Merge pull request #557 from erwincoumans/master2.83.7

add a Pendulum example that is also used as unit test.

11 files changed, 2363 insertions, 1 deletions

diff --git a/build3/premake4.lua b/build3/premake4.lua
index b09f3be50..b19beb503 100644
--- a/build3/premake4.lua
+++ b/build3/premake4.lua
@@ -227,6 +227,7 @@
 			include "../test/gtest-1.7.0"
 --			include "../test/hello_gtest"
 			include "../test/collision"
+			include "../test/BulletDynamics/pendulum"
 			if not _OPTIONS["no-bullet3"] then
 				if not _OPTIONS["no-extras"] then
 					include "../test/InverseDynamics"
diff --git a/data/multibody.bullet b/data/multibody.bullet
index 944da942b..a7d7b447d 100644
--- a/data/multibody.bullet
+++ b/data/multibody.bullet
diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt
index beda14aef..92c4ae0a6 100644
--- a/examples/ExampleBrowser/CMakeLists.txt
+++ b/examples/ExampleBrowser/CMakeLists.txt
@@ -136,6 +136,7 @@ SET(App_ExampleBrowser_SRCS
   ../VoronoiFracture/btConvexConvexMprAlgorithm.h
   ../Vehicles/Hinge2Vehicle.cpp
   ../Vehicles/Hinge2Vehicle.h
+  ../MultiBody/Pendulum.cpp
   ../MultiBody/TestJointTorqueSetup.cpp
   ../MultiBody/TestJointTorqueSetup.h
   ../MultiBody/InvertedPendulumPDControl.cpp
diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp
index 692b74936..b25299310 100644
--- a/examples/ExampleBrowser/ExampleEntries.cpp
+++ b/examples/ExampleBrowser/ExampleEntries.cpp
@@ -21,6 +21,8 @@
 #include "../Constraints/Dof6Spring2Setup.h"
 #include "../Constraints/ConstraintPhysicsSetup.h"
 #include "../MultiBody/TestJointTorqueSetup.h"
+#include "../MultiBody/Pendulum.h"
+
 #include "../MultiBody/MultiBodyConstraintFeedback.h"
 #include "../MultiBody/MultiDofDemo.h"
 #include "../MultiBody/InvertedPendulumPDControl.h"
@@ -107,6 +109,8 @@ static ExampleEntry gDefaultExamples[]=
 	ExampleEntry(0,"MultiBody"),
 	ExampleEntry(1,"MultiDofCreateFunc","Create a basic btMultiBody with 3-DOF spherical joints (mobilizers). The demo uses a fixed base or a floating base at restart.", MultiDofCreateFunc),
 	ExampleEntry(1,"TestJointTorque","Apply a torque to a btMultiBody with 1-DOF joints (mobilizers). This setup is similar to API/TestHingeTorque.", TestJointTorqueCreateFunc),
+	ExampleEntry(1,"TestPendulum","Simulate a pendulum using btMultiBody with a constant joint torque applied. The same code is also used as a unit test comparing Bullet with the numerical solution of second-order non-linear differential equation stored in pendulum_gold.h", TestPendulumCreateFunc),
+	
  ExampleEntry(1,"Constraint Feedback", "The example shows how to receive joint reaction forces in a btMultiBody. Also the applied impulse is available for a btMultiBodyJointMotor", MultiBodyConstraintFeedbackCreateFunc),
 	ExampleEntry(1,"Inverted Pendulum PD","Keep an inverted pendulum up using open loop PD control", InvertedPendulumPDControlCreateFunc),
 
diff --git a/examples/ExampleBrowser/premake4.lua b/examples/ExampleBrowser/premake4.lua
