/** The call to ragdoll.destroy() used to cause an NPE. */
@Test
public void testIssue31() {
DWorld world = OdeHelper.createWorld();
world.setGravity(0, 0, -9.8);
world.setDamping(1e-4, 1e-5);
// dWorldSetERP(world, 1);
DSpace space = OdeHelper.createSimpleSpace();
OdeHelper.createPlane(space, 0, 0, 1, 0);
DxRagdoll ragdoll = new DxRagdoll(world, space, new DxDefaultHumanRagdollConfig());
ragdoll.setAngularDamping(0.1);
DQuaternion q = new DQuaternion(1, 0, 0, 0);
Rotation.dQFromAxisAndAngle(q, new DVector3(1, 0, 0), -0.5 * Math.PI);
for (int i = 0; i < ragdoll.getBones().size(); i++) {
DxRagdollBody bone = ragdoll.getBones().get(i);
DGeom g = OdeHelper.createCapsule(space, bone.getRadius(), bone.getLength());
DBody body = bone.getBody();
DQuaternion qq = new DQuaternion();
OdeMath.dQMultiply1(qq, q, body.getQuaternion());
body.setQuaternion(qq);
DMatrix3 R = new DMatrix3();
OdeMath.dRfromQ(R, q);
DVector3 v = new DVector3();
OdeMath.dMultiply0_133(v, body.getPosition(), R);
body.setPosition(v.get0(), v.get1(), v.get2());
g.setBody(body);
}
ragdoll.destroy();
}
// void setAnchors( dxJoint j, double x, double y, double z,
// dVector3 anchor1, dVector3 anchor2 )
final void setAnchors(DVector3C xyz, DVector3 anchor1, DVector3 anchor2) {
if (node[0].body != null) {
/// double[] q = new double[4];
DVector3 q = new DVector3();
// q.v[0] = x - node[0].body._posr.pos.v[0];
// q.v[1] = y - node[0].body._posr.pos.v[1];
// q.v[2] = z - node[0].body._posr.pos.v[2];
// q.v[3] = 0;
q.eqDiff(xyz, node[0].body.posr().pos());
dMultiply1_331(anchor1, node[0].body.posr().R(), q);
if (node[1].body != null) {
// q.v[0] = x - node[1].body._posr.pos.v[0];
// q.v[1] = y - node[1].body._posr.pos.v[1];
// q.v[2] = z - node[1].body._posr.pos.v[2];
// q.v[3] = 0;
q.eqDiff(xyz, node[1].body.posr().pos());
dMultiply1_331(anchor2, node[1].body.posr().R(), q);
} else {
// anchor2.v[0] = x;
// anchor2.v[1] = y;
// anchor2.v[2] = z;
anchor2.set(xyz);
}
}
// anchor1.v[3] = 0;
// anchor2.v[3] = 0;
}
// void getAnchor2( dxJoint j, dVector3 result, dVector3 anchor2 )
void getAnchor2(DVector3 result, DVector3 anchor2) {
if (node[1].body != null) {
dMultiply0_331(result, node[1].body.posr().R(), anchor2);
// result.v[0] += node[1].body.posr.pos.v[0];
// result.v[1] += node[1].body.posr.pos.v[1];
// result.v[2] += node[1].body.posr.pos.v[2];
result.add(node[1].body.posr().pos());
} else {
// result.v[0] = anchor2.v[0];
// result.v[1] = anchor2.v[1];
// result.v[2] = anchor2.v[2];
result.set(anchor2);
}
}
// void getAnchor( dxJoint j, dVector3 result, dVector3 anchor1 )
void getAnchor(DVector3 result, DVector3 anchor1) {
if (node[0].body != null) {
dMultiply0_331(result, node[0].body.posr().R(), anchor1);
// result.v[0] += node[0].body._posr.pos.v[0];
// result.v[1] += node[0].body._posr.pos.v[1];
// result.v[2] += node[0].body._posr.pos.v[2];
result.add(node[0].body.posr().pos());
}
}
/**
* set three orientation rows in the constraint equation, and the corresponding right hand side.
