// Runs several tests if enabled
static void consoleRunTests(void)
{
// Only for development
// List all registered codes if it is enabled in conditional compilation
#ifdef TEST_REGISTER
registerList();
#endif // TEST_REGISTER
// Only for development
// Test analog elements if it is enabled in conditional compilation
#ifdef TEST_ANALOG
analogTest();
#endif //TEST_ANALOG
// Only for development
// Test Gyroscope if it is enabled in conditional compilation
#ifdef TEST_GYRO
gyrTest();
#endif // TEST_GYRO
// Only for development
// Test Accelerometer if it is enabled in conditional compilation
#ifdef TEST_ACCEL
accelTest();
#endif // TEST_ACCEL
// Only for development
// Test Accelerometer if it is enabled in conditional compilation
#ifdef TEST_MAGNET
magnetTest();
#endif // TEST_MAGNET
}
void dgWorldDynamicUpdate::CalculateNetAcceleration(dgBody* const body, const dgVector& invTimeStep, const dgVector& maxAccNorm2) const
{
dgAssert(body->IsRTTIType(dgBody::m_dynamicBodyRTTI) || body->IsRTTIType(dgBody::m_kinematicBodyRTTI));
// the initial velocity and angular velocity were stored in m_accel and body->m_alpha for memory saving
dgVector accel (invTimeStep * (body->m_veloc - body->m_accel));
dgVector alpha (invTimeStep * (body->m_omega - body->m_alpha));
dgVector accelTest((accel.DotProduct4(accel) > maxAccNorm2) | (alpha.DotProduct4(alpha) > maxAccNorm2));
accel = accel & accelTest;
alpha = alpha & accelTest;
body->m_accel = accel;
body->m_alpha = alpha;
body->SetNetAccel(accel);
body->SetNetAlpha(alpha);
}
