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+
+/*************************************************************************
+ * *
+ * 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
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