*
* @param joint
* @param info
* @param qrel
* @param start_row
*/
void setFixedOrientation(DxJoint joint, Info2 info, DQuaternion qrel, int start_row) {
int s = info.rowskip();
int start_index = start_row * s;
// 3 rows to make body rotations equal
info._J[info.J1ap + start_index] = 1;
info._J[info.J1ap + start_index + s + 1] = 1;
info._J[info.J1ap + start_index + s * 2 + 2] = 1;
if (joint.node[1].body != null) {
info._J[info.J2ap + start_index] = -1;
info._J[info.J2ap + start_index + s + 1] = -1;
info._J[info.J2ap + start_index + s * 2 + 2] = -1;
}
// compute the right hand side. the first three elements will result in
// relative angular velocity of the two bodies - this is set to bring them
// back into alignment. the correcting angular velocity is
// |angular_velocity| = angle/time = erp*theta / stepsize
// = (erp*fps) * theta
// angular_velocity = |angular_velocity| * u
// = (erp*fps) * theta * u
// where rotation along unit length axis u by theta brings body 2's frame
// to qrel with respect to body 1's frame. using a small angle approximation
// for sin(), this gives
// angular_velocity = (erp*fps) * 2 * v
// where the quaternion of the relative rotation between the two bodies is
// q = [cos(theta/2) sin(theta/2)*u] = [s v]
// get qerr = relative rotation (rotation error) between two bodies
DQuaternion qerr = new DQuaternion();
DVector3 e = new DVector3();
if (joint.node[1].body != null) {
DQuaternion qq = new DQuaternion();
dQMultiply1(qq, joint.node[0].body._q, joint.node[1].body._q);
dQMultiply2(qerr, qq, qrel);
} else {
dQMultiply3(qerr, joint.node[0].body._q, qrel);
}
if (qerr.get0() < 0) {
qerr.set1(-qerr.get1()); // adjust sign of qerr to make theta small
qerr.set2(-qerr.get2());
qerr.set3(-qerr.get3());
}
// TZ:
// dMULTIPLY0_331( e, joint.node[0].body.posr.R, qerr + 1 ); // @@@ bad SIMD padding!
DVector3 qerr2 = new DVector3();
qerr2.set0(qerr.get1());
qerr2.set1(qerr.get2());
qerr2.set2(qerr.get3());
dMultiply0_331(e, joint.node[0].body.posr().R(), qerr2); // @@@ bad SIMD padding!
double k = info.fps * info.erp;
info.setC(start_row, 2 * k * e.get0());
info.setC(start_row + 1, 2 * k * e.get1());
info.setC(start_row + 2, 2 * k * e.get2());
}
void getAxis2(DVector3 result, DVector3C axis2) {
if (node[1].body != null) {
dMultiply0_331(result, node[1].body.posr().R(), axis2);
} else {
// result.v[0] = axis2.v[0];
// result.v[1] = axis2.v[1];
// result.v[2] = axis2.v[2];
result.set(axis2);
}
}
// #define FOO2(i,j,op) \
// CONTACT(contact,i*skip).pos[0] = p[0] op box.side[j] * R[0+j]; \
// CONTACT(contact,i*skip).pos[1] = p[1] op box.side[j] * R[4+j]; \
// CONTACT(contact,i*skip).pos[2] = p[2] op box.side[j] * R[8+j];
private final void FOO2(
int i,
int j,
int op,
DContactGeomBuffer contacts,
int skip,
DVector3 p,
DMatrix3C R,
DVector3 side) {
contacts.get(i * skip).pos.eqSum(p, R.viewCol(j), op * side.get(j));
}
// Rotate the body by -0.23rad around X then back to original position.
