补充test_mql质量端止动原语

tests/test_test_mql_mechanical.py

@@ -61,7 +61,16 @@ class TestMqlMechanicalAssemblyTests(unittest.TestCase):
         self.assertEqual(mass.max_damping_n_per_m_per_s, 1.0e4)
         self.assertAlmostEqual(mass.min_penetration_m, 1.0e-4)
         self.assertAlmostEqual(mass.max_penetration_m, 1.0e-4)
+        self.assertEqual(mass.stiction_force_n, 0.0)
+        self.assertEqual(mass.coulomb_friction_n, 0.0)
+        self.assertEqual(mass.viscous_friction_n_per_m_per_s, 0.0)
+        self.assertEqual(mass.windage_n_per_m2_per_s2, 0.0)
+        self.assertEqual(mass.stick_velocity_threshold_m_s, 1.0e-6)
+        self.assertEqual(mass.reset_velocity_threshold_m_s, 1.0e-6)
         self.assertEqual(mass.rest_coeff, 0.65)
+        self.assertEqual(mass.stribeck_constant_m_s, 1.0e-3)
+        self.assertTrue(mass.use_friction)
+        self.assertEqual(mass.stop_type, 4)
         self.assertIn("v1@mass_friction_endstops_10", mass.data_paths)
         self.assertIn("x1@mass_friction_endstops_10", mass.data_paths)
 
@@ -131,6 +140,32 @@ class TestMqlMechanicalAssemblyTests(unittest.TestCase):
                     delta=1.0e-3,
                 )
 
+    def test_mass_endstop_second_port_observables_are_opposite_sign(self) -> None:
+        for alias in self.assembly.masses:
+            with self.subTest(alias=alias):
+                for signal in ("x1", "v1", "acc1"):
+                    primary = self.amesim_results.series(f"{signal}@{alias}")
+                    second_port = self.amesim_results.series(f"{signal}dup@{alias}")
+                    for index in (0, len(primary) // 2, -1):
+                        self.assertAlmostEqual(primary[index], -second_port[index])
+
+    def test_mass_endstop_force_observables_match_inactive_amesim_contacts(self) -> None:
+        for alias, mass_spec in self.assembly.masses.items():
+            endstop = mass_spec.endstop()
+            with self.subTest(alias=alias):
+                x1 = self.amesim_results.series(f"x1@{alias}")[-1]
+                v1 = self.amesim_results.series(f"v1@{alias}")[-1]
+
+                self.assertAlmostEqual(
+                    endstop.viscous_friction_force(v1),
+                    self.amesim_results.series(f"Fvisc@{alias}")[-1],
+                )
+                self.assertAlmostEqual(self.amesim_results.series(f"Ffric@{alias}")[-1], 0.0)
+                self.assertAlmostEqual(self.amesim_results.series(f"Fmin@{alias}")[-1], 0.0)
+                self.assertAlmostEqual(self.amesim_results.series(f"Fmax@{alias}")[-1], 0.0)
+                self.assertLessEqual(endstop.lower_penetration_m(x1), 1.0e-12)
+                self.assertLessEqual(endstop.upper_penetration_m(x1), 1.0e-12)
+
     def test_unit_helpers(self) -> None:
         self.assertAlmostEqual(mm_to_m(20.0), 0.02)
         self.assertAlmostEqual(n_per_mm_to_n_per_m(1.0e6), 1.0e9)