add ode

1 files changed, 1332 insertions, 0 deletions

diff --git a/libs/ode-0.16.1/tests/joints/slider.cpp b/libs/ode-0.16.1/tests/joints/slider.cpp
new file mode 100644
index 0000000..fe57a55
--- /dev/null
+++ b/libs/ode-0.16.1/tests/joints/slider.cpp
@@ -0,0 +1,1332 @@
+
+/*************************************************************************
+  *                                                                       *
+  * 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/slider.cpp
+//
+//
+////////////////////////////////////////////////////////////////////////////////
+
+#include <UnitTest++.h>
+#include <ode/ode.h>
+
+#include "../../ode/src/config.h"
+#include "../../ode/src/joints/slider.h"
+
+SUITE (TestdxJointSlider)
+{
+    struct dxJointSlider_Fixture_1
+    {
+        dxJointSlider_Fixture_1()
+        {
+            wId = dWorldCreate();
+
+            bId1 = dBodyCreate (wId);
+            dBodySetPosition (bId1, 0, -1, 0);
+
+            bId2 = dBodyCreate (wId);
+            dBodySetPosition (bId2, 0, 1, 0);
+
+            jId   = dJointCreateSlider (wId, 0);
+            joint = (dxJointSlider*) jId;
+
+
+            dJointAttach (jId, bId1, bId2);
+        }
+
+        ~dxJointSlider_Fixture_1()
+        {
+            dWorldDestroy (wId);
+        }
+
+        dWorldID wId;
+
+        dBodyID bId1;
+        dBodyID bId2;
+
+
+        dJointID jId;
+        dxJointSlider* joint;
+    };
+
+    TEST_FIXTURE (dxJointSlider_Fixture_1, test_dJointSetSlider)
+    {
+        // the 2 bodies are align
+        dJointSetSliderAxis (jId, 1, 0, 0);
+        CHECK_CLOSE (joint->qrel[0], 1.0, 1e-4);
+        CHECK_CLOSE (joint->qrel[1], 0.0, 1e-4);
+        CHECK_CLOSE (joint->qrel[2], 0.0, 1e-4);
+        CHECK_CLOSE (joint->qrel[3], 0.0, 1e-4);
+
+        dMatrix3 R;
+        // Rotate 2nd body 90deg around X
+        dBodySetPosition (bId2, 0, 0, 1);
+        dRFromAxisAndAngle (R, 1, 0, 0, M_PI/2.0);
+        dBodySetRotation (bId2, R);
+
+        dJointSetSliderAxis (jId, 1, 0 ,0);
+        CHECK_CLOSE (joint->qrel[0], 0.70710678118654757, 1e-4);
+        CHECK_CLOSE (joint->qrel[1], 0.70710678118654757, 1e-4);
+        CHECK_CLOSE (joint->qrel[2], 0.0, 1e-4);
+        CHECK_CLOSE (joint->qrel[3], 0.0, 1e-4);
+
+
+        // Rotate 2nd body -90deg around X
+        dBodySetPosition (bId2, 0, 0, -1);
+        dRFromAxisAndAngle (R, 1, 0, 0, -M_PI/2.0);
+        dBodySetRotation (bId2, R);
+
+        dJointSetSliderAxis (jId, 1, 0 ,0);
+        CHECK_CLOSE (joint->qrel[0], 0.70710678118654757, 1e-4);
+        CHECK_CLOSE (joint->qrel[1], -0.70710678118654757, 1e-4);
+        CHECK_CLOSE (joint->qrel[2], 0.0, 1e-4);
+        CHECK_CLOSE (joint->qrel[3], 0.0, 1e-4);
+
+
+        // Rotate 2nd body 90deg around Z
+        dBodySetPosition (bId2, 0, 1, 0);
+        dRFromAxisAndAngle (R, 0, 0, 1, M_PI/2.0);
+        dBodySetRotation (bId2, R);
+
+        dJointSetSliderAxis (jId, 1, 0 ,0);
+        CHECK_CLOSE (joint->qrel[0], 0.70710678118654757, 1e-4);
+        CHECK_CLOSE (joint->qrel[1], 0.0, 1e-4);
+        CHECK_CLOSE (joint->qrel[2], 0.0, 1e-4);
+        CHECK_CLOSE (joint->qrel[3], 0.70710678118654757, 1e-4);
+
+
+        // Rotate 2nd body 45deg around Y
+        dBodySetPosition (bId2, 0, 1, 0);
+        dRFromAxisAndAngle (R, 0, 1, 0, M_PI/4.0);
+        dBodySetRotation (bId2, R);
+
+        dJointSetSliderAxis (jId, 1, 0 ,0);
+        CHECK_CLOSE (joint->qrel[0], 0.92387953251128674, 1e-4);
+        CHECK_CLOSE (joint->qrel[1], 0.0, 1e-4);
+        CHECK_CLOSE (joint->qrel[2], 0.38268343236508984, 1e-4);
+        CHECK_CLOSE (joint->qrel[3], 0.0, 1e-4);
+
+        // Rotate in a strange manner
+        // Both bodies at origin
+        dRFromEulerAngles (R, REAL(0.23), REAL(3.1), REAL(-0.73));
+        dBodySetPosition (bId1, 0, 0, 0);
+        dBodySetRotation (bId1, R);
+
+        dRFromEulerAngles (R, REAL(-0.57), REAL(1.49), REAL(0.81));
+        dBodySetPosition (bId2, 0, 0, 0);
+        dBodySetRotation (bId2, R);
+
+        dJointSetSliderAxis (jId, 1, 0 ,0);
+        CHECK_CLOSE (joint->qrel[0], -0.25526036263124319, 1e-4);
+        CHECK_CLOSE (joint->qrel[1],  0.28434861188441968, 1e-4);
+        CHECK_CLOSE (joint->qrel[2], -0.65308047160141625, 1e-4);
+        CHECK_CLOSE (joint->qrel[3],  0.65381489108282143, 1e-4);
+    }
+
+
+
+    // The 2 bodies are positionned at (0, 0, 0), with no rotation
+    // The joint is a Slider Joint
+    // Axis is along the X axis
