add ode

1 files changed, 920 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/tests/joints/pu.cpp b/libs/ode-0.16.1/tests/joints/pu.cpp
new file mode 100644
index 0000000..6d97a07
--- /dev/null
+++ b/libs/ode-0.16.1/tests/joints/pu.cpp
@@ -0,0 +1,920 @@
+/*************************************************************************
+  *                                                                       *
+  * 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/pu.cpp
+//
+//
+////////////////////////////////////////////////////////////////////////////////
+
+#include <UnitTest++.h>
+#include <ode/ode.h>
+
+#include "../../ode/src/config.h"
+#include "../../ode/src/joints/pu.h"
+
+SUITE (TestdxJointPU)
+{
+    // The 2 bodies are positionned at (0, 0, 0),  and (0, 0, 0)
+    // The second body has a rotation of 27deg around X axis.
+    // The joint is a PU Joint
+    // Axis is along the X axis
+    // Anchor at (0, 0, 0)
+    struct Fixture_dxJointPU_B1_and_B2_At_Zero_Axis_Along_X
+    {
+        Fixture_dxJointPU_B1_and_B2_At_Zero_Axis_Along_X()
+        {
+            wId = dWorldCreate();
+
+            bId1 = dBodyCreate (wId);
+            dBodySetPosition (bId1, 0, 0, 0);
+
+            bId2 = dBodyCreate (wId);
+            dBodySetPosition (bId2, 0, 0, 0);
+
+            dMatrix3 R;
+
+            dRFromAxisAndAngle (R, 1, 0, 0, REAL(0.47123)); // 27deg
+            dBodySetRotation (bId2, R);
+
+            jId   = dJointCreatePU (wId, 0);
+            joint = (dxJointPU*) jId;
+
+
+            dJointAttach (jId, bId1, bId2);
+        }
+
+        ~Fixture_dxJointPU_B1_and_B2_At_Zero_Axis_Along_X()
+        {
+            dWorldDestroy (wId);
+        }
+
+        dWorldID wId;
+
+        dBodyID bId1;
+        dBodyID bId2;
+
+
+        dJointID jId;
+        dxJointPU* joint;
+    };
+
+    // Test is dJointSetPUAxis and dJointGetPUAxis return same value
+    TEST_FIXTURE (Fixture_dxJointPU_B1_and_B2_At_Zero_Axis_Along_X,
+                  test_dJointSetGetPUAxis)
+    {
+        dVector3 axisOrig, axis;
+
+
+        dJointGetPUAxis1 (jId, axisOrig);
+        dJointGetPUAxis1 (jId, axis);
+        dJointSetPUAxis1 (jId, axis[0], axis[1], axis[2]);
+        dJointGetPUAxis1 (jId, axis);
+        CHECK_CLOSE (axis[0], axisOrig[0] , 1e-4);
+        CHECK_CLOSE (axis[1], axisOrig[1] , 1e-4);
+        CHECK_CLOSE (axis[2], axisOrig[2] , 1e-4);
+
+
+        dJointGetPUAxis2 (jId, axisOrig);
+        dJointGetPUAxis2(jId, axis);
+        dJointSetPUAxis2 (jId, axis[0], axis[1], axis[2]);
+        dJointGetPUAxis2 (jId, axis);
+        CHECK_CLOSE (axis[0], axisOrig[0] , 1e-4);
+        CHECK_CLOSE (axis[1], axisOrig[1] , 1e-4);
+        CHECK_CLOSE (axis[2], axisOrig[2] , 1e-4);
+
+
+        dJointGetPUAxis3 (jId, axisOrig);
+        dJointGetPUAxis3(jId, axis);
+        dJointSetPUAxis3 (jId, axis[0], axis[1], axis[2]);
+        dJointGetPUAxis3 (jId, axis);
+        CHECK_CLOSE (axis[0], axisOrig[0] , 1e-4);
+        CHECK_CLOSE (axis[1], axisOrig[1] , 1e-4);
+        CHECK_CLOSE (axis[2], axisOrig[2] , 1e-4);
+    }
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+    // The joint is a PU Joint
+    // Default joint value
+    // The two bodies at at (0, 0, 0)
+    struct Fixture_dxJointPU_B1_and_B2_At_Zero
+    {
+        Fixture_dxJointPU_B1_and_B2_At_Zero()
+        {
+            wId = dWorldCreate();
+
+            bId1 = dBodyCreate (wId);
+            dBodySetPosition (bId1, 0, 0, 0);
+
+            bId2 = dBodyCreate (wId);
+            dBodySetPosition (bId2, 0, 0, 0);
+