index 624f70e8a..4b464e4f4 100644
--- a/examples/ExampleBrowser/premake4.lua
+++ b/examples/ExampleBrowser/premake4.lua
@@ -100,6 +100,7 @@
 		"../Raycast/*",
 		"../MultiBody/MultiDofDemo.cpp",
 		"../MultiBody/TestJointTorqueSetup.cpp",
+		"../MultiBody/Pendulum.cpp",
 		"../MultiBody/MultiBodyConstraintFeedback.cpp",
 		"../MultiBody/InvertedPendulumPDControl.cpp",
 		"../ThirdPartyLibs/stb_image/*",
diff --git a/examples/MultiBody/Pendulum.cpp b/examples/MultiBody/Pendulum.cpp
new file mode 100644
index 000000000..a445cd099
--- /dev/null
+++ b/examples/MultiBody/Pendulum.cpp
@@ -0,0 +1,226 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2014 Google Inc. http://bulletphysics.org
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+///Original author: Erwin Coumans, January 2016
+///Compare the simulation of a pendulum with 
+
+#ifdef USE_GTEST
+#include <gtest/gtest.h>
+#include "pendulum_gold.h"
+
+#endif
+
+#include "../CommonInterfaces/CommonMultiBodyBase.h"
+
+static btScalar radius(0.05);
+
+struct Pendulum : public CommonMultiBodyBase
+{
+	btMultiBody* m_multiBody;
+	btAlignedObjectArray<btMultiBodyJointFeedback*> m_jointFeedbacks;
+	
+public:
+	
+	Pendulum(struct GUIHelperInterface* helper);
+	virtual ~Pendulum();
+	virtual void initPhysics();
+	virtual void stepSimulation(float deltaTime);
+	virtual void resetCamera()
+	{
+		float dist = 5;
+		float pitch = 270;
+		float yaw = 21;
+		float targetPos[3]={0,0,0};
+		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
+	}
+	
+	
+};
+
+Pendulum::Pendulum(struct GUIHelperInterface* helper)
+:CommonMultiBodyBase(helper)
+{
+}
+
+Pendulum::~Pendulum()
+{
+}
+
+
+
+void Pendulum::initPhysics()
+{
+	int upAxis = 1;
+	
+	m_guiHelper->setUpAxis(upAxis);
+	
+	this->createEmptyDynamicsWorld();
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
+	if (m_dynamicsWorld->getDebugDrawer())
+	{
+	m_dynamicsWorld->getDebugDrawer()->setDebugMode(
+													//btIDebugDraw::DBG_DrawConstraints
+													+btIDebugDraw::DBG_DrawWireframe
+													+btIDebugDraw::DBG_DrawContactPoints
+													+btIDebugDraw::DBG_DrawAabb
+													);//+btIDebugDraw::DBG_DrawConstraintLimits);
+	}
+	{
+		bool floating = false;
+		bool damping = false;
+		bool gyro = false;
+		int numLinks = 1;
+		bool canSleep = false;
+		bool selfCollide = false;
+		btVector3 linkHalfExtents(0.05, 0.5, 0.1);
+		btVector3 baseHalfExtents(0.05, 0.5, 0.1);
+		
+		btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
+		float baseMass = 0.f;
+		
+		btMultiBody *pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
+		//pMultiBody->useRK4Integration(true);
+		m_multiBody = pMultiBody;
+		pMultiBody->setBaseWorldTransform(btTransform::getIdentity());
+		
+		//init the links
+		btVector3 hingeJointAxis(1, 0, 0);
+		
+		//y-axis assumed up
+		btVector3 parentComToCurrentCom(0, -linkHalfExtents[1] , 0);
+		btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1], 0);	