+    // Anchor at (0, 0, 0)
+    struct Fixture_dxJointSlider_B1_and_B2_At_Zero_Axis_Along_X
+    {
+        Fixture_dxJointSlider_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);
+
+            jId   = dJointCreateSlider (wId, 0);
+            joint = (dxJointSlider*) jId;
+
+
+            dJointAttach (jId, bId1, bId2);
+
+            dJointSetSliderAxis(jId, axis[0], axis[1], axis[2]);
+        }
+
+        ~Fixture_dxJointSlider_B1_and_B2_At_Zero_Axis_Along_X()
+        {
+            dWorldDestroy (wId);
+        }
+
+        dWorldID wId;
+
+        dBodyID bId1;
+        dBodyID bId2;
+
+
+        dJointID jId;
+        dxJointSlider* joint;
+
+        static const dVector3 axis;
+
+        static const dReal offset;
+    };
+    const dVector3 Fixture_dxJointSlider_B1_and_B2_At_Zero_Axis_Along_X::axis = {1, 0, 0};
+    const dReal    Fixture_dxJointSlider_B1_and_B2_At_Zero_Axis_Along_X::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_dxJointSlider_B1_and_B2_At_Zero_Axis_Along_X,
+                  test_dJointSetSliderAxisOffset_B1_3Unit)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+
+        dBodySetPosition(bId1, offset, 0, 0);
+
+        CHECK_CLOSE (offset, dJointGetSliderPosition(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_dxJointSlider_B1_and_B2_At_Zero_Axis_Along_X,
+                  test_dJointSetSliderAxisOffset_B1_Minus_3Unit)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+
+        dBodySetPosition(bId1, -offset, 0, 0);
+
+        CHECK_CLOSE (-offset, dJointGetSliderPosition(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_dxJointSlider_B1_and_B2_At_Zero_Axis_Along_X,
+                  test_dJointSetSliderAxisOffset_B2_3Unit)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+
+        dBodySetPosition(bId2, offset, 0, 0);
+
+        CHECK_CLOSE (-offset, dJointGetSliderPosition(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_dxJointSlider_B1_and_B2_At_Zero_Axis_Along_X,
+                  test_dJointSetSliderAxisOffset_B2_Minus_3Unit)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+
+        dBodySetPosition(bId2, -offset, 0, 0);
+
+        CHECK_CLOSE (offset, dJointGetSliderPosition(jId), 1e-4);
+    }
+
+
+
+    // The 2 bodies are positionned at (0, 0, 0), with no rotation
+    // The joint is a Slider Joint
+    // Axis is the opposite of the X axis
+    // Anchor at (0, 0, 0)
+    struct Fixture_dxJointSlider_B1_and_B2_At_Zero_Axis_Inverse_of_X
+    {
+        Fixture_dxJointSlider_B1_and_B2_At_Zero_Axis_Inverse_of_X()
+        {
+            wId = dWorldCreate();
+
+            bId1 = dBodyCreate (wId);
+            dBodySetPosition (bId1, 0, 0, 0);
+
+            bId2 = dBodyCreate (wId);
+            dBodySetPosition (bId2, 0, 0, 0);
+
+            jId   = dJointCreateSlider (wId, 0);
+            joint = (dxJointSlider*) jId;
+
+
+            dJointAttach (jId, bId1, bId2);
+
+
+            dJointSetSliderAxis(jId, axis[0], axis[1], axis[2]);
+        }
+
+        ~Fixture_dxJointSlider_B1_and_B2_At_Zero_Axis_Inverse_of_X()
+        {
+            dWorldDestroy (wId);
+        }
+
+        dWorldID wId;
+
+        dBodyID bId1;
+        dBodyID bId2;
+
+
+        dJointID jId;
+        dxJointSlider* joint;
+
+        static const dVector3 axis;
+        static const dReal offset;
+    };
+    const dVector3 Fixture_dxJointSlider_B1_and_B2_At_Zero_Axis_Inverse_of_X::axis = {-1, 0, 0};
+    const dReal    Fixture_dxJointSlider_B1_and_B2_At_Zero_Axis_Inverse_of_X::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_dxJointSlider_B1_and_B2_At_Zero_Axis_Inverse_of_X,
+                  test_dJointSetSliderAxisOffset_B1_3Unit)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+
+        dBodySetPosition(bId1, offset, 0, 0);
+
+        CHECK_CLOSE (-offset, dJointGetSliderPosition(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_dxJointSlider_B1_and_B2_At_Zero_Axis_Inverse_of_X,
+                  test_dJointSetSliderAxisOffset_B1_Minus_3Unit)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+
+        dBodySetPosition(bId1, -offset, 0, 0);
+
+        CHECK_CLOSE (offset, dJointGetSliderPosition(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_dxJointSlider_B1_and_B2_At_Zero_Axis_Inverse_of_X,
+                  test_dJointSetSliderAxisOffset_B2_3Unit)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+
+        dBodySetPosition(bId2, offset, 0, 0);
+
