add ode

1 files changed, 81 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/tests/joints/dball.cpp b/libs/ode-0.16.1/tests/joints/dball.cpp
new file mode 100644
index 0000000..0e82c8d
--- /dev/null
+++ b/libs/ode-0.16.1/tests/joints/dball.cpp
@@ -0,0 +1,81 @@
+/*************************************************************************
+  *                                                                       *
+  * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+  *                                                                       *
+  * This library is free software; you can redistribute it and/or         *
+  * modify it under the terms of EITHER:                                  *
+  *   (1) The GNU Lesser General Public License as published by the Free  *
+  *       Software Foundation; either version 2.1 of the License, or (at  *
+  *       your option) any later version. The text of the GNU Lesser      *
+  *       General Public License is included with this library in the     *
+  *       file LICENSE.TXT.                                               *
+  *   (2) The BSD-style license that is included with this library in     *
+  *       the file LICENSE-BSD.TXT.                                       *
+  *                                                                       *
+  * This library is distributed in the hope that it will be useful,       *
+  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+  * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+  *                                                                       *
+  *************************************************************************/
+//234567890123456789012345678901234567890123456789012345678901234567890123456789
+//        1         2         3         4         5         6         7
+
+////////////////////////////////////////////////////////////////////////////////
+// This file create unit test for some of the functions found in:
+// ode/src/joinst/dball.cpp
+//
+//
+////////////////////////////////////////////////////////////////////////////////
+
+#include <UnitTest++.h>
+#include <ode/ode.h>
+
+#include "../../ode/src/config.h"
+
+
+using namespace std;
+
+SUITE (TestdxJointDBall)
+{
+    struct SimpleFixture {
+        dWorldID w;
+        dBodyID b1, b2;
+        dJointID j;
+
+        SimpleFixture() :
+            w(dWorldCreate()),
+            b1(dBodyCreate(w)),
+            b2(dBodyCreate(w)),
+            j(dJointCreateDBall(w, 0))
+        {
+            dJointAttach(j, b1, b2);
+        }
+
+        ~SimpleFixture()
+        {
+            dJointDestroy(j);
+            dBodyDestroy(b1);
+            dBodyDestroy(b2);
+            dWorldDestroy(w);
+        }
+    };
+
+    TEST_FIXTURE(SimpleFixture, testTargetDistance)
+    {
+        dBodySetPosition(b1, -1, -2, -3);
+        dBodySetPosition(b2, 3, 5, 7);
+        dJointAttach(j, b1, b2); // this recomputes the deduced target distance
+        CHECK_CLOSE(dJointGetDBallDistance(j), dSqrt(REAL(165.0)), 1e-4);
+
+        // moving body should not change target distance
+        dBodySetPosition(b1, 2,3,4);
+        CHECK_CLOSE(dJointGetDBallDistance(j), dSqrt(REAL(165.0)), 1e-4);
+
+        // setting target distance manually should override the deduced one
+        dJointSetDBallDistance(j, REAL(6.0));
+        CHECK_EQUAL(dJointGetDBallDistance(j), REAL(6.0));
+    }
+
+}