// The body is attached at the second position of the joint:
// dJointAttache(jId, 0, bId);
//
// ^ ^
// | => /
// | /
// B1 B1
//
// Start with a Delta of -0.23rad
// ^ ^
// / => |
// / |
// B1 B1
// TEST_FIXTURE (Fixture_dxJointUniversal_B1_At_Zero_Default_Axes,
@Test
public void test_dJointSetUniversalAxisOffset_1Body_B1_Minus0_23rad() {
CHECK_CLOSE(dJointGetUniversalAngle1(jId), 0, 1e-4);
DMatrix3 R = new DMatrix3();
dRFromAxisAndAngle(R, 1, 0, 0, -(0.23));
dBodySetRotation(bId1, R);
CHECK_CLOSE(-(0.23), dJointGetUniversalAngle1(jId), 1e-4);
DVector3 axis = new DVector3();
dJointGetUniversalAxis1(jId, axis);
dJointSetUniversalAxis1Offset(jId, axis.get0(), axis.get1(), axis.get2(), -(0.23), 0);
CHECK_CLOSE(-(0.23), dJointGetUniversalAngle1(jId), 1e-4);
dRFromAxisAndAngle(R, 1, 0, 0, 0);
dBodySetRotation(bId1, R);
CHECK_CLOSE(0, dJointGetUniversalAngle1(jId), 1e-4);
}
void setAxes(DVector3C axis, DVector3 axis1, DVector3 axis2) {
if (node[0].body != null) {
DVector3 q = new DVector3(axis);
dNormalize3(q);
if (axis1 != null) {
dMultiply1_331(axis1, node[0].body.posr().R(), q);
}
if (axis2 != null) {
if (node[1].body != null) {
dMultiply1_331(axis2, node[1].body.posr().R(), q);
} else {
axis2.set(axis);
}
}
}
}
// void setAxes( dxJoint j, double x, double y, double z,
void setAxes(double x, double y, double z, DVector3 axis1, DVector3 axis2) {
if (node[0].body != null) {
// double[] q = new double[4];
DVector3 q = new DVector3(x, y, z);
dNormalize3(q);
if (axis1 != null) {
dMultiply1_331(axis1, node[0].body.posr().R(), q);
// axis1.v[3] = 0;
}
if (axis2 != null) {
if (node[1].body != null) {
dMultiply1_331(axis2, node[1].body.posr().R(), q);
} else {
// axis2.v[0] = x;
// axis2.v[1] = y;
// axis2.v[2] = z;
axis2.set(x, y, z);
}
// axis2.v[3] = 0;
}
}
}
// int dCollideBoxPlane (dxGeom *o1, dxGeom *o2,
// int flags, dContactGeom *contact, int skip)
int dCollideBoxPlane(DxBox o1, DxPlane o2, int flags, DContactGeomBuffer contacts, int skip) {
// dIASSERT (skip >= (int)sizeof(dContactGeom));
dIASSERT(skip == 1);
// dIASSERT (o1.type == dBoxClass);
// dIASSERT (o2.type == dPlaneClass);
dIASSERT((flags & DxGeom.NUMC_MASK) >= 1);
DxBox box = o1;
DxPlane plane = o2;
DContactGeom contact = contacts.get(0);
contact.g1 = o1;
contact.g2 = o2;
contact.side1 = -1;
contact.side2 = -1;
// int ret = 0;
RefInt ret = new RefInt();
// @@@ problem: using 4-vector (plane.p) as 3-vector (normal).