+        CHECK_CLOSE (offset, dJointGetSliderPosition(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_dxJointSlider_B1_and_B2_At_Zero_Axis_Inverse_of_X,
+                  test_dJointSetSliderAxisOffset_B2_Minus_3Unit)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+
+        dBodySetPosition(bId2, -offset, 0, 0);
+
+        CHECK_CLOSE (-offset, dJointGetSliderPosition(jId), 1e-4);
+    }
+
+
+    // Only body 1
+    // The body are positionned at (0, 0, 0), with no rotation
+    // The joint is a Slider Joint
+    // Axis is along the X axis
+    // Anchor at (0, 0, 0)
+    struct Fixture_dxJointSlider_B1_At_Zero_Axis_Along_X
+    {
+        Fixture_dxJointSlider_B1_At_Zero_Axis_Along_X()
+        {
+            wId = dWorldCreate();
+
+            bId1 = dBodyCreate (wId);
+            dBodySetPosition (bId1, 0, 0, 0);
+
+            jId   = dJointCreateSlider (wId, 0);
+            joint = (dxJointSlider*) jId;
+
+
+            dJointAttach (jId, bId1, NULL);
+
+            dJointSetSliderAxis(jId, axis[0], axis[1], axis[2]);
+        }
+
+        ~Fixture_dxJointSlider_B1_At_Zero_Axis_Along_X()
+        {
+            dWorldDestroy (wId);
+        }
+
+        dWorldID wId;
+
+        dBodyID bId1;
+
+        dJointID jId;
+        dxJointSlider* joint;
+
+        static const dVector3 axis;
+
+        static const dReal offset;
+    };
+    const dVector3 Fixture_dxJointSlider_B1_At_Zero_Axis_Along_X::axis = {1, 0, 0};
+    const dReal    Fixture_dxJointSlider_B1_At_Zero_Axis_Along_X::offset = REAL(3.1);
+
+    // Move 1st body offset unit in the X direction
+    //
+    //  X------->       X---------> Axis -->
+    //  B1          =>     B1
+    //
+    TEST_FIXTURE (Fixture_dxJointSlider_B1_At_Zero_Axis_Along_X,
+                  test_dJointSetSliderAxisOffset_B1_OffsetUnit)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+
+        dBodySetPosition(bId1, offset, 0, 0);
+
+        CHECK_CLOSE (offset, dJointGetSliderPosition(jId), 1e-4);
+    }
+
+    // Move 1st body offset unit in the opposite X direction
+    //
+    //  X------->          X---------> Axis -->
+    //  B1          =>  B1
+    //
+    TEST_FIXTURE (Fixture_dxJointSlider_B1_At_Zero_Axis_Along_X,
+                  test_dJointSetSliderAxisOffset_B1_Minus_OffsetUnit)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+
+        dBodySetPosition(bId1, -offset, 0, 0);
+
+        CHECK_CLOSE (-offset, dJointGetSliderPosition(jId), 1e-4);
+    }
+
+
+    // Only body 1
+    // The body are positionned at (0, 0, 0), with no rotation
+    // The joint is a Slider Joint
+    // Axis is in the oppsite X axis
+    // Anchor at (0, 0, 0)
+    struct Fixture_dxJointSlider_B1_At_Zero_Axis_Inverse_of_X
+    {
+        Fixture_dxJointSlider_B1_At_Zero_Axis_Inverse_of_X()
+        {
+            wId = dWorldCreate();
+
+            bId1 = dBodyCreate (wId);
+            dBodySetPosition (bId1, 0, 0, 0);
+
+            jId   = dJointCreateSlider (wId, 0);
+            joint = (dxJointSlider*) jId;
+
+
+            dJointAttach (jId, bId1, NULL);
+
+            dJointSetSliderAxis(jId, axis[0], axis[1], axis[2]);
+        }
+
+        ~Fixture_dxJointSlider_B1_At_Zero_Axis_Inverse_of_X()
+        {
+            dWorldDestroy (wId);
+        }
+
+        dWorldID wId;
+
+        dBodyID bId1;
+
+        dJointID jId;
+        dxJointSlider* joint;
+
+        static const dVector3 axis;
+
+        static const dReal offset;
+    };
+    const dVector3 Fixture_dxJointSlider_B1_At_Zero_Axis_Inverse_of_X::axis = {-1, 0, 0};
+    const dReal    Fixture_dxJointSlider_B1_At_Zero_Axis_Inverse_of_X::offset = REAL(3.1);
+
+    // Move 1st body offset unit in the X direction
+    //
+    //  X------->       X--------->  <--- Axis
+    //  B1          =>     B1
+    //
+    TEST_FIXTURE (Fixture_dxJointSlider_B1_At_Zero_Axis_Inverse_of_X,
+                  test_dJointSetSliderAxisOffset_B1_OffsetUnit)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+
+        dBodySetPosition(bId1, offset, 0, 0);
+
+        CHECK_CLOSE (-offset, dJointGetSliderPosition(jId), 1e-4);
+    }
+
+    // Move 1st body offset unit in the opposite X direction
+    //
+    //  X------->          X--------->   <--- Axis
+    //  B1          =>  B1
+    //
+    TEST_FIXTURE (Fixture_dxJointSlider_B1_At_Zero_Axis_Inverse_of_X,
+                  test_dJointSetSliderAxisOffset_B1_Minus_OffsetUnit)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+
+        dBodySetPosition(bId1, -offset, 0, 0);
+
