325 lines
11 KiB
C++
325 lines
11 KiB
C++
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/*************************************************************************
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* *
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* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
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* All rights reserved. Email: russ@q12.org Web: www.q12.org *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of EITHER: *
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* (1) The GNU Lesser General Public License as published by the Free *
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* Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. The text of the GNU Lesser *
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* General Public License is included with this library in the *
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* file LICENSE.TXT. *
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* (2) The BSD-style license that is included with this library in *
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* the file LICENSE-BSD.TXT. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
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* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
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* *
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*************************************************************************/
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//234567890123456789012345678901234567890123456789012345678901234567890123456789
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// 1 2 3 4 5 6 7
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////////////////////////////////////////////////////////////////////////////////
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// This file creates unit tests for some of the functions found in:
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// ode/src/joinst/fixed.cpp
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//
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//
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////////////////////////////////////////////////////////////////////////////////
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#include <UnitTest++.h>
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#include <ode/ode.h>
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#include "config.h"
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#include "../../ode/src/joints/amotor.h"
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const dReal tol = 1e-5;
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SUITE (TestdxJointAMotor)
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{
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struct FixtureBase {
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dWorldID world;
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dBodyID body;
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dJointID joint;
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FixtureBase()
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{
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world = dWorldCreate();
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body = dBodyCreate(world);
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joint = dJointCreateAMotor(world, 0);
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}
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~FixtureBase()
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{
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dJointDestroy(joint);
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dBodyDestroy(body);
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dWorldDestroy(world);
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}
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};
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struct FixtureXUser: FixtureBase {
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FixtureXUser()
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{
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// body only allowed to rotate around X axis
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dBodySetFiniteRotationMode(body, 1);
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dBodySetFiniteRotationAxis(body, 1, 0, 0);
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dJointAttach(joint, body, 0);
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dJointSetAMotorNumAxes(joint, 2);
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dJointSetAMotorAxis(joint, 0, 2, 0, 1, 0);
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dJointSetAMotorAxis(joint, 1, 2, 0, 0, 1);
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dJointSetAMotorParam(joint, dParamVel, 0);
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dJointSetAMotorParam(joint, dParamFMax, dInfinity);
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dJointSetAMotorParam(joint, dParamVel2, 0);
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dJointSetAMotorParam(joint, dParamFMax2, dInfinity);
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}
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};
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TEST_FIXTURE(FixtureXUser, rotate_x)
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{
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const dReal h = 1;
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const dReal v = 1;
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dMatrix3 identity = {1, 0, 0, 0,
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0, 1, 0, 0,
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0, 0, 1, 0};
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dBodySetRotation(body, identity);
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dBodySetAngularVel(body, v, 0, 0);
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dWorldQuickStep(world, h);
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const dReal* rot = dBodyGetRotation(body);
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CHECK_CLOSE(1, rot[0], tol);
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CHECK_CLOSE(0, rot[4], tol);
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CHECK_CLOSE(0, rot[8], tol);
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CHECK_CLOSE(0, rot[1], tol);
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CHECK_CLOSE(dCos(v*h), rot[5], tol);
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CHECK_CLOSE(dSin(v*h), rot[9], tol);
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CHECK_CLOSE(0, rot[2], tol);
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CHECK_CLOSE(-dSin(v*h), rot[6], tol);
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CHECK_CLOSE( dCos(v*h), rot[10], tol);
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}
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TEST_FIXTURE(FixtureXUser, rotate_yz)
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{
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const dReal h = 1;
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const dReal v = 1;
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dMatrix3 identity = {1, 0, 0, 0,
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0, 1, 0, 0,
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0, 0, 1, 0};
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dBodySetRotation(body, identity);
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dVector3 axis_y;