// final double *R = o1.final_posr.R; // rotation of box
// final double *n = plane.p; // normal vector
final DMatrix3C R = o1.final_posr().R(); // rotation of box
// final double []n = plane._p; // normal vector
DVector3C n = plane.getNormal();
// project sides lengths along normal vector, get absolute values
double Q1 = dCalcVectorDot3_14(n, R, 0);
double Q2 = dCalcVectorDot3_14(n, R, 1);
double Q3 = dCalcVectorDot3_14(n, R, 2);
// double A1 = box.side.v[0] * Q1;
// double A2 = box.side.v[1] * Q2;
// double A3 = box.side.v[2] * Q3;
double[] A = {box.side.get0() * Q1, box.side.get1() * Q2, box.side.get2() * Q3};
// double B1 = dFabs(A1);
// double B2 = dFabs(A2);
// double B3 = dFabs(A3);
double[] B = {dFabs(A[0]), dFabs(A[1]), dFabs(A[2])};
// early exit test
// double depth = plane._p[3] + (0.5)*(B1+B2+B3) - dDOT(n,o1._final_posr.pos);
RefDouble depth =
new RefDouble(
plane.getDepth() + (0.5) * (B[0] + B[1] + B[2]) - n.dot(o1.final_posr().pos()));
if (depth.get() < 0) return 0;
// find number of contacts requested
int maxc = flags & DxGeom.NUMC_MASK;
// if (maxc < 1) maxc = 1; // an assertion is made on entry
if (maxc > 4) maxc = 4; // not more than 4 contacts per box allowed
// find deepest point
DVector3 p = new DVector3();
// p.v[0] = o1._final_posr.pos.v[0];
// p.v[1] = o1._final_posr.pos.v[1];
// p.v[2] = o1._final_posr.pos.v[2];
p.set(o1.final_posr().pos());
// #define FOO1(i,op) \
// p.v[0] op (0.5)*box.side[i] * R[0+i]; \
// p.v[1] op (0.5)*box.side[i] * R[4+i]; \
// p.v[2] op (0.5)*box.side[i] * R[8+i];
// #define BAR1(i,iinc) if (A ## iinc > 0) { FOO1(i,-=) } else { FOO1(i,+=) }
// BAR1(0,1);
// BAR1(1,2);
// BAR1(2,3);
// #undef FOO
// #undef BAR
// substitute for FOO and BAR above (TZ)
for (int i = 0; i < 3; i++) {
if (A[i] > 0) p.eqSum(p, R.columnAsNewVector(i), -0.5 * box.side.get(i));
else p.eqSum(p, R.columnAsNewVector(i), +0.5 * box.side.get(i));
}
// the deepest point is the first contact point
// contact.pos[0] = p[0];
// contact.pos[1] = p[1];
// contact.pos[2] = p[2];
contact.pos.set(p);
contact.depth = depth.get();
ret.set(1); // ret = 1; // ret is number of contact points found so far
// TZ
do {
if (maxc == 1) {
// goto done;
done(ret, contacts, skip, o1, o2, maxc, depth.get(), p, n);
return ret.get();
}
// get the second and third contact points by starting from `p' and going
// along the two sides with the smallest projected length.
// #define FOO2(i,j,op) \
// CONTACT(contact,i*skip).pos[0] = p[0] op box.side[j] * R[0+j]; \
// CONTACT(contact,i*skip).pos[1] = p[1] op box.side[j] * R[4+j]; \
// CONTACT(contact,i*skip).pos[2] = p[2] op box.side[j] * R[8+j];
// contacts.get(i*skip).pos.sum(p, R.columnAsNewVector(j), op*box.side(j));
// #define BAR2(ctact,side,sideinc) \
// depth -= B ## sideinc; \
// if (depth < 0) goto done; \
// if (A ## sideinc > 0) { FOO(ctact,side,+); } else { FOO2(ctact,side,-); } \
// CONTACT(contact,ctact*skip).depth = depth; \
// ret++;
int p1, p2, p3, go;
// if (B[0] < B[1]) {
// if (B[2] < B[0]) goto use_side_3;
// else {
// BAR2(1,0,1); // use side 1
// if (maxc == 2) { //goto done;
// done(ret, contacts, skip, o1, o2);
// return ret;
// }
// if (B[1] < B[2]) goto contact2_2; else goto contact2_3;
// }
// } else {
// if (B[2] < B[1]) {
// use_side_3: // use side 3
// BAR2(1,2,3);
// if (maxc == 2) { //goto done;
// done(ret, contacts, skip, o1, o2);
// return ret;
// }
// if (B[0] < B[1]) goto contact2_1; else goto contact2_2;
// } else {
// BAR2(1,1,2); // use side 2
// if (maxc == 2) { //goto done;
// done(ret, contacts, skip, o1, o2);
// return ret;
// }
// if (B[0] < B[2]) goto contact2_1; else goto contact2_3;
// }
// }
if (B[0] < B[1]) {
if (B[2] < B[0]) {
// TODO
p1 = 1;
p2 = 2;
p3 = 3; // 1 2 3
if (B[0] < B[1]) go = 21;
else go = 22;
} else {
p1 = 1;
p2 = 0;
p3 = 1; // 1 0 1
if (B[1] < B[2]) go = 22;
else go = 23;
}
} else {
if (B[2] < B[1]) {
p1 = 1;
p2 = 2;
p3 = 3; // 1 2 3
if (B[0] < B[1]) go = 21;
else go = 22;
} else {
p1 = 1;
p2 = 1;
p3 = 2; // 1 1 2
if (B[0] < B[2]) go = 21;
else go = 23;
}
}
BAR2(p1, p2, p3, depth, ret, contacts, skip, A, B, o1, o2, p, R, box.side, maxc, n);
// TODO improve (e.g. make depth a primitive int, reduce arguments, ...
