Added new test.

4 files changed, 56 insertions, 2 deletions

diff --git a/src/graphyx/Graphyx.scala b/src/graphyx/Graphyx.scala
index cfd67c6..81a8ee8 100644
--- a/src/graphyx/Graphyx.scala
+++ b/src/graphyx/Graphyx.scala
@@ -27,6 +27,7 @@ object Graphyx{
     Friction2,
     Restitution,
     RagdollTest,
+    Carriage,
     General1,
     General2,
     EmptyTest
diff --git a/src/graphyx/tests/Carriage.scala b/src/graphyx/tests/Carriage.scala
new file mode 100644
index 0000000..967c6e5
--- /dev/null
+++ b/src/graphyx/tests/Carriage.scala
@@ -0,0 +1,55 @@
+/*
+ * Graphyx
+ * copyright (c) 2009 Jakob Odersky
+ * made available under the MIT License
+*/
+
+package graphyx.tests
+
+import sims.dynamics._
+import sims.dynamics.joints._
+import sims.geometry._
+
+object Carriage extends Test{
+  val title = "Carriage"
+  val world = new World
+  
+  def init = {
+    val car = new Car
+    
+    val groundShapes = for (i <- (0 to 200).toList) yield (new Rectangle(0.2, 0.1, 1) {
+      pos = Vector2D(0.4 * i, 0)
+      transientShapes += car.chassis.shapes(0)
+    })
+    val ground = new Body(groundShapes: _*) //Rectangle(100, 0.1, 1).asBody
+    ground.pos = Vector2D(0,0)
+    ground.fixed = true
+    ground.rotation = -0.2
+    
+    
+    world += ground
+    world += car
+    
+  }
+  
+  class Car extends sims.prefabs.Prefab {
+    
+    val chassis = (new Rectangle(0.5, 0.05, 10) {pos = Vector2D(0, 1)}).asBody
+    val rightWheel = (new Circle(0.1, 10) {pos = Vector2D(0.4,0.8)}).asBody
+    val leftWheel = (new Circle(0.1, 10) {pos = Vector2D(-0.4,0.8)}).asBody
+    
+    override val bodies = List(chassis, rightWheel, leftWheel)
+    
+    val rightStabelizer = new DistanceJoint(chassis, rightWheel)
+    val rightDamper = new SpringJoint(chassis, chassis.pos + Vector2D(rightWheel.pos.x, 0),
+                                        rightWheel, rightWheel.pos, 500) {damping = 1}
+    
+    val leftStabelizer = new DistanceJoint(chassis, leftWheel)
+    val leftDamper = new SpringJoint(chassis, chassis.pos + Vector2D(leftWheel.pos.x, 0),
+                                       leftWheel, leftWheel.pos, 500) {damping = 1}
+    
+    override val joints = List(rightStabelizer, rightDamper, leftStabelizer, leftDamper)
+    
+  }
+
+}
diff --git a/src/graphyx/tests/EmptyTest.scala b/src/graphyx/tests/EmptyTest.scala
index bbca800..585a053 100644
--- a/src/graphyx/tests/EmptyTest.scala
+++ b/src/graphyx/tests/EmptyTest.scala
@@ -11,5 +11,4 @@ object EmptyTest extends Test{
   override val title = "Empty Test"
   val world = new World
   def init = {}
-
 }
diff --git a/src/sims/collision/Collision.scala b/src/sims/collision/Collision.scala
index ad23f4d..d674b30 100644
--- a/src/sims/collision/Collision.scala
+++ b/src/sims/collision/Collision.scala
@@ -69,7 +69,6 @@ abstract class Collision extends Constraint {
     val cr2 = r2 cross tangent
     val invMass = 1/b1.mass * (tangent dot tangent) + 1/b1.I * cr1 * cr1 + 1/b2.mass * (tangent dot tangent) + 1/b2.I * cr2 * cr2
     val m = if (invMass == 0.0) 0.0 else 1/invMass
-    val mu = shape1.friction * shape2.friction
     val lambda = -m * Cdot
     val cf = shape1.friction * shape2.friction
     val cl = Math.min(Math.max(-normalForce * cf * h, lambda), normalForce * cf * h)