+            jId   = dJointCreatePU (wId, 0);
+            joint = (dxJointPU*) jId;
+
+
+            dJointAttach (jId, bId1, bId2);
+        }
+
+        ~Fixture_dxJointPU_B1_and_B2_At_Zero()
+        {
+            dWorldDestroy (wId);
+        }
+
+        dWorldID wId;
+
+        dBodyID bId1;
+        dBodyID bId2;
+
+
+        dJointID jId;
+        dxJointPU* joint;
+
+        static const dReal offset;
+    };
+    const dReal    Fixture_dxJointPU_B1_and_B2_At_Zero::offset = REAL (3.1);
+
+
+
+
+
+    // Move 1st body offset unit in the X direction
+    //
+    //  X------->       X---------> Axis -->
+    //  B1          =>     B1
+    //  B2              B2
+    //
+    // Start with a Offset of offset unit
+    //
+    //  X------->       X---------> Axis -->
+    //     B1       =>     B1
+    //  B2                 B2
+    TEST_FIXTURE (Fixture_dxJointPU_B1_and_B2_At_Zero,
+                  test_dJointSetPUAxisOffset_B1_3Unit)
+    {
+        CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
+
+        dBodySetPosition (bId1, offset, 0, 0);
+
+        CHECK_CLOSE (offset, dJointGetPUPosition (jId), 1e-4);
+
+        dVector3 axis;
+        dJointGetPUAxisP (jId, axis);
+
+        dJointSetPUAnchorOffset (jId, 0, 0, 0,
+                                 offset*axis[0],offset*axis[1],offset*axis[2]);
+        CHECK_CLOSE (offset, dJointGetPUPosition (jId), 1e-4);
+
+        dBodySetPosition (bId1, 0, 0, 0);
+        CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
+    }
+
+    // Move 1st body offset unit in the opposite X direction
+    //
+    //  X------->          X---------> Axis -->
+    //  B1          =>  B1
+    //  B2                 B2
+    //
+    // Start with a Offset of -offset unit
+    //
+    //      X------->      X---------> Axis -->
+    //  B1            =>   B1
+    //      B2             B2
+    TEST_FIXTURE (Fixture_dxJointPU_B1_and_B2_At_Zero,
+                  test_dJointSetPUAxisOffset_B1_Minus_3Unit)
+    {
+        CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
+
+        dBodySetPosition (bId1, -offset, 0, 0);
+
+        CHECK_CLOSE (-offset, dJointGetPUPosition (jId), 1e-4);
+
+        dVector3 axis;
+        dJointGetPUAxisP (jId, axis);
+        dJointSetPUAnchorOffset (jId, 0, 0, 0,
+                                 -offset*axis[0],-offset*axis[1],-offset*axis[2]);
+        CHECK_CLOSE (-offset, dJointGetPUPosition (jId), 1e-4);
+
+        dBodySetPosition (bId1, 0, 0, 0);
+        CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
+    }
+
+    // Move 2nd body offset unit in the X direction
+    //
+    //  X------->       X---------> Axis -->
+    //  B1          =>  B1
+    //  B2                 B2
+    //
+    // Start with a Offset of offset unit
+    //
+    //  X------->       X---------> Axis -->
+    //  B1          =>  B1
+    //     B2           B2
+    TEST_FIXTURE (Fixture_dxJointPU_B1_and_B2_At_Zero,
+                  test_dJointSetPUAxisOffset_B2_3Unit)
+    {
+        CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
+
+        dBodySetPosition (bId2, offset, 0, 0);
+
+        CHECK_CLOSE (-offset, dJointGetPUPosition (jId), 1e-4);
+
+        dVector3 axis;
+        dJointGetPUAxisP (jId, axis);
+        dJointSetPUAnchorOffset (jId, 0, 0, 0,
+                                 -offset*axis[0],-offset*axis[1],-offset*axis[2]);
+        CHECK_CLOSE (-offset, dJointGetPUPosition (jId), 1e-4);
+
+        dBodySetPosition (bId2, 0, 0, 0);
+        CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
+    }
+
