ANGLE_DEG )
angleAchieved = 0.0
def checkAngleMet ( ) :
#calculate the current follower-lead vector
normalVec = JointsHelper . getRelativeVector ( lead . position , follower . position )
normalVec = normalVec . GetNormalizedSafe ( )
#dot product + acos to get the angle
angleAchieved = math . acos ( normalizedStartPos . Dot ( normalVec ) )
#is it above target?
return angleAchieved > targetAngle
MAX_WAIT_TIME = 2.0 #seconds
followerMovedAboveJoint = helper . wait_for_condition ( checkAngleMet , MAX_WAIT_TIME )
# 5) Check to see if lead and follower behaved as expected
Report . info_vector3 ( lead . position , " lead position after 1 second: " )
Report . info_vector3 ( follower . position , " follower position after 1 second: " )
Report . info_vector3 ( lead . position , " lead position: " )
Report . info_vector3 ( follower . position , " follower position: " )
angleAchievedDeg = math . degrees ( angleAchieved )
Report . info ( f " Angle achieved { angleAchievedDeg : .2f } Target { TARGET_ANGLE_DEG : .2f } " )
leadPositionDelta = lead . position . Subtract ( leadInitialPosition )
leadRemainedStill = JointsHelper . vector3SmallerThanScalar ( leadPositionDelta , FLOAT_EPSILON )
@ -111,7 +132,6 @@ def C18243589_Joints_BallSoftLimitsConstrained():
followerMovedinXYZ = JointsHelper . vector3LargerThanScalar ( followerPositionDelta , FLOAT_EPSILON )
Report . critical_result ( Tests . check_follower_position , followerMovedinXYZ )
followerMovedAboveJoint = follower . position . z > ( followerInitialPosition . z + 2.5 ) # (followerInitialPosition.z + 2.5) is the z position past the 45 degree limit. This is to show that the follower swinged past the 45 degree cone limit, above the joint position.
Report . critical_result ( Tests . check_follower_above_joint , followerMovedAboveJoint )
# 6) Exit Game Mode
karlberg
5 years ago