diff --git a/jme3-bullet/src/main/java/com/jme3/bullet/joints/SliderJoint.java b/jme3-bullet/src/main/java/com/jme3/bullet/joints/SliderJoint.java index b51c5d849..4412204ba 100644 --- a/jme3-bullet/src/main/java/com/jme3/bullet/joints/SliderJoint.java +++ b/jme3-bullet/src/main/java/com/jme3/bullet/joints/SliderJoint.java @@ -289,8 +289,13 @@ public class SliderJoint extends PhysicsJoint { private native float getRestitutionOrthoLin(long objectId); + /** + * Alter the joint's restitution for off-axis translation. + * + * @param restitutionOrthoLin the desired restitution (default=0.7) + */ public void setRestitutionOrthoLin(float restitutionOrthoLin) { - setDampingOrthoLin(objectId, restitutionOrthoLin); + setRestitutionOrthoLin(objectId, restitutionOrthoLin); } private native void setRestitutionOrthoLin(long objectId, float value); diff --git a/jme3-examples/src/main/java/jme3test/bullet/TestIssue894.java b/jme3-examples/src/main/java/jme3test/bullet/TestIssue894.java new file mode 100644 index 000000000..9fa461676 --- /dev/null +++ b/jme3-examples/src/main/java/jme3test/bullet/TestIssue894.java @@ -0,0 +1,185 @@ +/* + * Copyright (c) 2018 jMonkeyEngine + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are + * met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * + * * Neither the name of 'jMonkeyEngine' nor the names of its contributors + * may be used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED + * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF + * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING + * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ +package jme3test.bullet; + +/** + * Test case for JME issue #894: SliderJoint.setRestitutionOrthoLin() sets wrong + * joint parameter. The bug existed in Native Bullet only. + *

+ * If successful, no exception will be thrown during initialization. + */ +import com.jme3.app.SimpleApplication; +import com.jme3.bullet.collision.shapes.CollisionShape; +import com.jme3.bullet.collision.shapes.SphereCollisionShape; +import com.jme3.bullet.joints.SliderJoint; +import com.jme3.bullet.objects.PhysicsRigidBody; +import com.jme3.math.Vector3f; + +public class TestIssue894 extends SimpleApplication { + + public static void main(String[] args) { + TestIssue894 app = new TestIssue894(); + app.start(); + } + + @Override + public void simpleInitApp() { + float radius = 1f; + CollisionShape sphere = new SphereCollisionShape(radius); + + PhysicsRigidBody rb1 = new PhysicsRigidBody(sphere); + PhysicsRigidBody rb2 = new PhysicsRigidBody(sphere); + rb2.setPhysicsLocation(new Vector3f(4f, 0f, 0f)); + + SliderJoint joint = new SliderJoint(rb1, rb2, + new Vector3f(2f, 0f, 0f), + new Vector3f(-2f, 0f, 0f), true); + + joint.setLowerAngLimit(-0.01f); + joint.setLowerLinLimit(-0.02f); + joint.setUpperAngLimit(0.01f); + joint.setUpperLinLimit(0.02f); + + joint.setDampingDirAng(0.03f); + joint.setDampingDirLin(0.04f); + joint.setDampingLimAng(0.05f); + joint.setDampingLimLin(0.06f); + joint.setDampingOrthoAng(0.07f); + joint.setDampingOrthoLin(0.08f); + + joint.setRestitutionDirAng(0.09f); + joint.setRestitutionDirLin(0.10f); + joint.setRestitutionLimAng(0.11f); + joint.setRestitutionLimLin(0.12f); + joint.setRestitutionOrthoAng(0.13f); + joint.setRestitutionOrthoLin(0.14f); + + joint.setSoftnessDirAng(0.15f); + joint.setSoftnessDirLin(0.16f); + joint.setSoftnessLimAng(0.17f); + joint.setSoftnessLimLin(0.18f); + joint.setSoftnessOrthoAng(0.19f); + joint.setSoftnessOrthoLin(0.20f); + + joint.setMaxAngMotorForce(0.21f); + joint.setMaxLinMotorForce(0.22f); + + joint.setTargetAngMotorVelocity(0.23f); + joint.setTargetLinMotorVelocity(0.24f); + + RuntimeException e = new RuntimeException(); + + if (joint.getLowerAngLimit() != -0.01f) { + throw new RuntimeException(); + } + if (joint.getLowerLinLimit() != -0.02f) { + throw new RuntimeException(); + } + if (joint.getUpperAngLimit() != 0.01f) { + throw new RuntimeException(); + } + if (joint.getUpperLinLimit() != 0.02f) { + throw new RuntimeException(); + } + + if (joint.getDampingDirAng() != 0.03f) { + throw new RuntimeException(); + } + if (joint.getDampingDirLin() != 0.04f) { + throw new RuntimeException(); + } + if (joint.getDampingLimAng() != 0.05f) { + throw new RuntimeException(); + } + if (joint.getDampingLimLin() != 0.06f) { + throw new RuntimeException(); + } + if (joint.getDampingOrthoAng() != 0.07f) { + throw new RuntimeException(); + } + if (joint.getDampingOrthoLin() != 0.08f) { + throw new RuntimeException(); + } + + if (joint.getRestitutionDirAng() != 0.09f) { + throw new RuntimeException(); + } + if (joint.getRestitutionDirLin() != 0.10f) { + throw new RuntimeException(); + } + if (joint.getRestitutionLimAng() != 0.11f) { + throw new RuntimeException(); + } + if (joint.getRestitutionLimLin() != 0.12f) { + throw new RuntimeException(); + } + if (joint.getRestitutionOrthoAng() != 0.13f) { + throw new RuntimeException(); + } + if (joint.getRestitutionOrthoLin() != 0.14f) { + throw new RuntimeException(); + } + + if (joint.getSoftnessDirAng() != 0.15f) { + throw new RuntimeException(); + } + if (joint.getSoftnessDirLin() != 0.16f) { + throw new RuntimeException(); + } + if (joint.getSoftnessLimAng() != 0.17f) { + throw new RuntimeException(); + } + if (joint.getSoftnessLimLin() != 0.18f) { + throw new RuntimeException(); + } + if (joint.getSoftnessOrthoAng() != 0.19f) { + throw new RuntimeException(); + } + if (joint.getSoftnessOrthoLin() != 0.20f) { + throw new RuntimeException(); + } + + if (joint.getMaxAngMotorForce() != 0.21f) { + throw new RuntimeException(); + } + if (joint.getMaxLinMotorForce() != 0.22f) { + throw new RuntimeException(); + } + + if (joint.getTargetAngMotorVelocity() != 0.23f) { + throw new RuntimeException(); + } + if (joint.getTargetLinMotorVelocity() != 0.24f) { + throw new RuntimeException(); + } + } +}