// BAR2_(p1, p2, depth, ret, contacts, skip, A[p2], B[p2], o1, o2, p, R, box.side);
if (maxc == 2) { // goto done;
break;
} else {
if (go == 21) {
if (!BAR2(2, 0, 1, depth, ret, contacts, skip, A, B, o1, o2, p, R, box.side, maxc, n))
return ret.get();
break;
} else if (go == 22) {
if (!BAR2(2, 1, 2, depth, ret, contacts, skip, A, B, o1, o2, p, R, box.side, maxc, n))
return ret.get();
break;
} else if (go == 23) {
if (!BAR2(2, 2, 3, depth, ret, contacts, skip, A, B, o1, o2, p, R, box.side, maxc, n))
return ret.get();
break;
} else {
throw new IllegalStateException("go=" + go);
}
}
// TZ
// throw new IllegalStateException();
// contact2_1: BAR2(2,0,1); goto done;
// contact2_2: BAR2(2,1,2); goto done;
// contact2_3: BAR2(2,2,3); goto done;
// #undef FOO
// #undef BAR
} while (false);
// done:
// for (int i=0; i<ret; i++) {
// CONTACT(contact,i*skip).g1 = o1;
// CONTACT(contact,i*skip).g2 = o2;
// }
done(ret, contacts, skip, o1, o2, maxc, depth.get(), p, n);
return ret.get();
}
// void dJointGetLMotorAxis( dJoint j, int anum, dVector3 result )
void dJointGetLMotorAxis(int anum, DVector3 result) {
dAASSERT(anum >= 0 && anum < 3);
if (anum < 0) anum = 0;
if (anum > 2) anum = 2;
result.set(axis[anum]);
}
void setBall2(
DxJoint joint, Info2 info, DVector3 anchor1, DVector3 anchor2, DVector3 axis, double erp1) {
// anchor points in global coordinates with respect to body PORs.
DVector3 a1 = new DVector3(), a2 = new DVector3();
int s = info.rowskip();
// get vectors normal to the axis. in setBall() axis,q1,q2 is [1 0 0],
// [0 1 0] and [0 0 1], which makes everything much easier.
DVector3 q1 = new DVector3(), q2 = new DVector3();
dPlaneSpace(axis, q1, q2);
// set jacobian
// for ( i = 0; i < 3; i++ ) info._J[info.J1lp+i] = axis.get(i);
// for ( i = 0; i < 3; i++ ) info._J[info.J1lp+s+i] = q1.get(i);
// for ( i = 0; i < 3; i++ ) info._J[info.J1lp+2*s+i] = q2.get(i);
axis.wrapSet(info._J, info.J1lp);
q1.wrapSet(info._J, info.J1lp + s);
q2.wrapSet(info._J, info.J1lp + 2 * s);
dMultiply0_331(a1, joint.node[0].body.posr().R(), anchor1);
dCalcVectorCross3(info._J, info.J1ap, a1, axis);
dCalcVectorCross3(info._J, info.J1ap + s, a1, q1);
dCalcVectorCross3(info._J, info.J1ap + 2 * s, a1, q2);
if (joint.node[1].body != null) {
// for ( i = 0; i < 3; i++ ) info._J[info.J2lp+i] = -axis.v[i];
// for ( i = 0; i < 3; i++ ) info._J[info.J2lp+s+i] = -q1.v[i];
// for ( i = 0; i < 3; i++ ) info._J[info.J2lp+2*s+i] = -q2.v[i];
axis.wrapSub(info._J, info.J2lp);
q1.wrapSub(info._J, info.J2lp + s);
q2.wrapSub(info._J, info.J2lp + 2 * s);
// dMultiply0_331( a2, joint->node[1].body->posr.R, anchor2 );
// dReal *J2a = info->J2a;
// dCalcVectorCross3( J2a, a2, axis );