+    // Move 2nd body offset unit in the opposite X direction
+    //
+    //  X------->          X---------> Axis -->
+    //  B1          =>     B1
+    //  B2              B2
+    //
+    // Start with a Offset of -offset unit
+    //
+    //     X------->    X---------> Axis -->
+    //     B1       =>  B1
+    //  B2              B2
+    TEST_FIXTURE (Fixture_dxJointPU_B1_and_B2_At_Zero,
+                  test_dJointSetPUAxisOffset_B2_Minus_3Unit)
+    {
+        CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
+
+        dBodySetPosition (bId2, -offset, 0, 0);
+
+        CHECK_CLOSE (offset, dJointGetPUPosition (jId), 1e-4);
+
+        dVector3 axis;
+        dJointGetPUAxisP (jId, axis);
+        dJointSetPUAnchorOffset (jId, 0, 0, 0,
+                                 offset*axis[0],offset*axis[1],offset*axis[2]);
+        CHECK_CLOSE (offset, dJointGetPUPosition (jId), 1e-4);
+
+        dBodySetPosition (bId2, 0, 0, 0);
+        CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
+    }
+
+
+
+    // Attach only one body at position 1 to the joint dJointAttach (jId, bId, 0)
+    // Move 1st body offset unit in the X direction
+    //
+    //  X------->       X---------> Axis -->
+    //  B1          =>     B1
+    //
+    // Start with a Offset of offset unit
+    //
+    //  X------->       X---------> Axis -->
+    //     B1       =>  B1
+    TEST_FIXTURE (Fixture_dxJointPU_B1_and_B2_At_Zero,
+                  test_dJointSetPUAxisOffset_B1_OffsetUnit)
+    {
+        dJointAttach (jId, bId1, 0);
+
+        CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
+
+        dBodySetPosition (bId1, offset, 0, 0);
+
+        CHECK_CLOSE (offset, dJointGetPUPosition (jId), 1e-4);
+
+        dVector3 axis;
+        dJointGetPUAxisP (jId, axis);
+        dJointSetPUAnchorOffset (jId, 0, 0, 0,
+                                 offset*axis[0],offset*axis[1],offset*axis[2]);
+        CHECK_CLOSE (offset, dJointGetPUPosition (jId), 1e-4);
+
+        dBodySetPosition (bId1, 0, 0, 0);
+        CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
+    }
+
+    // Attache only one body at position 1 to the joint dJointAttach (jId, bId, 0)
+    // Move 1st body offset unit in the opposite X direction
+    //
+    //  X------->          X---------> Axis -->
+    //  B1          =>  B1
+    //
+    // Start with a Offset of -offset unit
+    //
+    //      X------->      X---------> Axis -->
+    //  B1            =>   B1
+    TEST_FIXTURE (Fixture_dxJointPU_B1_and_B2_At_Zero,
+                  test_dJointSetPUAxisOffset_B1_Minus_OffsetUnit)
+    {
+        dJointAttach (jId, bId1, 0);
+
+        CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
+
+        dBodySetPosition (bId1, -offset, 0, 0);
+
+        CHECK_CLOSE (-offset, dJointGetPUPosition (jId), 1e-4);
+
+        dVector3 axis;
+        dJointGetPUAxisP (jId, axis);
+        dJointSetPUAnchorOffset (jId, 0, 0, 0,
+                                 -offset*axis[0],-offset*axis[1],-offset*axis[2]);
+        CHECK_CLOSE (-offset, dJointGetPUPosition (jId), 1e-4);
+
+        dBodySetPosition (bId1, 0, 0, 0);
+        CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
+    }
+
+
+
+    // Attache only one body at position 2 to the joint dJointAttach (jId, 0, bId)
+    // Move 1st body offset unit in the X direction
+    //
+    //  X------->       X---------> Axis -->
+    //  B2          =>     B2
+    //
+    // Start with a Offset of offset unit
+    //
+    //  X------->       X---------> Axis -->
+    //     B2       =>  B2
+    TEST_FIXTURE (Fixture_dxJointPU_B1_and_B2_At_Zero,