+		btVector3 parentComToCurrentPivot = parentComToCurrentCom - currentPivotToCurrentCom;
+		
+		for(int i = 0; i < numLinks; ++i)
+		{
+			float linkMass = 10.f;
+			btVector3 linkInertiaDiag(0.f, 0.f, 0.f);
+			btCollisionShape* shape = 0;
+			{
+				shape = new btSphereShape(radius);
+			}
+			shape->calculateLocalInertia(linkMass, linkInertiaDiag);
+			delete shape;
+			
+			pMultiBody->setupRevolute(i, linkMass, linkInertiaDiag, i - 1, 
+									  btQuaternion(0.f, 0.f, 0.f, 1.f), 
+									  hingeJointAxis, 
+									  parentComToCurrentPivot, 
+									  currentPivotToCurrentCom, false);
+			
+		}
+		
+		pMultiBody->finalizeMultiDof();
+		
+		btMultiBodyDynamicsWorld* world = m_dynamicsWorld;
+		
+		world->addMultiBody(pMultiBody);
+		pMultiBody->setCanSleep(canSleep);
+		pMultiBody->setHasSelfCollision(selfCollide);
+		pMultiBody->setUseGyroTerm(gyro);
+		//
+		
+		if(!damping)
+		{
+			pMultiBody->setLinearDamping(0.f);
+			pMultiBody->setAngularDamping(0.f);
+		}else
+		{	pMultiBody->setLinearDamping(0.1f);
+			pMultiBody->setAngularDamping(0.9f);
+		}
+		m_dynamicsWorld->setGravity(btVector3(0,-9.81,0));
+		
+		
+		for (int i=0; i < pMultiBody->getNumLinks(); ++i)
+		{
+			btCollisionShape* shape =new btSphereShape(radius);
+			m_guiHelper->createCollisionShapeGraphicsObject(shape);
+			btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
+			col->setCollisionShape(shape);
+			bool isDynamic = 1;
+			short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
+			short collisionFilterMask = isDynamic? 	short(btBroadphaseProxy::AllFilter) : 	short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
+			world->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);//,2,1+2);
+			btVector4 color(1,0,0,1);
+			m_guiHelper->createCollisionObjectGraphicsObject(col,color);
+			pMultiBody->getLink(i).m_collider=col;
+		}
+		
+		btAlignedObjectArray<btQuaternion> scratch_q;
+		btAlignedObjectArray<btVector3> scratch_m;
+		pMultiBody->forwardKinematics(scratch_q,scratch_m);
+		btAlignedObjectArray<btQuaternion> world_to_local;
+		btAlignedObjectArray<btVector3> local_origin;
+		pMultiBody->updateCollisionObjectWorldTransforms(world_to_local,local_origin);
+	}
+	
+	
+}
+
+void Pendulum::stepSimulation(float deltaTime)
+{
+	m_multiBody->addJointTorque(0, 20.0);
+#ifdef USE_GTEST	
+	m_dynamicsWorld->stepSimulation(1./1000.0,0);
+#else
+	m_dynamicsWorld->stepSimulation(deltaTime);	
+#endif
+	btVector3 from = m_multiBody->getBaseWorldTransform().getOrigin();
+	btVector3 to = m_multiBody->getLink(0).m_collider->getWorldTransform().getOrigin();
+	btVector4 color(1,0,0,1);
+	if (m_guiHelper->getRenderInterface())
+	{
+		m_guiHelper->getRenderInterface()->drawLine(from,to,color,btScalar(1));
+	}
+}
+
+#ifdef USE_GTEST
+
+
+TEST(BulletDynamicsTest, pendulum) 
+{
+	DummyGUIHelper noGfx;
+	Pendulum* setup = new Pendulum(&noGfx);
+	setup->initPhysics();
+	int numGoldValues = sizeof(sPendulumGold)/sizeof(float);
+	for (int i=0;i<2000;i++)
+	{
