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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/dball.cpp
//
//
////////////////////////////////////////////////////////////////////////////////
#include <UnitTest++.h>
#include <ode/ode.h>
#include "../../ode/src/config.h"
using namespace std;
SUITE (TestdxJointDBall)
{
struct SimpleFixture {
dWorldID w;
dBodyID b1, b2;
dJointID j;
SimpleFixture() :
w(dWorldCreate()),
b1(dBodyCreate(w)),
b2(dBodyCreate(w)),
j(dJointCreateDBall(w, 0))
{
dJointAttach(j, b1, b2);
}
~SimpleFixture()
{
dJointDestroy(j);
dBodyDestroy(b1);
dBodyDestroy(b2);
dWorldDestroy(w);
}
};
TEST_FIXTURE(SimpleFixture, testTargetDistance)
{
dBodySetPosition(b1, -1, -2, -3);
dBodySetPosition(b2, 3, 5, 7);
dJointAttach(j, b1, b2); // this recomputes the deduced target distance
CHECK_CLOSE(dJointGetDBallDistance(j), dSqrt(REAL(165.0)), 1e-4);
// moving body should not change target distance
dBodySetPosition(b1, 2,3,4);
CHECK_CLOSE(dJointGetDBallDistance(j), dSqrt(REAL(165.0)), 1e-4);
// setting target distance manually should override the deduced one
dJointSetDBallDistance(j, REAL(6.0));
CHECK_EQUAL(dJointGetDBallDistance(j), REAL(6.0));
}
}
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