+        CHECK_CLOSE (offset, dJointGetSliderPosition(jId), 1e-4);
+    }
+
+
+    // Only body 2
+    // The body are positionned at (0, 0, 0), with no rotation
+    // The joint is a Slider Joint
+    // Axis is along the X axis
+    // Anchor at (0, 0, 0)
+    struct Fixture_dxJointSlider_B2_At_Zero_Axis_Along_X
+    {
+        Fixture_dxJointSlider_B2_At_Zero_Axis_Along_X()
+        {
+            wId = dWorldCreate();
+
+            bId2 = dBodyCreate (wId);
+            dBodySetPosition (bId2, 0, 0, 0);
+
+            jId   = dJointCreateSlider (wId, 0);
+            joint = (dxJointSlider*) jId;
+
+
+            dJointAttach (jId, NULL, bId2);
+
+            dJointSetSliderAxis(jId, axis[0], axis[1], axis[2]);
+        }
+
+        ~Fixture_dxJointSlider_B2_At_Zero_Axis_Along_X()
+        {
+            dWorldDestroy (wId);
+        }
+
+        dWorldID wId;
+
+        dBodyID bId2;
+
+        dJointID jId;
+        dxJointSlider* joint;
+
+        static const dVector3 axis;
+
+        static const dReal offset;
+    };
+    const dVector3 Fixture_dxJointSlider_B2_At_Zero_Axis_Along_X::axis = {1, 0, 0};
+    const dReal    Fixture_dxJointSlider_B2_At_Zero_Axis_Along_X::offset = REAL(3.1);
+
+    // Move 2nd body offset unit in the X direction
+    //
+    //  X------->       X---------> Axis -->
+    //  B2          =>     B2
+    //
+    TEST_FIXTURE (Fixture_dxJointSlider_B2_At_Zero_Axis_Along_X,
+                  test_dJointSetSliderAxisOffset_B2_OffsetUnit)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+
+        dBodySetPosition(bId2, offset, 0, 0);
+
+        CHECK_CLOSE (-offset, dJointGetSliderPosition(jId), 1e-4);
+    }
+
+    // Move 2nd body offset unit in the opposite X direction
+    //
+    //  X------->          X---------> Axis -->
+    //  B2          =>  B2
+    //
+    TEST_FIXTURE (Fixture_dxJointSlider_B2_At_Zero_Axis_Along_X,
+                  test_dJointSetSliderAxisOffset_B2_Minus_OffsetUnit)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+
+        dBodySetPosition(bId2, -offset, 0, 0);
+
+        CHECK_CLOSE (offset, dJointGetSliderPosition(jId), 1e-4);
+    }
+
+    // Only body 2
+    // The body are positionned at (0, 0, 0), with no rotation
+    // The joint is a Slider Joint
+    // Axis is in the oppsite X axis
+    // Anchor at (0, 0, 0)
+    struct Fixture_dxJointSlider_B2_At_Zero_Axis_Inverse_of_X
+    {
+        Fixture_dxJointSlider_B2_At_Zero_Axis_Inverse_of_X()
+        {
+            wId = dWorldCreate();
+
+            bId2 = dBodyCreate (wId);
+            dBodySetPosition (bId2, 0, 0, 0);
+
+            jId   = dJointCreateSlider (wId, 0);
+            joint = (dxJointSlider*) jId;
+
+
+            dJointAttach (jId, NULL, bId2);
+
+            dJointSetSliderAxis(jId, axis[0], axis[1], axis[2]);
+        }
+
+        ~Fixture_dxJointSlider_B2_At_Zero_Axis_Inverse_of_X()
+        {
+            dWorldDestroy (wId);
+        }
+
+        dWorldID wId;
+
+        dBodyID bId2;
+
+        dJointID jId;
+        dxJointSlider* joint;
+
+        static const dVector3 axis;
+
+        static const dReal offset;
+    };
+    const dVector3 Fixture_dxJointSlider_B2_At_Zero_Axis_Inverse_of_X::axis = {-1, 0, 0};
+    const dReal    Fixture_dxJointSlider_B2_At_Zero_Axis_Inverse_of_X::offset = REAL(3.1);
+
+    // Move 2nd body offset unit in the X direction
+    //
+    //  X------->       X--------->  <--- Axis
+    //  B2          =>     B2
+    //
+    TEST_FIXTURE (Fixture_dxJointSlider_B2_At_Zero_Axis_Inverse_of_X,
+                  test_dJointSetSliderAxisOffset_B2_OffsetUnit)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+
+        dBodySetPosition(bId2, offset, 0, 0);
+
+        CHECK_CLOSE (offset, dJointGetSliderPosition(jId), 1e-4);
+    }
+
+    // Move 2nd body offset unit in the opposite X direction
+    //
+    //  X------->          X--------->   <--- Axis
+    //  B2          =>  B2
+    //
+    TEST_FIXTURE (Fixture_dxJointSlider_B2_At_Zero_Axis_Inverse_of_X,
+                  test_dJointSetSliderAxisOffset_B2_Minus_OffsetUnit)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+
+        dBodySetPosition(bId2, -offset, 0, 0);
+
+        CHECK_CLOSE (-offset, dJointGetSliderPosition(jId), 1e-4);
+    }
+
+    // ==========================================================================
+    // Test Position Rate
+    // ==========================================================================
+
+
+    // Apply force on 1st body in the X direction also the Axis direction
