add testcase for kripken#28

test.py

@@ -31,7 +31,7 @@ def stage(text):
 if len(sys.argv) != 3 or sys.argv[2] != 'benchmark':
   stage('regression tests')
 
-  for test in ['basics', 'wrapping', '2', '3']:
+  for test in ['basics', 'wrapping', '2', '3', 'constraint']:
     name = test + '.js'
     print '     ', name
     fullname = os.path.join('tests', name)

tests/constraint.js

@@ -0,0 +1,79 @@
+function testConstraint() {
+
+  // init world
+  var collisionConfiguration = new Ammo.btDefaultCollisionConfiguration();
+  var dispatcher = new Ammo.btCollisionDispatcher(collisionConfiguration);
+  var overlappingPairCache = new Ammo.btDbvtBroadphase();
+  var solver = new Ammo.btSequentialImpulseConstraintSolver();
+  var dynamicsWorld = new Ammo.btDiscreteDynamicsWorld(dispatcher, overlappingPairCache, solver, collisionConfiguration);
+  dynamicsWorld.setGravity(new Ammo.btVector3(0, -10, 0));
+
+  // body 1
+  var shape1 = new Ammo.btCapsuleShape((0.15), (0.20));
+  var startTransform1 = new Ammo.btTransform();
+  startTransform1.setIdentity();
+  var mass1 = 1;
+  var localInertia1 = new Ammo.btVector3(0, 0, 0);
+  shape1.calculateLocalInertia(mass1,localInertia1);
+  startTransform1.setOrigin(new Ammo.btVector3(-0.0, 1.0, 0.0));
+
+  var myMotionState1 = new Ammo.btDefaultMotionState(startTransform1);
+  var rbInfo1 = new Ammo.btRigidBodyConstructionInfo(mass1, myMotionState1, shape1, localInertia1);
+  var body1 = new Ammo.btRigidBody(rbInfo1);
+  dynamicsWorld.addRigidBody(body1);
+
+  // body 2
+  var shape2 = new Ammo.btCapsuleShape((0.07), (0.45));
+  var startTransform2 = new Ammo.btTransform();
+  startTransform2.setIdentity();
+  var mass2 = 1;
+  var localInertia2 = new Ammo.btVector3(0, 0, 0);
+  shape2.calculateLocalInertia(mass2,localInertia2);
+
+  startTransform2.setOrigin(new Ammo.btVector3(-0.18, 0.65, 0.));
+
+  var myMotionState2 = new Ammo.btDefaultMotionState(startTransform2);
+  var rbInfo2 = new Ammo.btRigidBodyConstructionInfo(mass2, myMotionState2, shape2, localInertia2);
+  var body2 = new Ammo.btRigidBody(rbInfo2);
+  dynamicsWorld.addRigidBody(body2);
+
+  // constraint
+  var localA = new Ammo.btTransform();
+  var localB = new Ammo.btTransform();
+  localA.setIdentity(); localB.setIdentity();
+  localA.getBasis().setEulerZYX(0,0,-Math.PI/4); localA.setOrigin(new Ammo.btVector3((-0.18), (-0.10), (0.)));
+  localB.getBasis().setEulerZYX(0,0,-Math.PI/4); localB.setOrigin(new Ammo.btVector3((0.), (0.22), (0.)));
+  coneC = new Ammo.btConeTwistConstraint(body1, body2, localA, localB);
+  coneC.setLimit(Math.PI/4, Math.PI/4, 0); 
+  dynamicsWorld.addConstraint(coneC, true);
+
+  function check(array) {
+    array.forEach(function(value) {
+      assert(!isNaN(value), 'NaN appeared!');
+    });
+  }
+
+  // simulation
+  var trans = new Ammo.btTransform(); // taking this out of the loop below us reduces the leaking
+  for (var i = 0; i < 10; i++) {
+
+    dynamicsWorld.stepSimulation(1/60, 10);
+    if (body1.getMotionState()) {
+      body1.getMotionState().getWorldTransform(trans);
+      var vals = [trans.getOrigin().x().toFixed(2), trans.getOrigin().y().toFixed(2), trans.getOrigin().z().toFixed(2)];
+      check(vals);
+      print(i + '/1 : ' + vals);
+    }
+    if (body2.getMotionState()) {
+      body2.getMotionState().getWorldTransform(trans);
+      var vals = [trans.getOrigin().x().toFixed(2), trans.getOrigin().y().toFixed(2), trans.getOrigin().z().toFixed(2)];
+      check(vals);
+      print(i + '/2 : ' + vals);
+    }
+  }
+}
+
+testConstraint();
+
+print('ok.');
+