+                  test_dJointSetPUAxisOffset_B2_OffsetUnit)
+    {
+        dJointAttach (jId, 0, bId2);
+
+        CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
+
+        dBodySetPosition (bId2, offset, 0, 0);
+
+        CHECK_CLOSE (-offset, dJointGetPUPosition (jId), 1e-4);
+
+        dVector3 axis;
+        dJointGetPUAxisP (jId, axis);
+        dJointSetPUAnchorOffset (jId, 0, 0, 0,
+                                 -offset*axis[0], -offset*axis[1], -offset*axis[2]);
+        CHECK_CLOSE (-offset, dJointGetPUPosition (jId), 1e-4);
+
+        dBodySetPosition (bId2, 0, 0, 0);
+        CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
+    }
+
+    // Attache only one body at position 2 to the joint dJointAttach (jId, 0, bId)
+    // Move 1st body offset unit in the opposite X direction
+    //
+    //  X------->          X---------> Axis -->
+    //  B2          =>  B2
+    //
+    // Start with a Offset of -offset unit
+    //
+    //      X------->      X---------> Axis -->
+    //  B2            =>   B2
+    TEST_FIXTURE (Fixture_dxJointPU_B1_and_B2_At_Zero,
+                  test_dJointSetPUAxisOffset_B2_Minus_OffsetUnit)
+    {
+        dJointAttach (jId, 0, bId2);
+
+        CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
+
+        dBodySetPosition (bId2, -offset, 0, 0);
+
+        CHECK_CLOSE (offset, dJointGetPUPosition (jId), 1e-4);
+
+        dVector3 axis;
+        dJointGetPUAxisP (jId, axis);
+        dJointSetPUAnchorOffset (jId, 0, 0, 0,
+                                 offset*axis[0], offset*axis[1], offset*axis[2]);
+        CHECK_CLOSE (offset, dJointGetPUPosition (jId), 1e-4);
+
+        dBodySetPosition (bId2, 0, 0, 0);
+        CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
+    }
+
+
+
+
+    // Only one body
+    // The body are positionned at (0, 0, 0), with no rotation
+    // The joint is a PU Joint
+    // Axis is in the oppsite X axis
+    // Anchor at (0, 0, 0)
+    // N.B. By default the body is attached at position 1 on the joint
+    //      dJointAttach (jId, bId, 0);
+    struct Fixture_dxJointPU_One_Body_At_Zero_Axis_Inverse_of_X
+    {
+        Fixture_dxJointPU_One_Body_At_Zero_Axis_Inverse_of_X()
+        {
+            wId = dWorldCreate();
+
+            bId = dBodyCreate (wId);
+            dBodySetPosition (bId, 0, 0, 0);
+
+            jId   = dJointCreatePU (wId, 0);
+            joint = (dxJointPU*) jId;
+
+
+            dJointAttach (jId, bId, NULL);
+
+            dJointSetPUAxisP (jId, axis[0], axis[1], axis[2]);
+        }
+
+        ~Fixture_dxJointPU_One_Body_At_Zero_Axis_Inverse_of_X()
+        {
+            dWorldDestroy (wId);
+        }
+
+        dWorldID wId;
+
+        dBodyID bId;
+
+        dJointID jId;
+        dxJointPU* joint;
+
+        static const dVector3 axis;
+
+        static const dReal offset;
+    };
+    const dVector3 Fixture_dxJointPU_One_Body_At_Zero_Axis_Inverse_of_X::axis =
+    {
+        -1, 0, 0
+    };
+    const dReal    Fixture_dxJointPU_One_Body_At_Zero_Axis_Inverse_of_X::offset = REAL (3.1);
+
+
+    // Move 1st body offset unit in the X direction
+    //
+    //  X------->       X--------->  <--- Axis
+    //  B1          =>     B1
+    //
+    // Start with a Offset of offset unit
+    //
+    //  X------->       X--------->  <--- Axis
+    //     B1       =>  B1
+    TEST_FIXTURE (Fixture_dxJointPU_One_Body_At_Zero_Axis_Inverse_of_X,
+                  test_dJointSetPUAxisOffset_B1_At_Position_1_OffsetUnit)
+    {
+        CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
