Adding the beginnings of Tao.Ode unit tests. First in is a set of tests for Matrix3 marshalling, a recent trouble area.

svn path=/branches/tao_2_0/; revision=62968

tests/Tao.Ode.Tests/Matrix3Marshalling.cs

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+using NUnit.Framework;
+using System;
+using Tao.Ode;
+
+namespace Tao_Ode_Tests
+{
+	/// <summary>
+	/// This fixture tests marshalling of Tao.Ode functions using dMatrix3 as a parameter.
+	/// dMatrix3 does not marshall correctly itself for some reason, so until this is corrected,
+	/// dMatrix3 is passed to ODE as an array and overloaded functions are provided to retain
+	/// compatibility with the ODE API.
+	///
+	/// Strangely enough, dMatrix3 marshalling in the reverse direction (ie. from ODE) seems to work.
+	/// </summary>
+	[TestFixture]
+	public class Matrix3Marshalling
+	{
+		[SetUp]
+		public void SetUp()
+		{
+			// Nothing to setup right now
+		}
+		
+		[Test]
+		public void dGeomSetRotationTest()
+		{
+    		IntPtr simplespace = Ode.dSimpleSpaceCreate(IntPtr.Zero);
+    		IntPtr box = Ode.dCreateBox(
+      			simplespace, 25.0f, 5.0f, 25.0f
+    		);
+    		Ode.dMatrix3 r = new Ode.dMatrix3(
+      			new float[] {
+        			1.0f, 0.0f, 0.0f, 0.0f,
+        			0.0f, 1.0f, 0.0f, 0.0f,
+        			0.0f, 0.0f, 1.0f, 0.0f
+      			}
+    		);
+			
+			try {
+				Ode.dGeomSetRotation(box, r);
+			}
+			catch (Exception e) {
+				Assert.Fail("dGeomSetRotation failed with exception: " + e.GetType());
+			}
+			
+		}
+		
+		[Test]
+		public void dMassRotateTest()
+		{
+		    Ode.dMass newMass = new Ode.dMass();
+			newMass.c = new Ode.dVector4(); // Just to be safe the dMass
+			newMass.I = new Ode.dMatrix3(); // structure is initialized
+			
+			Ode.dMassSetSphere(ref newMass, 0.2f, 3.5f);
+			Ode.dMatrix3 r = new Ode.dMatrix3(
+				new float[] {
+					1.0f, 0.0f, 0.0f , 0.0f,
+					0.0f, 1.0f, 0.0f, 0.0f,
+					0.0f, 0.0f, 1.0f, 0.0f
+				}
+			);
+			
+			try {
+				Ode.dMassRotate(ref newMass, r);
+			}
+			catch (Exception e) {
+				Assert.Fail("dMassRotate failed with exception: " + e.GetType());
+			}
+			
+		}
+
+		[Test]
+		public void dBodySetRotationTest()
+		{
+    		IntPtr newWorldId = Ode.dWorldCreate();
+    		IntPtr newBodyId = Ode.dBodyCreate(newWorldId);
+    		Ode.dMatrix3 r = new Ode.dMatrix3(
+      			new float[] {
+        			1.0f, 0.0f, 0.0f, 0.0f,
+        			0.0f, 1.0f, 0.0f, 0.0f,
+        			0.0f, 0.0f, 1.0f, 0.0f
+      			}
+    		);
+			try {
+				Ode.dBodySetRotation(newBodyId, r);
+			}
+			catch (Exception e) {
+				Assert.Fail("dBodySetRotation failed with exception: " + e.GetType());
+			}
+			
+		}
+
+		/// <summary>
+		/// Test to verify that dMatrix3 is correctly marshalled when *returning* data
+		/// from an ODE call.
+		/// </summary>
+		[Test]
+		public void dBodyGetRotationTest()
+		{
+    		IntPtr newWorldId = Ode.dWorldCreate();
+    		IntPtr newBodyId = Ode.dBodyCreate(newWorldId);
+    		Ode.dMatrix3 r = new Ode.dMatrix3(
+      			new float[] {
+        			1.0f, 0.0f, 0.0f, 0.0f,
+        			0.0f, 1.0f, 0.0f, 0.0f,
+        			0.0f, 0.0f, 1.0f, 0.0f
+      			}
+    		);
+			
+			Ode.dMatrix3 r2
+			= new Ode.dMatrix3(
+      			new float[] {
+        			0.0f, 0.0f, 0.0f, 0.0f,
+        			0.0f, 0.0f, 0.0f, 0.0f,
+        			0.0f, 0.0f, 0.0f, 0.0f
+      			}
+    		);
+			
+    		Ode.dBodySetRotation(newBodyId, r);
+			
+			r2 = Ode.dBodyGetRotation(newBodyId);
+			
+			Assert.AreEqual(r,r2,"Assigned and returned rotation matrix values are not equal");
+		}
+		
+	}
+}