+    //
+    //  X------->       X---------> Axis -->
+    //  B1  F->      =>     B1
+    //  B2              B2
+    TEST_FIXTURE (Fixture_dxJointSlider_B1_and_B2_At_Zero_Axis_Along_X,
+                  test_dJointSetSliderPositionRate_Force_Along_Axis_on_B1)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+        CHECK_CLOSE (0.0, dJointGetSliderPositionRate(jId), 1e-4);
+
+        dBodyAddForce(bId1, 1.0, 0, 0);
+        dWorldQuickStep (wId, 1.0);
+
+        CHECK_CLOSE (1, dJointGetSliderPositionRate(jId), 1e-4);
+    }
+
+    // Apply force on 1st body in the inverse X direction
+    //
+    //  X------->           X---------> Axis -->
+    //  B1  <-F      => B1
+    //  B2                  B2
+    TEST_FIXTURE (Fixture_dxJointSlider_B1_and_B2_At_Zero_Axis_Along_X,
+                  test_dJointSetSliderPositionRate_Force_Inverse_of_Axis_on_B1)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+        CHECK_CLOSE (0.0, dJointGetSliderPositionRate(jId), 1e-4);
+
+        dBodyAddForce(bId1, -1.0, 0, 0);
+        dWorldQuickStep (wId, 1.0);
+
+        CHECK_CLOSE (-1, dJointGetSliderPositionRate(jId), 1e-4);
+    }
+
+
+    // Apply force on 1st body in the X direction also the Axis direction
+    //
+    //  X------->       X---------> <-- Axis
+    //  B1  F->      =>     B1
+    //  B2              B2
+    TEST_FIXTURE (Fixture_dxJointSlider_B1_and_B2_At_Zero_Axis_Inverse_of_X,
+                  test_dJointSetSliderPositionRate_Force_Inverse_Axis_on_B1)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+        CHECK_CLOSE (0.0, dJointGetSliderPositionRate(jId), 1e-4);
+
+        dBodyAddForce(bId1, 1.0, 0, 0);
+        dWorldQuickStep (wId, 1.0);
+
+        CHECK_CLOSE (-1, dJointGetSliderPositionRate(jId), 1e-4);
+    }
+
+    // Apply force on 1st body in the inverse X direction
+    //
+    //  X------->           X---------> <-- Axis
+    //  B1  <-F      => B1
+    //  B2                  B2
+    TEST_FIXTURE (Fixture_dxJointSlider_B1_and_B2_At_Zero_Axis_Inverse_of_X,
+                  test_dJointSetSliderPositionRate_Force_Along_of_Axis_on_B1)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+        CHECK_CLOSE (0.0, dJointGetSliderPositionRate(jId), 1e-4);
+
+        dBodyAddForce(bId1, -1.0, 0, 0);
+        dWorldQuickStep (wId, 1.0);
+
+        CHECK_CLOSE (1, dJointGetSliderPositionRate(jId), 1e-4);
+    }
+
+    // Apply force on 1st body in the X direction also the Axis direction
+    //
+    //  X------->       X---------> Axis -->
+    //  B1          =>  B1
+    //  B2 F->             B2
+    TEST_FIXTURE (Fixture_dxJointSlider_B1_and_B2_At_Zero_Axis_Along_X,
+                  test_dJointSetSliderPositionRate_Force_Along_Axis_on_B2)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+        CHECK_CLOSE (0.0, dJointGetSliderPositionRate(jId), 1e-4);
+
+        dBodyAddForce(bId2, 1.0, 0, 0);
+        dWorldQuickStep (wId, 1.0);
+
+        CHECK_CLOSE (-1, dJointGetSliderPositionRate(jId), 1e-4);
+    }
+
+    // Apply force on 1st body in the inverse X direction
+    //
+    //  X------->           X---------> Axis -->
+    //  B1           =>     B1
+    //  B2  <-F          B2
+    TEST_FIXTURE (Fixture_dxJointSlider_B1_and_B2_At_Zero_Axis_Along_X,
+                  test_dJointSetSliderPositionRate_Force_Inverse_of_Axis_on_B2)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+        CHECK_CLOSE (0.0, dJointGetSliderPositionRate(jId), 1e-4);
+
+        dBodyAddForce(bId2, -1.0, 0, 0);
+        dWorldQuickStep (wId, 1.0);
+
+        CHECK_CLOSE (1, dJointGetSliderPositionRate(jId), 1e-4);
+    }
+
+
+    // Apply force on 1st body in the X direction also the Axis direction
+    //
+    //  X------->       X---------> <-- Axis
+    //  B1          =>  B1
+    //  B2 F->             B2
+    TEST_FIXTURE (Fixture_dxJointSlider_B1_and_B2_At_Zero_Axis_Inverse_of_X,
+                  test_dJointSetSliderPositionRate_Force_Inverse_Axis_on_B2)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+        CHECK_CLOSE (0.0, dJointGetSliderPositionRate(jId), 1e-4);
+
+        dBodyAddForce(bId2, 1.0, 0, 0);
+        dWorldQuickStep (wId, 1.0);
+
+        CHECK_CLOSE (1, dJointGetSliderPositionRate(jId), 1e-4);
+    }
+
+    // Apply force on 1st body in the inverse X direction
+    //
+    //  X------->           X---------> <-- Axis
+    //  B1          =>      B1
+    //  B2 <-F           B2
+    TEST_FIXTURE (Fixture_dxJointSlider_B1_and_B2_At_Zero_Axis_Inverse_of_X,