+
+        dBodySetPosition (bId, offset, 0, 0);
+
+        CHECK_CLOSE (-offset, dJointGetPUPosition (jId), 1e-4);
+
+        dJointSetPUAnchorOffset (jId, 0, 0, 0,
+                                 -offset*axis[0],-offset*axis[1],-offset*axis[2]);
+        CHECK_CLOSE (-offset, dJointGetPUPosition (jId), 1e-4);
+
+        dBodySetPosition (bId, 0, 0, 0);
+        CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
+    }
+
+    // Move 1st body offset unit in the opposite X direction
+    //
+    //  X------->          X--------->   <--- Axis
+    //  B1          =>  B1
+    //
+    // Start with a Offset of -offset unit
+    //
+    //      X------->      X--------->   <--- Axis
+    //  B1            =>   B1
+    TEST_FIXTURE (Fixture_dxJointPU_One_Body_At_Zero_Axis_Inverse_of_X,
+                  test_dJointSetPUAxisOffset_B1_Minus_OffsetUnit)
+    {
+        CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
+
+        dBodySetPosition (bId, -offset, 0, 0);
+
+        CHECK_CLOSE (offset, dJointGetPUPosition (jId), 1e-4);
+
+        dJointSetPUAnchorOffset (jId, 0, 0, 0,
+                                 offset*axis[0],offset*axis[1],offset*axis[2]);
+        CHECK_CLOSE (offset, dJointGetPUPosition (jId), 1e-4);
+
+        dBodySetPosition (bId, 0, 0, 0);
+        CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
+    }
+
+
+    // Move 1st body offset unit in the X direction
+    //
+    //  X------->       X--------->  <--- Axis
+    //  B2          =>     B2
+    //
+    // Start with a Offset of offset unit
+    //
+    //  X------->       X--------->  <--- Axis
+    //     B2       =>  B2
+    TEST_FIXTURE (Fixture_dxJointPU_One_Body_At_Zero_Axis_Inverse_of_X,
+                  test_dJointSetPUAxisOffset_B2_OffsetUnit)
+    {
+        // By default it is attached to position 1
+        // Now attach the body at positiojn 2
+        dJointAttach(jId, 0, bId);
+
+        CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
+
+        dBodySetPosition (bId, offset, 0, 0);
+
+        CHECK_CLOSE (offset, dJointGetPUPosition (jId), 1e-4);
+
+        dJointSetPUAnchorOffset (jId, 0, 0, 0,
+                                 offset*axis[0], offset*axis[1], offset*axis[2]);
+        CHECK_CLOSE (offset, dJointGetPUPosition (jId), 1e-4);
+
+        dBodySetPosition (bId, 0, 0, 0);
+        CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
+    }
+
+    // Move 1st body offset unit in the opposite X direction
+    //
+    //  X------->          X--------->   <--- Axis
+    //  B2          =>  B2
+    //
+    // Start with a Offset of -offset unit
+    //
+    //      X------->      X--------->   <--- Axis
+    //  B2            =>   B2
+    TEST_FIXTURE (Fixture_dxJointPU_One_Body_At_Zero_Axis_Inverse_of_X,
+                  test_dJointSetPUAxisOffset_B2_Minus_OffsetUnit)
+    {
+        // By default it is attached to position 1
+        // Now attach the body at positiojn 2
+        dJointAttach(jId, 0, bId);
+
+        CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
+
+        dBodySetPosition (bId, -offset, 0, 0);
+
+        CHECK_CLOSE (-offset, dJointGetPUPosition (jId), 1e-4);
+
+        dJointSetPUAnchorOffset (jId, 0, 0, 0,
+                                 -offset*axis[0], -offset*axis[1], -offset*axis[2]);
+        CHECK_CLOSE (-offset, dJointGetPUPosition (jId), 1e-4);
+
+        dBodySetPosition (bId, 0, 0, 0);
+        CHECK_CLOSE (0.0, dJointGetPUPosition (jId), 1e-4);
+    }
+
+
+
+
+
+
+
+
+
+    // Compare only one body to 2 bodies with one fixed.
