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core/src/test/java/org/ode4j/ode/TestIssue0133_LcpInternalError.java
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| /************************************************************************* | ||
| * * | ||
| * Open Dynamics Engine 4J, Copyright (C) 2009-2014 Tilmann Zaeschke * | ||
| * All rights reserved. Email: [email protected] Web: www.ode4j.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 ODE-LICENSE-BSD.TXT and ODE4J-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, ODE-LICENSE-BSD.TXT and ODE4J-LICENSE-BSD.TXT for more * | ||
| * details. * | ||
| * * | ||
| *************************************************************************/ | ||
| package org.ode4j.ode; | ||
|
|
||
| import org.junit.After; | ||
| import org.junit.Before; | ||
| import org.junit.Test; | ||
|
|
||
| /** | ||
| * Issue #133: ODE INTERNAL ERROR in FastLSolve.solveL1Straight(). | ||
| */ | ||
| public class TestIssue0133_LcpInternalError { | ||
|
|
||
| private final DContactBuffer contacts = new DContactBuffer(4); | ||
| private DWorld world; | ||
| private DJointGroup contactGroup; | ||
|
|
||
| @Before | ||
| public void beforeTest() { | ||
| OdeHelper.initODE2(0); | ||
| } | ||
|
|
||
| @After | ||
| public void afterTest() { | ||
| OdeHelper.closeODE(); | ||
| } | ||
|
|
||
| private void nearCallback(Object data, DGeom o1, DGeom o2) { | ||
| DBody b1 = o1.getBody(); | ||
| DBody b2 = o2.getBody(); | ||
| if (b1 != null && b2 != null && OdeHelper.areConnected(b1, b2)) return; | ||
|
|
||
| int n = OdeHelper.collide(o1, o2, OdeConstants.dContactBounce, contacts.getGeomBuffer()); | ||
| if (n > 0) { | ||
| for (int i = 0; i < n; i++) { | ||
| DContact contact = contacts.get(i); | ||
| DJoint contactJoint = OdeHelper.createContactJoint(world, contactGroup, contact); | ||
| contactJoint.attach(o1.getBody(), o2.getBody()); | ||
| } | ||
| } | ||
| } | ||
|
|
||
| /** | ||
| * This crashed due to a bug in DLCP.solve1() with: <br> | ||
| * java.lang.RuntimeException: #1: assertion failed | ||
| * at org.ode4j/org.ode4j.ode.internal.ErrorHdl.dDebug(ErrorHdl.java:146) | ||
| * at org.ode4j/org.ode4j.ode.internal.ErrorHandler.dDebug(ErrorHandler.java:101) | ||
| * at org.ode4j/org.ode4j.ode.internal.Common.dIASSERT(Common.java:128) | ||
| * at org.ode4j/org.ode4j.ode.internal.FastLSolve.solveL1Straight(FastLSolve.java:49) | ||
| * at org.ode4j/org.ode4j.ode.internal.DLCP.solve1(DLCP.java:935) | ||
| * at org.ode4j/org.ode4j.ode.internal.DLCP.solve1(DLCP.java:545) | ||
| */ | ||
| @Test | ||
| public void test() { | ||
| double ballRadius = 5.0; | ||
| double ballMass = 23.0; | ||
| contactGroup = OdeHelper.createJointGroup(); | ||
| world = OdeHelper.createWorld(); | ||
| world.setGravity(0, 0, -9.81); | ||
| DSpace space = OdeHelper.createSimpleSpace(); | ||
| DBody ballBody = OdeHelper.createBody(world); | ||
| DGeom ballGeom = OdeHelper.createSphere(space, ballRadius); | ||
| ballGeom.setBody(ballBody); | ||
| DMass m = OdeHelper.createMass(); | ||
| m.setSphereTotal(ballMass, ballRadius); | ||
| ballBody.setMass(m); | ||
| ballBody.setPosition(0, 0, ballRadius * 3); | ||
| OdeHelper.createPlane(space, 0, 0, 1, 0); | ||
|
|
||
| for (int i = 0; i < 10000; i++) { | ||
| OdeHelper.spaceCollide(space, null, (data, o1, o2) -> nearCallback(data, o1, o2)); | ||
| world.step(0.01); | ||
| contactGroup.empty(); | ||
| } | ||
| } | ||
| } |