// dNegateVector3( J2a );
// dReal *J2a_plus_s = J2a + s;
// dCalcVectorCross3( J2a_plus_s, a2, q1 );
// dNegateVector3( J2a_plus_s );
// dReal *J2a_plus_2s = J2a_plus_s + s;
// dCalcVectorCross3( J2a_plus_2s, a2, q2 );
// dNegateVector3( J2a_plus_2s );
dMultiply0_331(a2, joint.node[1].body._posr.R, anchor2);
double[] J = info._J; // TZ
int J2ap = info.J2ap; // TZ
// dReal *J2a = info->J2a;
dCalcVectorCross3(J, J2ap, a2, axis);
dNegateVector3(J, J2ap);
// dReal *J2a_plus_s = J2a + s;
dCalcVectorCross3(J, J2ap + s, a2, q1);
dNegateVector3(J, J2ap + s);
// dReal *J2a_plus_2s = J2a_plus_s + s;
dCalcVectorCross3(J, J2ap + 2 * s, a2, q2);
dNegateVector3(J, J2ap + 2 * s);
}
// set right hand side - measure error along (axis,q1,q2)
double k1 = info.fps * erp1;
double k = info.fps * info.erp;
// for ( i = 0; i < 3; i++ ) a1.v[i] += joint.node[0].body._posr.pos.v[i];
a1.add(joint.node[0].body.posr().pos());
if (joint.node[1].body != null) {
// for ( i = 0; i < 3; i++ ) a2.v[i] += joint.node[1].body._posr.pos.v[i];
a2.add(joint.node[1].body.posr().pos());
DVector3 a2_minus_a1 = new DVector3();
a2_minus_a1.eqDiff(a2, a1);
info.setC(0, k1 * (dCalcVectorDot3(axis, a2_minus_a1)));
info.setC(1, k * (dCalcVectorDot3(q1, a2_minus_a1)));
info.setC(2, k * (dCalcVectorDot3(q2, a2_minus_a1)));
} else {
DVector3 anchor2_minus_a1 = new DVector3();
anchor2_minus_a1.eqDiff(anchor2, a1);
info.setC(0, k1 * (dCalcVectorDot3(axis, anchor2_minus_a1)));
info.setC(1, k * (dCalcVectorDot3(q1, anchor2_minus_a1)));
info.setC(2, k * (dCalcVectorDot3(q2, anchor2_minus_a1)));
}
}
void setBall(DxJoint joint, Info2 info, DVector3 anchor1, DVector3 anchor2) {
// anchor points in global coordinates with respect to body PORs.
DVector3 a1 = new DVector3(), a2 = new DVector3();
int s = info.rowskip();
// set jacobian
info._J[info.J1lp + 0] = 1;
info._J[info.J1lp + s + 1] = 1;
info._J[info.J1lp + 2 * s + 2] = 1;
dMultiply0_331(a1, joint.node[0].body.posr().R(), anchor1);
// dCROSSMAT( info.J1a, a1, s, -, + );
dSetCrossMatrixMinus(info._J, info.J1ap, a1, s);
if (joint.node[1].body != null) {
info._J[info.J2lp + 0] = -1;
info._J[info.J2lp + s + 1] = -1;
info._J[info.J2lp + 2 * s + 2] = -1;
dMultiply0_331(a2, joint.node[1].body.posr().R(), anchor2);
dSetCrossMatrixPlus(info._J, info.J2ap, a2, s);
}
DxBody b0 = joint.node[0].body;
DxBody b1 = joint.node[1].body;
// set right hand side
double k = info.fps * info.erp;
if (joint.node[1].body != null) {
// for ( int j = 0; j < 3; j++ )
// {
// info.setC(j, k * ( a2.v[j] + b1.posr().pos().v[j] -
// a1.v[j] - b0._posr.pos.v[j] ));
// }
info.setC(0, k * (a2.get0() + b1.posr().pos().get0() - a1.get0() - b0.posr().pos().get0()));