+                  test_dJointSetSliderPositionRate_Force_Along_of_Axis_on_B2)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+        CHECK_CLOSE (0.0, dJointGetSliderPositionRate(jId), 1e-4);
+
+        dBodyAddForce(bId2, -1.0, 0, 0);
+        dWorldQuickStep (wId, 1.0);
+
+        CHECK_CLOSE (-1, dJointGetSliderPositionRate(jId), 1e-4);
+    }
+
+
+
+    // Apply force on 1st body in the X direction also the Axis direction
+    //
+    //  X------->       X---------> Axis -->
+    //  B1  F->      =>     B1
+    TEST_FIXTURE (Fixture_dxJointSlider_B1_At_Zero_Axis_Along_X,
+                  test_dJointSetSliderPositionRate_Force_Along_Axis_on_B1)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+        CHECK_CLOSE (0.0, dJointGetSliderPositionRate(jId), 1e-4);
+
+        dBodyAddForce(bId1, 1.0, 0, 0);
+        dWorldQuickStep (wId, 1.0);
+
+        CHECK_CLOSE (1, dJointGetSliderPositionRate(jId), 1e-4);
+    }
+
+    // Apply force on 1st body in the inverse X direction
+    //
+    //  X------->           X---------> Axis -->
+    //  B1  <-F      => B1
+    TEST_FIXTURE (Fixture_dxJointSlider_B1_At_Zero_Axis_Along_X,
+                  test_dJointSetSliderPositionRate_Force_Inverse_of_Axis_on_B1)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+        CHECK_CLOSE (0.0, dJointGetSliderPositionRate(jId), 1e-4);
+
+        dBodyAddForce(bId1, -1.0, 0, 0);
+        dWorldQuickStep (wId, 1.0);
+
+        CHECK_CLOSE (-1, dJointGetSliderPositionRate(jId), 1e-4);
+    }
+
+
+    // Apply force on 1st body in the X direction also the Axis direction
+    //
+    //  X------->       X---------> <-- Axis
+    //  B1  F->      =>     B1
+    TEST_FIXTURE (Fixture_dxJointSlider_B1_At_Zero_Axis_Inverse_of_X,
+                  test_dJointSetSliderPositionRate_Force_Inverse_Axis_on_B1)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+        CHECK_CLOSE (0.0, dJointGetSliderPositionRate(jId), 1e-4);
+
+        dBodyAddForce(bId1, 1.0, 0, 0);
+        dWorldQuickStep (wId, 1.0);
+
+        CHECK_CLOSE (-1, dJointGetSliderPositionRate(jId), 1e-4);
+    }
+
+    // Apply force on 1st body in the inverse X direction
+    //
+    //  X------->           X---------> <-- Axis
+    //  B1  <-F      => B1
+    TEST_FIXTURE (Fixture_dxJointSlider_B1_At_Zero_Axis_Inverse_of_X,
+                  test_dJointSetSliderPositionRate_Force_Along_of_Axis_on_B1)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+        CHECK_CLOSE (0.0, dJointGetSliderPositionRate(jId), 1e-4);
+
+        dBodyAddForce(bId1, -1.0, 0, 0);
+        dWorldQuickStep (wId, 1.0);
+
+        CHECK_CLOSE (1, dJointGetSliderPositionRate(jId), 1e-4);
+    }
+
+
+    // Apply force on body 2 in the X direction also the Axis direction
+    //
+    //  X------->       X---------> Axis -->
+    //  B2 F->             B2
+    TEST_FIXTURE (Fixture_dxJointSlider_B2_At_Zero_Axis_Along_X,
+                  test_dJointSetSliderPositionRate_Force_Along_Axis_on_B2)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+        CHECK_CLOSE (0.0, dJointGetSliderPositionRate(jId), 1e-4);
+
+        dBodyAddForce(bId2, 1.0, 0, 0);
+        dWorldQuickStep (wId, 1.0);
+
+        CHECK_CLOSE (-1, dJointGetSliderPositionRate(jId), 1e-4);
+    }
+
+    // Apply force on body 2 in the inverse X direction
+    //
+    //  X------->           X---------> Axis -->
+    //  B2  <-F          B2
+    TEST_FIXTURE (Fixture_dxJointSlider_B2_At_Zero_Axis_Along_X,
+                  test_dJointSetSliderPositionRate_Force_Inverse_of_Axis_on_B2)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+        CHECK_CLOSE (0.0, dJointGetSliderPositionRate(jId), 1e-4);
+
+        dBodyAddForce(bId2, -1.0, 0, 0);
+        dWorldQuickStep (wId, 1.0);
+
+        CHECK_CLOSE (1, dJointGetSliderPositionRate(jId), 1e-4);
+    }
+
+
+    // Apply force on body 2 in the X direction also the Axis direction
+    //
+    //  X------->       X---------> <-- Axis
+    //  B2 F->             B2
+    TEST_FIXTURE (Fixture_dxJointSlider_B2_At_Zero_Axis_Inverse_of_X,
+                  test_dJointSetSliderPositionRate_Force_Inverse_Axis_on_B2)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+        CHECK_CLOSE (0.0, dJointGetSliderPositionRate(jId), 1e-4);
+
+        dBodyAddForce(bId2, 1.0, 0, 0);
+        dWorldQuickStep (wId, 1.0);
+
+        CHECK_CLOSE (1, dJointGetSliderPositionRate(jId), 1e-4);
+    }
+
+    // Apply force on body 2 in the inverse X direction