+    //
+    // The body are positionned at (0, 0, 0), with no rotation
+    // The joint is a PU Joint with default values
+    struct Fixture_dxJointPU_Compare_One_Body_To_Two_Bodies_At_Zero
+    {
+        Fixture_dxJointPU_Compare_One_Body_To_Two_Bodies_At_Zero()
+        {
+            wId = dWorldCreate();
+
+            bId1_12 = dBodyCreate (wId);
+            dBodySetPosition (bId1_12, 0, 0, 0);
+
+            bId2_12 = dBodyCreate (wId);
+            dBodySetPosition (bId2_12, 0, 0, 0);
+            // The force will be added in the function since it is not
+            // always on the same body
+
+            jId_12 = dJointCreatePU (wId, 0);
+            dJointAttach(jId_12, bId1_12, bId2_12);
+
+            fixed = dJointCreateFixed (wId, 0);
+
+
+
+            jId = dJointCreatePU (wId, 0);
+
+            bId = dBodyCreate (wId);
+            dBodySetPosition (bId, 0, 0, 0);
+
+            // Linear velocity along the prismatic axis;
+            dVector3 axis;
+            dJointGetPUAxisP(jId_12, axis);
+            dJointSetPUAxisP(jId, axis[0], axis[1], axis[2]);
+            dBodySetLinearVel (bId, magnitude*axis[0], magnitude*axis[1], magnitude*axis[2]);
+        }
+
+        ~Fixture_dxJointPU_Compare_One_Body_To_Two_Bodies_At_Zero()
+        {
+            dWorldDestroy (wId);
+        }
+
+        dWorldID wId;
+
+        dBodyID bId1_12;
+        dBodyID bId2_12;
+
+        dJointID jId_12; // Joint with 2 bodies
+
+        dJointID fixed;
+
+
+
+        dBodyID  bId;
+        dJointID jId;    // Joint with one body
+
+        static const dReal magnitude;
+    };
+    const dReal Fixture_dxJointPU_Compare_One_Body_To_Two_Bodies_At_Zero::magnitude = REAL (4.27);
+
+
+    TEST_FIXTURE (Fixture_dxJointPU_Compare_One_Body_To_Two_Bodies_At_Zero,
+                  test_dJointSetPUPositionRate_Only_B1)
+    {
+        // Linear velocity along the prismatic axis;
+        dVector3 axis;
+        dJointGetPUAxisP(jId_12, axis);
+        dBodySetLinearVel (bId1_12, magnitude*axis[0], magnitude*axis[1], magnitude*axis[2]);
+
+        dJointAttach(jId_12, bId1_12, bId2_12);
+
+        dJointAttach(fixed, 0, bId2_12);
+        dJointSetFixed(fixed);
+
+        dJointAttach(jId, bId, 0);
+
+        CHECK_CLOSE(dJointGetPUPositionRate(jId_12), dJointGetPUPositionRate(jId), 1e-2);
+    }
+
+
+    TEST_FIXTURE (Fixture_dxJointPU_Compare_One_Body_To_Two_Bodies_At_Zero,
+                  test_dJointSetPUPositionRate_Only_B2)
+    {
+        // Linear velocity along the prismatic axis;
+        dVector3 axis;
+        dJointGetPUAxisP(jId_12, axis);
+        dBodySetLinearVel (bId2_12, magnitude*axis[0], magnitude*axis[1], magnitude*axis[2]);
+
+        dJointAttach(jId_12, bId1_12, bId2_12);
+
+        dJointAttach(fixed, bId1_12, 0);
+        dJointSetFixed(fixed);
+
+        dJointAttach(jId, 0, bId);
+
+        CHECK_CLOSE(dJointGetPUPositionRate(jId_12), dJointGetPUPositionRate(jId), 1e-2);
+    }
+
+
+
+
+
+
+
+
+    // This test compare the result of a pu joint with 2 bodies where body body 2 is
+    // fixed to the world to a pu joint with only one body at position 1.
+    //
+    // Test the limits [-1, 0.25] when only one body at is attached to the joint
+    // using dJointAttache(jId, bId, 0);
+    //
+    TEST_FIXTURE(Fixture_dxJointPU_Compare_One_Body_To_Two_Bodies_At_Zero,
+                 test_Limit_minus1_025_One_Body_on_left)
+    {
+        dVector3 axis;
+        dJointGetPUAxisP(jId_12, axis);
+        dJointSetPUAxisP(jId, axis[0], axis[1], axis[2]);
+        dBodySetLinearVel (bId1_12, magnitude*axis[0], magnitude*axis[1], magnitude*axis[2]);
+
+        dJointAttach(jId_12, bId1_12, bId2_12);
+        dJointSetPUParam(jId_12, dParamLoStop3, -1);
+        dJointSetPUParam(jId_12, dParamHiStop3, 0.25);
+
+        dJointAttach(fixed, 0, bId2_12);
+        dJointSetFixed(fixed);
+
+        dJointAttach(jId, bId, 0);
+        dJointSetPUParam(jId, dParamLoStop3, -1);
+        dJointSetPUParam(jId, dParamHiStop3, 0.25);
+
+
+        for (int i=0; i<50; ++i)
+            dWorldStep(wId, 1.0);
+
+
+        const dReal *pos1_12 = dBodyGetPosition(bId1_12);
+        const dReal *pos = dBodyGetPosition(bId);
+
+        CHECK_CLOSE (pos1_12[0], pos[0], 1e-2);
+        CHECK_CLOSE (pos1_12[1], pos[1], 1e-2);
+        CHECK_CLOSE (pos1_12[2], pos[2], 1e-2);
+
+        const dReal *q1_12 = dBodyGetQuaternion(bId1_12);
+        const dReal *q = dBodyGetQuaternion(bId);
+
+        CHECK_CLOSE (q1_12[0], q[0], 1e-4);
+        CHECK_CLOSE (q1_12[1], q[1], 1e-4);
+        CHECK_CLOSE (q1_12[2], q[2], 1e-4);
+        CHECK_CLOSE (q1_12[3], q[3], 1e-4);
+
+        // Should be different than zero
+        CHECK( dJointGetPUPosition(jId_12) );
+        CHECK( dJointGetPUPosition(jId) );
+
+        CHECK( dJointGetPUPositionRate(jId_12) );
+        CHECK( dJointGetPUPositionRate(jId) );
+    }
+
+
+
+    // This test compare the result of a pu joint with 2 bodies where body body 1 is
+    // fixed to the world to a pu joint with only one body at position 2.
