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40 lines
1.2 KiB
40 lines
1.2 KiB
2 years ago
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#include "drake/multibody/fem/deformable_body_config.h"
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#include <gtest/gtest.h>
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namespace drake {
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namespace multibody {
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namespace fem {
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namespace {
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GTEST_TEST(DeformableBodyConfigTest, DefaultValues) {
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DeformableBodyConfig<double> config;
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EXPECT_EQ(config.youngs_modulus(), 1e8);
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EXPECT_EQ(config.poissons_ratio(), 0.49);
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EXPECT_EQ(config.mass_damping_coefficient(), 0.0);
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EXPECT_EQ(config.stiffness_damping_coefficient(), 0.0);
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EXPECT_EQ(config.mass_density(), 1.5e3);
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EXPECT_EQ(config.material_model(), MaterialModel::kCorotated);
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}
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GTEST_TEST(DeformableBodyConfigTest, Setters) {
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DeformableBodyConfig<double> config;
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config.set_youngs_modulus(1e6);
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EXPECT_EQ(config.youngs_modulus(), 1e6);
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config.set_poissons_ratio(0.4);
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EXPECT_EQ(config.poissons_ratio(), 0.4);
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config.set_mass_damping_coefficient(1e-2);
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EXPECT_EQ(config.mass_damping_coefficient(), 1e-2);
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config.set_stiffness_damping_coefficient(1e-3);
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EXPECT_EQ(config.stiffness_damping_coefficient(), 1e-3);
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config.set_mass_density(1e3);
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EXPECT_EQ(config.mass_density(), 1e3);
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config.set_material_model(MaterialModel::kLinear);
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EXPECT_EQ(config.material_model(), MaterialModel::kLinear);
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}
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} // namespace
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} // namespace fem
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} // namespace multibody
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} // namespace drake
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