+    //
+    //  X------->           X---------> <-- Axis
+    //  B2 <-F           B2
+    TEST_FIXTURE (Fixture_dxJointSlider_B2_At_Zero_Axis_Inverse_of_X,
+                  test_dJointSetSliderPositionRate_Force_Along_of_Axis_on_B2)
+    {
+        CHECK_CLOSE (0.0, dJointGetSliderPosition(jId), 1e-4);
+        CHECK_CLOSE (0.0, dJointGetSliderPositionRate(jId), 1e-4);
+
+        dBodyAddForce(bId2, -1.0, 0, 0);
+        dWorldQuickStep (wId, 1.0);
+
+        CHECK_CLOSE (-1, dJointGetSliderPositionRate(jId), 1e-4);
+    }
+
+
+
+
+
+
+    // Create 2 bodies attached by a Slider joint
+    // Axis is along the X axis (Default value
+    // Anchor at (0, 0, 0)      (Default value)
+    //
+    //       ^Y
+    //       |
+    //       |
+    //       |
+    //       |
+    // Body1 |     Body2
+    // *     Z-----*->x
+    struct dxJointSlider_Test_Initialization
+    {
+        dxJointSlider_Test_Initialization()
+        {
+            wId = dWorldCreate();
+
+            // Remove gravity to have the only force be the force of the joint
+            dWorldSetGravity(wId, 0,0,0);
+
+            for (int j=0; j<2; ++j)
+            {
+                bId[j][0] = dBodyCreate (wId);
+                dBodySetPosition (bId[j][0], -1, -2, -3);
+
+                bId[j][1] = dBodyCreate (wId);
+                dBodySetPosition (bId[j][1], 11, 22, 33);
+
+
+                dMatrix3 R;
+                dVector3 axis; // Random axis
+
+                axis[0] =  REAL(0.53);
+                axis[1] = -REAL(0.71);
+                axis[2] =  REAL(0.43);
+                dNormalize3(axis);
+                dRFromAxisAndAngle (R, axis[0], axis[1], axis[2],
+                                    REAL(0.47123)); // 27deg
+                dBodySetRotation (bId[j][0], R);
+
+
+                axis[0] =  REAL(1.2);
+                axis[1] =  REAL(0.87);
+                axis[2] = -REAL(0.33);
+                dNormalize3(axis);
+                dRFromAxisAndAngle (R, axis[0], axis[1], axis[2],
+                                    REAL(0.47123)); // 27deg
+                dBodySetRotation (bId[j][1], R);
+
+
+                jId[j] = dJointCreateSlider (wId, 0);
+                dJointAttach (jId[j], bId[j][0], bId[j][1]);
+            }
+        }
+
+        ~dxJointSlider_Test_Initialization()
+        {
+            dWorldDestroy (wId);
+        }
+
+        dWorldID wId;
+
+        dBodyID bId[2][2];
+
+
+        dJointID jId[2];
+
+    };
+
+
+    // Test if setting a Slider joint with its default values
+    // will behave the same as a default Slider joint
+    TEST_FIXTURE (dxJointSlider_Test_Initialization,
+                  test_Slider_Initialization)
+    {
+        using namespace std;
+
+        dVector3 axis;
+        dJointGetSliderAxis(jId[1], axis);
+        dJointSetSliderAxis(jId[1], axis[0], axis[1], axis[2]);
+
+
+        CHECK_CLOSE (dJointGetSliderPosition(jId[0]),
+                     dJointGetSliderPosition(jId[1]), 1e-6);
+
+
+        for (int b=0; b<2; ++b)
+        {
+            // Compare body b of the first joint with its equivalent on the
+            // second joint
+            const dReal *qA = dBodyGetQuaternion(bId[0][b]);
+            const dReal *qB = dBodyGetQuaternion(bId[1][b]);
+            CHECK_CLOSE (qA[0], qB[0], 1e-6);
+            CHECK_CLOSE (qA[1], qB[1], 1e-6);
+            CHECK_CLOSE (qA[2], qB[2], 1e-6);
+            CHECK_CLOSE (qA[3], qB[3], 1e-6);
+        }
+
+        dWorldStep (wId,0.5);
+        dWorldStep (wId,0.5);
+        dWorldStep (wId,0.5);
+        dWorldStep (wId,0.5);
+
+        for (int b=0; b<2; ++b)
+        {
+            // Compare body b of the first joint with its equivalent on the
+            // second joint
+            const dReal *qA = dBodyGetQuaternion(bId[0][b]);
+            const dReal *qB = dBodyGetQuaternion(bId[1][b]);
+            CHECK_CLOSE (qA[0], qB[0], 1e-6);
+            CHECK_CLOSE (qA[1], qB[1], 1e-6);
+            CHECK_CLOSE (qA[2], qB[2], 1e-6);
+            CHECK_CLOSE (qA[3], qB[3], 1e-6);
+
+
+            const dReal *posA = dBodyGetPosition(bId[0][b]);
+            const dReal *posB = dBodyGetPosition(bId[1][b]);
+            CHECK_CLOSE (posA[0], posB[0], 1e-6);
+            CHECK_CLOSE (posA[1], posB[1], 1e-6);
+            CHECK_CLOSE (posA[2], posB[2], 1e-6);
+            CHECK_CLOSE (posA[3], posB[3], 1e-6);
+        }
+    }
+
+
+
+    // Compare Only body 1 to 2 bodies with one fixed.