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dJointGetAMotorAxis(joint, 0, axis_y);
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CHECK_CLOSE(0, axis_y[0], tol);
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CHECK_CLOSE(1, axis_y[1], tol);
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CHECK_CLOSE(0, axis_y[2], tol);
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dVector3 axis_z;
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dJointGetAMotorAxis(joint, 1, axis_z);
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CHECK_CLOSE(0, axis_z[0], tol);
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CHECK_CLOSE(0, axis_z[1], tol);
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CHECK_CLOSE(1, axis_z[2], tol);
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dBodySetAngularVel(body, 0, v, v);
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dWorldStep(world, h);
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const dReal* rot = dBodyGetRotation(body);
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CHECK_CLOSE(1, rot[0], tol);
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CHECK_CLOSE(0, rot[4], tol);
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CHECK_CLOSE(0, rot[8], tol);
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CHECK_CLOSE(0, rot[1], tol);
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CHECK_CLOSE(1, rot[5], tol);
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CHECK_CLOSE(0, rot[9], tol);
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CHECK_CLOSE(0, rot[2], tol);
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CHECK_CLOSE(0, rot[6], tol);
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CHECK_CLOSE(1, rot[10], tol);
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}
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TEST_FIXTURE(FixtureBase, sanity_check)
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{
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dMatrix3 R;
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dRFromAxisAndAngle(R, 1, 1, 1, 10*M_PI/180);
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dBodySetRotation(body, R);
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dVector3 res;
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dJointAttach(joint, body, 0);
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dJointSetAMotorNumAxes(joint, 3);
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CHECK_EQUAL(3, dJointGetAMotorNumAxes(joint));
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// axes relative to world
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dJointSetAMotorAxis(joint, 0, 0, 1, 0, 0);
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dJointGetAMotorAxis(joint, 0, res);
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CHECK_EQUAL(0, dJointGetAMotorAxisRel(joint, 0));
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CHECK_CLOSE(1, res[0], tol);
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CHECK_CLOSE(0, res[1], tol);
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CHECK_CLOSE(0, res[2], tol);
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dJointSetAMotorAxis(joint, 1, 0, 0, 1, 0);
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dJointGetAMotorAxis(joint, 1, res);
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CHECK_EQUAL(0, dJointGetAMotorAxisRel(joint, 1));
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CHECK_CLOSE(0, res[0], tol);
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CHECK_CLOSE(1, res[1], tol);
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CHECK_CLOSE(0, res[2], tol);
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dJointSetAMotorAxis(joint, 2, 0, 0, 0, 1);
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dJointGetAMotorAxis(joint, 2, res);
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CHECK_EQUAL(0, dJointGetAMotorAxisRel(joint, 2));
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CHECK_CLOSE(0, res[0], tol);
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CHECK_CLOSE(0, res[1], tol);
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CHECK_CLOSE(1, res[2], tol);
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// axes relative to body1
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dJointSetAMotorAxis(joint, 0, 1, 1, 0, 0);
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dJointGetAMotorAxis(joint, 0, res);
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CHECK_EQUAL(1, dJointGetAMotorAxisRel(joint, 0));
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CHECK_CLOSE(1, res[0], tol);
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CHECK_CLOSE(0, res[1], tol);
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CHECK_CLOSE(0, res[2], tol);
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dJointSetAMotorAxis(joint, 1, 1, 0, 1, 0);
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dJointGetAMotorAxis(joint, 1, res);
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CHECK_EQUAL(1, dJointGetAMotorAxisRel(joint, 1));
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CHECK_CLOSE(0, res[0], tol);
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CHECK_CLOSE(1, res[1], tol);
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CHECK_CLOSE(0, res[2], tol);
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dJointSetAMotorAxis(joint, 2, 1, 0, 0, 1);
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dJointGetAMotorAxis(joint, 2, res);
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CHECK_EQUAL(1, dJointGetAMotorAxisRel(joint, 2));
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CHECK_CLOSE(0, res[0], tol);
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CHECK_CLOSE(0, res[1], tol);
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CHECK_CLOSE(1, res[2], tol);
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// axes relative to body2
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dJointSetAMotorAxis(joint, 0, 2, 1, 0, 0);
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dJointGetAMotorAxis(joint, 0, res);
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CHECK_EQUAL(2, dJointGetAMotorAxisRel(joint, 0));
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CHECK_CLOSE(1, res[0], tol);
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CHECK_CLOSE(0, res[1], tol);
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CHECK_CLOSE(0, res[2], tol);
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dJointSetAMotorAxis(joint, 1, 2, 0, 1, 0);
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dJointGetAMotorAxis(joint, 1, res);
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CHECK_EQUAL(2, dJointGetAMotorAxisRel(joint, 1));
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CHECK_CLOSE(0, res[0], tol);
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CHECK_CLOSE(1, res[1], tol);
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CHECK_CLOSE(0, res[2], tol);
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dJointSetAMotorAxis(joint, 2, 2, 0, 0, 1);
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dJointGetAMotorAxis(joint, 2, res);
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CHECK_EQUAL(2, dJointGetAMotorAxisRel(joint, 2));
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CHECK_CLOSE(0, res[0], tol);
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CHECK_CLOSE(0, res[1], tol);
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CHECK_CLOSE(1, res[2], tol);
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// reverse attachment to force internal reversal
