test_twoHingeDamper

test_twoHingeDamper.test_two_hinge_damper_apply_to_enforces_joint_contract()

Accept same-scene hinges and reject slides, ball joints, and mixed scenes.

test_twoHingeDamper.test_two_hinge_damper_cartesian_law(theta, phiDot, thetaDot, dampingCoeff)

Verify the generalized torques from isotropic Cartesian bob damping.

For the two-hinge rod parameterization, the generalized damping torques are

\[Q_\phi=-c\cos^2\theta\,\dot\phi,\qquad Q_\theta=-c\dot\theta.\]

test_twoHingeDamper.test_two_hinge_damper_reset_validation(missingInput, dampingCoeff, expectedMessage)

Reject missing joint-state inputs and invalid damping coefficients.