+    //
+    // Test the limits [-1, 0.25] when only one body at is attached to the joint
+    // using dJointAttache(jId, 0, bId);
+    //
+    TEST_FIXTURE(Fixture_dxJointPU_Compare_One_Body_To_Two_Bodies_At_Zero,
+                 test_Limit_minus1_025_One_Body_on_right)
+    {
+        dVector3 axis;
+        dJointGetPUAxisP(jId_12, axis);
+        dJointSetPUAxisP(jId, axis[0], axis[1], axis[2]);
+        dBodySetLinearVel (bId2_12, magnitude*axis[0], magnitude*axis[1], magnitude*axis[2]);
+
+        dJointAttach(jId_12, bId1_12, bId2_12);
+        dJointSetPUParam(jId_12, dParamLoStop3, -1);
+        dJointSetPUParam(jId_12, dParamHiStop3, 0.25);
+
+        dJointAttach(fixed, bId1_12, 0);
+        dJointSetFixed(fixed);
+
+
+        dJointAttach(jId, 0, bId);
+        dJointSetPUParam(jId, dParamLoStop3, -1);
+        dJointSetPUParam(jId, dParamHiStop3, 0.25);
+
+        for (int i=0; i<50; ++i)
+            dWorldStep(wId, 1.0);
+
+
+        const dReal *pos2_12 = dBodyGetPosition(bId2_12);
+        const dReal *pos = dBodyGetPosition(bId);
+
+        CHECK_CLOSE (pos2_12[0], pos[0], 1e-2);
+        CHECK_CLOSE (pos2_12[1], pos[1], 1e-2);
+        CHECK_CLOSE (pos2_12[2], pos[2], 1e-2);
+
+
+        const dReal *q2_12 = dBodyGetQuaternion(bId2_12);
+        const dReal *q = dBodyGetQuaternion(bId);
+
+        CHECK_CLOSE (q2_12[0], q[0], 1e-4);
+        CHECK_CLOSE (q2_12[1], q[1], 1e-4);
+        CHECK_CLOSE (q2_12[2], q[2], 1e-4);
+        CHECK_CLOSE (q2_12[3], q[3], 1e-4);
+
+        // Should be different than zero
+        CHECK( dJointGetPUPosition(jId_12) );
+        CHECK( dJointGetPUPosition(jId) );
+
+        CHECK( dJointGetPUPositionRate(jId_12) );
+        CHECK( dJointGetPUPositionRate(jId) );
+    }
+
+
+
+    // This test compare the result of a pu joint with 2 bodies where body 2 is
+    // fixed to the world to a pu joint with only one body at position 1.