+		setup->stepSimulation(0.001);
+		int index = i*2+1;
+		ASSERT_LE(index,numGoldValues);
+		ASSERT_NEAR(setup->m_multiBody->getJointPos(0),sPendulumGold[index],0.005);
+		
+	}
+	setup->exitPhysics();
+	delete setup;
+	
+}
+
+
+int main(int argc, char **argv) {
+#if _MSC_VER
+        _CrtSetDbgFlag ( _CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF );
+        //void *testWhetherMemoryLeakDetectionWorks = malloc(1);
+#endif
+        ::testing::InitGoogleTest(&argc, argv);
+        return RUN_ALL_TESTS();
+}
+
+#endif //USE_GTEST
+
+class CommonExampleInterface*    TestPendulumCreateFunc(struct CommonExampleOptions& options)
+{
+	return new Pendulum(options.m_guiHelper);
+}
diff --git a/examples/MultiBody/Pendulum.h b/examples/MultiBody/Pendulum.h
new file mode 100644
index 000000000..f6ba644b4
--- /dev/null
+++ b/examples/MultiBody/Pendulum.h
@@ -0,0 +1,7 @@
+#ifndef TEST_PENDULUM_H
+#define TEST_PENDULUM_H
+
+class CommonExampleInterface*    TestPendulumCreateFunc(struct CommonExampleOptions& options);
+
+#endif //TEST_PENDULUM_H
+
diff --git a/examples/MultiBody/pendulum_gold.h b/examples/MultiBody/pendulum_gold.h
new file mode 100644
index 000000000..544b1e5f5
--- /dev/null
+++ b/examples/MultiBody/pendulum_gold.h
@@ -0,0 +1,2058 @@
+#ifndef PENDULUM_GOLD_H
+#define PENDULUM_GOLD_H
+
+#include "LinearMath/btScalar.h"
+
+/*
+sPendulumGold data was created using the Python script,
+thanks to Andreas Bihlmaier for the script.
+
+#!/usr/bin/env python
+
+from __future__ import print_function
+
+import numpy as np
+from scipy import integrate
+import pylab as pl
+import math
+import argparse
+
+theta_pos = 0
+dtheta_pos = 1
+
+def pendulum_system(Y, t):
+  m = 10  # [kg]
+  g = 9.81  # [m/s^2]
+  l = 0.5  # [m]
+  tau = 20  # [Nm]
+  I = m * pow(l, 2)  # inertia
+  return [Y[dtheta_pos], (tau - m*g*l*math.sin(Y[theta_pos])) / I]
+
+def main():
+  parser = argparse.ArgumentParser()
+  parser.add_argument('--plot', action='store_true', default=False, help='Plot results')
+  args = parser.parse_args()
+
+  t = np.arange(0, 2, 0.001) # [s]
+  theta0 = 0
+  dtheta0 = 0
+  theta = integrate.odeint(pendulum_system, [theta0, dtheta0], t)  # [rad]
+  print("timestamp;theta;")
+  for i in range(theta.shape[0]):
+    print("%f;%f;" % (t[i], theta[i,theta_pos]))
+
+  if args.plot:
+    pl.plot(t, theta[:,theta_pos], '+')
+    pl.show()
+
+
+if __name__ == '__main__':
+  main()
+*/
+
+//sPendulumGold stores scalar values of a simulated pendulum in tuples 'timestamp' and 'theta joint angle'
+static btScalar sPendulumGold[]= 
+{
+0.000000,0.000000,
+0.001000,0.000004,
+0.002000,0.000016,
+0.003000,0.000036,
+0.004000,0.000064,
+0.005000,0.000100,
+0.006000,0.000144,
+0.007000,0.000196,
+0.008000,0.000256,
+0.009000,0.000324,
+0.010000,0.000400,
+0.011000,0.000484,
+0.012000,0.000576,
+0.013000,0.000676,
+0.014000,0.000784,
+0.015000,0.000900,
+0.016000,0.001024,
+0.017000,0.001155,
+0.018000,0.001295,
+0.019000,0.001443,