info.setC(1, k * (a2.get1() + b1.posr().pos().get1() - a1.get1() - b0.posr().pos().get1()));
info.setC(2, k * (a2.get2() + b1.posr().pos().get2() - a1.get2() - b0.posr().pos().get2()));
} else {
// for ( int j = 0; j < 3; j++ )
// {
// info.setC(j, k * ( anchor2.v[j] - a1.v[j] -
// b0._posr.pos.v[j] ));
// }
info.setC(0, k * (anchor2.get0() - a1.get0() - b0.posr().pos().get0()));
info.setC(1, k * (anchor2.get1() - a1.get1() - b0.posr().pos().get1()));
info.setC(2, k * (anchor2.get2() - a1.get2() - b0.posr().pos().get2()));
}
}
// Test when there is only one body at position one on the joint
// TEST_FIXTURE (Fixture_dxJointUniversal_B1_At_Zero_Default_Axes,
@Test
public void test_dJointGetUniversalAngle1_1Body_B1() {
CHECK_CLOSE(0, dJointGetUniversalAngle1(jId), 1e-4);
CHECK_CLOSE(0, dJointGetUniversalAngle2(jId), 1e-4);
RefDouble angle1 = new RefDouble(), angle2 = new RefDouble();
dJointGetUniversalAngles(jId, angle1, angle2);
CHECK_CLOSE(0, angle1.d, 1e-4);
CHECK_CLOSE(0, angle2.d, 1e-4);
DVector3 axis1 = new DVector3();
dJointGetUniversalAxis1(jId, axis1);
DVector3 axis2 = new DVector3();
dJointGetUniversalAxis2(jId, axis2);
DMatrix3 R = new DMatrix3();
double ang1 = (0.23);
dRFromAxisAndAngle(R, axis1.get0(), axis1.get1(), axis1.get2(), ang1);
dBodySetRotation(bId1, R);
double ang2 = (0.0);
CHECK_CLOSE(ang1, dJointGetUniversalAngle1(jId), 1e-4);
CHECK_CLOSE(-ang2, dJointGetUniversalAngle2(jId), 1e-4);
dJointGetUniversalAngles(jId, angle1, angle2);
CHECK_CLOSE(ang1, angle1.d, 1e-4);
CHECK_CLOSE(-ang2, angle2.d, 1e-4);
DMatrix3 I = new DMatrix3();
I.setIdentity(); // Set the rotation of the body to be the Identity (i.e. zero)
dBodySetRotation(bId1, I);
CHECK_CLOSE(0, dJointGetUniversalAngle1(jId), 1e-4);
CHECK_CLOSE(0, dJointGetUniversalAngle2(jId), 1e-4);
// Test the same rotation, when axis1 is inverted
dJointSetUniversalAxis1(jId, -axis1.get0(), -axis1.get1(), -axis1.get2());
dBodySetRotation(bId1, R);
CHECK_CLOSE(-ang1, dJointGetUniversalAngle1(jId), 1e-4);
CHECK_CLOSE(-ang2, dJointGetUniversalAngle2(jId), 1e-4);
dJointGetUniversalAngles(jId, angle1, angle2);
CHECK_CLOSE(-ang1, angle1.d, 1e-4);
CHECK_CLOSE(-ang2, angle2.d, 1e-4);
// Test the same rotation, when axis1 is default and axis2 is inverted
dBodySetRotation(bId1, I);
dJointSetUniversalAxis1(jId, axis1.get0(), axis1.get1(), axis1.get2());
dJointSetUniversalAxis2(jId, -axis2.get0(), -axis2.get1(), -axis2.get2());
dBodySetRotation(bId1, R);
CHECK_CLOSE(ang1, dJointGetUniversalAngle1(jId), 1e-4);
CHECK_CLOSE(ang2, dJointGetUniversalAngle2(jId), 1e-4);
dJointGetUniversalAngles(jId, angle1, angle2);
CHECK_CLOSE(ang1, angle1.d, 1e-4);
CHECK_CLOSE(ang2, angle2.d, 1e-4);
}