From be0a5559e37a6b4b729dfc849d9f9bf26bdc366f Mon Sep 17 00:00:00 2001
From: Dan Royer <dan@marginallyclever.com>
Date: Wed, 22 May 2024 13:38:45 -0700
Subject: [PATCH] test serializing top/bottom angles

---
 .../ro3/node/nodes/odenode/ODEHinge.java      |  6 ++---
 .../ro3/node/nodes/odenode/ODEHingeTest.java  | 23 +++++++++++++++++++
 2 files changed, 25 insertions(+), 4 deletions(-)

diff --git a/src/main/java/com/marginallyclever/ro3/node/nodes/odenode/ODEHinge.java b/src/main/java/com/marginallyclever/ro3/node/nodes/odenode/ODEHinge.java
index d6c4fa363..efa692bd9 100644
--- a/src/main/java/com/marginallyclever/ro3/node/nodes/odenode/ODEHinge.java
+++ b/src/main/java/com/marginallyclever/ro3/node/nodes/odenode/ODEHinge.java
@@ -216,16 +216,14 @@ public void addTorque(double value) {
      * @return angle in degrees
      */
     public double getAngleMax() {
-        if(hinge==null) return 0;
-        return Math.toDegrees(hinge.getParam(DJoint.PARAM_N.dParamHiStop1));
+        return top;
     }
 
     /**
      * @return angle in degrees
      */
     public double getAngleMin() {
-        if(hinge==null) return 0;
-        return Math.toDegrees(hinge.getParam(DJoint.PARAM_N.dParamLoStop1));
+        return bottom;
     }
 
     /**
diff --git a/src/test/java/com/marginallyclever/ro3/node/nodes/odenode/ODEHingeTest.java b/src/test/java/com/marginallyclever/ro3/node/nodes/odenode/ODEHingeTest.java
index 4cb1b60bd..352903c5e 100644
--- a/src/test/java/com/marginallyclever/ro3/node/nodes/odenode/ODEHingeTest.java
+++ b/src/test/java/com/marginallyclever/ro3/node/nodes/odenode/ODEHingeTest.java
@@ -50,4 +50,27 @@ public void test() {
         Assertions.assertNotNull(afterHinge2.getHinge().getBody(0));
         Assertions.assertNotNull(afterHinge2.getHinge().getBody(1));
     }
+
+    // test that serializing with infinite limits works, and with non-infinite limits works.
+    @Test
+    public void testLimits() {
+        Registry.start();
+
+        ODEHinge before = new ODEHinge();
+        before.setAngleMax(Double.POSITIVE_INFINITY);
+        before.setAngleMin(Double.NEGATIVE_INFINITY);
+        JSONObject json = before.toJSON();
+        ODEHinge after = new ODEHinge();
+        after.fromJSON(json);
+        Assertions.assertEquals(Double.POSITIVE_INFINITY,after.getAngleMax());
+        Assertions.assertEquals(Double.NEGATIVE_INFINITY,after.getAngleMin());
+
+        before.setAngleMax(90);
+        before.setAngleMin(-90);
+        json = before.toJSON();
+        after = new ODEHinge();
+        after.fromJSON(json);
+        Assertions.assertEquals(90,after.getAngleMax());
+        Assertions.assertEquals(-90,after.getAngleMin());
+    }
 }