+    //
+    // The body are positionned at (0, 0, 0), with no rotation
+    // The joint is a Slider Joint
+    // Axis is along the X axis
+    // Anchor at (0, 0, 0)
+    struct Fixture_dxJointSlider_Compare_Body_At_Zero_Axis_Along_X
+    {
+        Fixture_dxJointSlider_Compare_Body_At_Zero_Axis_Along_X()
+        {
+            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 = dJointCreateSlider (wId, 0);
+            dJointAttach(jId_12, bId1_12, bId2_12);
+
+            fixed = dJointCreateFixed (wId, 0);
+
+
+
+            bId = dBodyCreate (wId);
+            dBodySetPosition (bId, 0, 0, 0);
+
+            dBodyAddForce (bId, 4, 0, 0);
+
+            jId = dJointCreateSlider (wId, 0);
+        }
+
+        ~Fixture_dxJointSlider_Compare_Body_At_Zero_Axis_Along_X()
+        {
+            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
+    };
+
+    // This test compare the result of a slider with 2 bodies where body body 2 is
+    // fixed to the world to a slider 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_dxJointSlider_Compare_Body_At_Zero_Axis_Along_X,
+                 test_Limit_minus1_025_One_Body_on_left)
+    {
+        dBodyAddForce (bId1_12, 4, 0, 0);
+
+        dJointAttach(jId_12, bId1_12, bId2_12);
+        dJointSetSliderParam(jId_12, dParamLoStop, -1);
+        dJointSetSliderParam(jId_12, dParamHiStop, 0.25);
+
+        dJointAttach(fixed, 0, bId2_12);
+        dJointSetFixed(fixed);
+
+        dJointAttach(jId, bId, 0);
+        dJointSetSliderParam(jId, dParamLoStop, -1);
+        dJointSetSliderParam(jId, dParamHiStop, 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 (pos[0], pos1_12[0], 1e-2);
+        CHECK_CLOSE (pos[1], pos1_12[1], 1e-2);
+        CHECK_CLOSE (pos[2], pos1_12[2], 1e-2);
+    }
+
+
+
+    // This test compare the result of a slider with 2 bodies where body body 1 is
+    // fixed to the world to a slider 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_dxJointSlider_Compare_Body_At_Zero_Axis_Along_X,
+                 test_Limit_minus1_025_One_Body_on_right)
+    {
+        dBodyAddForce (bId2_12, 4, 0, 0);
+
+        dJointAttach(jId_12, bId1_12, bId2_12);
+        dJointSetSliderParam(jId_12, dParamLoStop, -1);
+        dJointSetSliderParam(jId_12, dParamHiStop, 0.25);
+
+        dJointAttach(fixed, bId1_12, 0);
+        dJointSetFixed(fixed);
+
+
+        dJointAttach(jId, 0, bId);
+        dJointSetSliderParam(jId, dParamLoStop, -1);
+        dJointSetSliderParam(jId, dParamHiStop, 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 (pos[0], pos2_12[0], 1e-2);
+        CHECK_CLOSE (pos[1], pos2_12[1], 1e-2);
+        CHECK_CLOSE (pos[2], pos2_12[2], 1e-2);
+    }
+
+
+
+    // This test compare the result of a slider with 2 bodies where body body 2 is
+    // fixed to the world to a slider 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_dxJointSlider_Compare_Body_At_Zero_Axis_Along_X,
+                 test_Limit_0_0_One_Body_on_left)
+    {
+        dBodyAddForce (bId1_12, 4, 0, 0);
+
+        dJointAttach(jId_12, bId1_12, bId2_12);
+        dJointSetSliderParam(jId_12, dParamLoStop, 0);
+        dJointSetSliderParam(jId_12, dParamHiStop, 0);
+
+        dJointAttach(fixed, 0, bId2_12);
+        dJointSetFixed(fixed);
+
+
+        dJointAttach(jId, bId, 0);
+        dJointSetSliderParam(jId, dParamLoStop, 0);
+        dJointSetSliderParam(jId, dParamHiStop, 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 (pos[0], pos1_12[0], 1e-4);
+        CHECK_CLOSE (pos[1], pos1_12[1], 1e-4);
+        CHECK_CLOSE (pos[2], pos1_12[2], 1e-4);
+
+        CHECK_CLOSE (pos[0], 0, 1e-4);
+        CHECK_CLOSE (pos[1], 0, 1e-4);
+        CHECK_CLOSE (pos[2], 0, 1e-4);
+    }
+
+
+    // This test compare the result of a slider with 2 bodies where body body 1 is
+    // fixed to the world to a slider 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_dxJointSlider_Compare_Body_At_Zero_Axis_Along_X,
+                 test_Limit_0_0_One_Body_on_right)
+    {
+        dBodyAddForce (bId2_12, 4, 0, 0);
+
+        dJointAttach(jId_12, bId1_12, bId2_12);
+        dJointSetSliderParam(jId_12, dParamLoStop, 0);
+        dJointSetSliderParam(jId_12, dParamHiStop, 0);
+
+        dJointAttach(fixed, bId1_12, 0);
+        dJointSetFixed(fixed);
+
+
+        dJointAttach(jId, 0, bId);
+        dJointSetSliderParam(jId, dParamLoStop, 0);
+        dJointSetSliderParam(jId, dParamHiStop, 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 (pos[0], pos2_12[0], 1e-4);
+        CHECK_CLOSE (pos[1], pos2_12[1], 1e-4);
+        CHECK_CLOSE (pos[2], pos2_12[2], 1e-4);
+
+        CHECK_CLOSE (pos[0], 0, 1e-4);
+        CHECK_CLOSE (pos[1], 0, 1e-4);
+        CHECK_CLOSE (pos[2], 0, 1e-4);
+    }
+
+
+
+
+} // End of SUITE TestdxJointSlider