+    //
+    // Test the limits [0, 0] when only one body at is attached to the joint
+    // using dJointAttache(jId, bId, 0);
+    //
+    // The body should not move since their is no room between the two limits
+    //
+    TEST_FIXTURE(Fixture_dxJointPU_Compare_One_Body_To_Two_Bodies_At_Zero,
+                 test_Limit_0_0_One_Body_on_left)
+    {
+        dVector3 axis;
+        dJointGetPUAxisP(jId_12, axis);
+        dJointSetPUAxisP(jId, axis[0], axis[1], axis[2]);
+        dBodySetLinearVel (bId1_12, magnitude*axis[0], magnitude*axis[1], magnitude*axis[2]);
+
+        dJointAttach(jId_12, bId1_12, bId2_12);
+        dJointSetPUParam(jId_12, dParamLoStop3, 0);
+        dJointSetPUParam(jId_12, dParamHiStop3, 0);
+
+        dJointAttach(fixed, 0, bId2_12);
+        dJointSetFixed(fixed);
+
+
+        dJointAttach(jId, bId, 0);
+        dJointSetPUParam(jId, dParamLoStop3, 0);
+        dJointSetPUParam(jId, dParamHiStop3, 0);
+
+        for (int i=0; i<500; ++i)
+            dWorldStep(wId, 1.0);
+
+
+        const dReal *pos1_12 = dBodyGetPosition(bId1_12);
+        const dReal *pos = dBodyGetPosition(bId);
+
+        CHECK_CLOSE (pos1_12[0], pos[0], 1e-4);
+        CHECK_CLOSE (pos1_12[1], pos[1], 1e-4);
+        CHECK_CLOSE (pos1_12[2], pos[2], 1e-4);
+
+        CHECK_CLOSE (0, pos[0], 1e-4);
+        CHECK_CLOSE (0, pos[1], 1e-4);
+        CHECK_CLOSE (0, pos[2], 1e-4);
+
+
+        const dReal *q1_12 = dBodyGetQuaternion(bId1_12);
+        const dReal *q = dBodyGetQuaternion(bId);
+
+        CHECK_CLOSE (q1_12[0], q[0], 1e-4);
+        CHECK_CLOSE (q1_12[1], q[1], 1e-4);
+        CHECK_CLOSE (q1_12[2], q[2], 1e-4);
+        CHECK_CLOSE (q1_12[3], q[3], 1e-4);
+    }
+
+
+    // This test compare the result of a pu joint with 2 bodies where body body 1 is
+    // fixed to the world to a pu joint with only one body at position 2.
+    //
+    // Test the limits [0, 0] when only one body at is attached to the joint
+    // using dJointAttache(jId, 0, bId);
+    //
+    // The body should not move since their is no room between the two limits
+    //
+    TEST_FIXTURE(Fixture_dxJointPU_Compare_One_Body_To_Two_Bodies_At_Zero,
+                 test_Limit_0_0_One_Body_on_right)
+    {
+        dVector3 axis;
+        dJointGetPUAxisP(jId_12, axis);
+        dJointSetPUAxisP(jId, axis[0], axis[1], axis[2]);
+        dBodySetLinearVel (bId2_12, magnitude*axis[0], magnitude*axis[1], magnitude*axis[2]);
+
+        dJointAttach(jId_12, bId1_12, bId2_12);
+        dJointSetPUParam(jId_12, dParamLoStop3, 0);
+        dJointSetPUParam(jId_12, dParamHiStop3, 0);
+
+        dJointAttach(fixed, bId1_12, 0);
+        dJointSetFixed(fixed);
+
+
+        dJointAttach(jId, 0, bId);
+        dJointSetPUParam(jId, dParamLoStop3, 0);
+        dJointSetPUParam(jId, dParamHiStop3, 0);
+
+        for (int i=0; i<500; ++i)
+            dWorldStep(wId, 1.0);
+
+        const dReal *pos2_12 = dBodyGetPosition(bId2_12);
+        const dReal *pos = dBodyGetPosition(bId);
+
+        CHECK_CLOSE (pos2_12[0], pos[0], 1e-4);
+        CHECK_CLOSE (pos2_12[1], pos[1], 1e-4);
+        CHECK_CLOSE (pos2_12[2], pos[2], 1e-4);
+
+        CHECK_CLOSE (0, pos[0], 1e-4);
+        CHECK_CLOSE (0, pos[1], 1e-4);
+        CHECK_CLOSE (0, pos[2], 1e-4);
+
+
+        const dReal *q2_12 = dBodyGetQuaternion(bId2_12);
+        const dReal *q = dBodyGetQuaternion(bId);
+
+        CHECK_CLOSE (q2_12[0], q[0], 1e-4);
+        CHECK_CLOSE (q2_12[1], q[1], 1e-4);
+        CHECK_CLOSE (q2_12[2], q[2], 1e-4);
+        CHECK_CLOSE (q2_12[3], q[3], 1e-4);
+    }
+
+
+} // End of SUITE TestdxJointPU
+