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dJointAttach(joint, 0, body);
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// axes relative to world
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dJointSetAMotorAxis(joint, 0, 0, 1, 0, 0);
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dJointGetAMotorAxis(joint, 0, res);
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CHECK_EQUAL(0, dJointGetAMotorAxisRel(joint, 0));
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CHECK_CLOSE(1, res[0], tol);
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CHECK_CLOSE(0, res[1], tol);
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CHECK_CLOSE(0, res[2], tol);
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dJointSetAMotorAxis(joint, 1, 0, 0, 1, 0);
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dJointGetAMotorAxis(joint, 1, res);
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CHECK_EQUAL(0, dJointGetAMotorAxisRel(joint, 1));
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CHECK_CLOSE(0, res[0], tol);
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CHECK_CLOSE(1, res[1], tol);
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CHECK_CLOSE(0, res[2], tol);
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dJointSetAMotorAxis(joint, 2, 0, 0, 0, 1);
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dJointGetAMotorAxis(joint, 2, res);
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CHECK_EQUAL(0, dJointGetAMotorAxisRel(joint, 2));
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CHECK_CLOSE(0, res[0], tol);
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CHECK_CLOSE(0, res[1], tol);
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CHECK_CLOSE(1, res[2], tol);
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// axes relative to body1
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dJointSetAMotorAxis(joint, 0, 1, 1, 0, 0);
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dJointGetAMotorAxis(joint, 0, res);
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CHECK_EQUAL(1, dJointGetAMotorAxisRel(joint, 0));
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CHECK_CLOSE(1, res[0], tol);
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CHECK_CLOSE(0, res[1], tol);
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CHECK_CLOSE(0, res[2], tol);
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dJointSetAMotorAxis(joint, 1, 1, 0, 1, 0);
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dJointGetAMotorAxis(joint, 1, res);
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CHECK_EQUAL(1, dJointGetAMotorAxisRel(joint, 1));
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CHECK_CLOSE(0, res[0], tol);
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CHECK_CLOSE(1, res[1], tol);
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CHECK_CLOSE(0, res[2], tol);
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dJointSetAMotorAxis(joint, 2, 1, 0, 0, 1);
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dJointGetAMotorAxis(joint, 2, res);
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CHECK_EQUAL(1, dJointGetAMotorAxisRel(joint, 2));
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CHECK_CLOSE(0, res[0], tol);
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CHECK_CLOSE(0, res[1], tol);
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CHECK_CLOSE(1, res[2], tol);
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// axes relative to body2
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dJointSetAMotorAxis(joint, 0, 2, 1, 0, 0);
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dJointGetAMotorAxis(joint, 0, res);
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CHECK_EQUAL(2, dJointGetAMotorAxisRel(joint, 0));
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CHECK_CLOSE(1, res[0], tol);
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CHECK_CLOSE(0, res[1], tol);
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CHECK_CLOSE(0, res[2], tol);
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dJointSetAMotorAxis(joint, 1, 2, 0, 1, 0);
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dJointGetAMotorAxis(joint, 1, res);
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CHECK_EQUAL(2, dJointGetAMotorAxisRel(joint, 1));
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CHECK_CLOSE(0, res[0], tol);
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CHECK_CLOSE(1, res[1], tol);
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CHECK_CLOSE(0, res[2], tol);
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dJointSetAMotorAxis(joint, 2, 2, 0, 0, 1);
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dJointGetAMotorAxis(joint, 2, res);
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CHECK_EQUAL(2, dJointGetAMotorAxisRel(joint, 2));
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CHECK_CLOSE(0, res[0], tol);
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CHECK_CLOSE(0, res[1], tol);
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CHECK_CLOSE(1, res[2], tol);
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}
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struct FixtureXEuler : FixtureBase {
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FixtureXEuler()
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{
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// body only allowed to rotate around X axis
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dJointAttach(joint, 0, body);
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dJointSetAMotorMode(joint, dAMotorEuler);
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dJointSetAMotorAxis(joint, 0, 0, 1, 0, 0);
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dJointSetAMotorAxis(joint, 2, 0, 0, 0, 1);
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}
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};
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TEST_FIXTURE(FixtureXEuler, check_axes)
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{
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// test patch #181 bug fix
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dVector3 axis_x;
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dJointGetAMotorAxis(joint, 0, axis_x);
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CHECK_CLOSE(1, axis_x[0], tol);
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CHECK_CLOSE(0, axis_x[1], tol);
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CHECK_CLOSE(0, axis_x[2], tol);
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dVector3 axis_y;
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dJointGetAMotorAxis(joint, 1, axis_y);
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CHECK_CLOSE(0, axis_y[0], tol);
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CHECK_CLOSE(1, axis_y[1], tol);
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CHECK_CLOSE(0, axis_y[2], tol);
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dVector3 axis_z;
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dJointGetAMotorAxis(joint, 2, axis_z);
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CHECK_CLOSE(0, axis_z[0], tol);
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CHECK_CLOSE(0, axis_z[1], tol);
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CHECK_CLOSE(1, axis_z[2], tol);
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}
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} // End of SUITE TestdxJointAMotor
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