+0.020000,0.001599,
+0.021000,0.001763,
+0.022000,0.001934,
+0.023000,0.002114,
+0.024000,0.002302,
+0.025000,0.002497,
+0.026000,0.002701,
+0.027000,0.002913,
+0.028000,0.003132,
+0.029000,0.003359,
+0.030000,0.003595,
+0.031000,0.003838,
+0.032000,0.004089,
+0.033000,0.004348,
+0.034000,0.004615,
+0.035000,0.004890,
+0.036000,0.005173,
+0.037000,0.005464,
+0.038000,0.005762,
+0.039000,0.006069,
+0.040000,0.006383,
+0.041000,0.006706,
+0.042000,0.007036,
+0.043000,0.007374,
+0.044000,0.007720,
+0.045000,0.008073,
+0.046000,0.008435,
+0.047000,0.008804,
+0.048000,0.009181,
+0.049000,0.009566,
+0.050000,0.009959,
+0.051000,0.010360,
+0.052000,0.010768,
+0.053000,0.011184,
+0.054000,0.011608,
+0.055000,0.012040,
+0.056000,0.012480,
+0.057000,0.012927,
+0.058000,0.013382,
+0.059000,0.013845,
+0.060000,0.014315,
+0.061000,0.014794,
+0.062000,0.015280,
+0.063000,0.015773,
+0.064000,0.016275,
+0.065000,0.016784,
+0.066000,0.017300,
+0.067000,0.017825,
+0.068000,0.018357,
+0.069000,0.018896,
+0.070000,0.019443,
+0.071000,0.019998,
+0.072000,0.020561,
+0.073000,0.021131,
+0.074000,0.021709,
+0.075000,0.022294,
+0.076000,0.022887,
+0.077000,0.023487,
+0.078000,0.024095,
+0.079000,0.024710,
+0.080000,0.025333,
+0.081000,0.025964,
+0.082000,0.026602,
+0.083000,0.027247,
+0.084000,0.027900,
+0.085000,0.028560,
+0.086000,0.029228,
+0.087000,0.029903,
+0.088000,0.030586,
+0.089000,0.031276,
+0.090000,0.031973,
+0.091000,0.032678,
+0.092000,0.033390,
+0.093000,0.034110,
+0.094000,0.034836,
+0.095000,0.035570,
+0.096000,0.036312,
+0.097000,0.037061,
+0.098000,0.037817,
+0.099000,0.038580,
+0.100000,0.039350,
+0.101000,0.040128,
+0.102000,0.040913,
+0.103000,0.041705,
+0.104000,0.042504,
+0.105000,0.043311,
+0.106000,0.044124,
+0.107000,0.044945,
+0.108000,0.045773,
+0.109000,0.046608,
+0.110000,0.047450,
+0.111000,0.048299,
+0.112000,0.049155,
+0.113000,0.050019,
+0.114000,0.050889,
+0.115000,0.051766,
+0.116000,0.052650,
+0.117000,0.053542,
+0.118000,0.054440,
+0.119000,0.055345,
+0.120000,0.056257,
+0.121000,0.057176,
+0.122000,0.058101,
+0.123000,0.059034,
+0.124000,0.059973,
+0.125000,0.060920,
+0.126000,0.061873,
+0.127000,0.062833,
+0.128000,0.063799,
+0.129000,0.064773,
+0.130000,0.065753,
+0.131000,0.066740,
+0.132000,0.067733,
+0.133000,0.068734,
+0.134000,0.069740,
+0.135000,0.070754,
+0.136000,0.071774,
+0.137000,0.072801,
+0.138000,0.073834,
+0.139000,0.074874,
+0.140000,0.075920,
+0.141000,0.076973,
+0.142000,0.078032,
+0.143000,0.079098,
+0.144000,0.080170,
+0.145000,0.081249,
+0.146000,0.082334,
+0.147000,0.083426,
+0.148000,0.084524,
+0.149000,0.085628,
+0.150000,0.086738,
+0.151000,0.087855,
+0.152000,0.088978,
+0.153000,0.090108,
+0.154000,0.091243,
+0.155000,0.092385,
+0.156000,0.093533,
+0.157000,0.094687,
+0.158000,0.095848,
+0.159000,0.097014,
+0.160000,0.098187,
+0.161000,0.099365,
+0.162000,0.100550,
+0.163000,0.101741,
+0.164000,0.102937,
+0.165000,0.104140,
+0.166000,0.105349,
+0.167000,0.106563,
+0.168000,0.107784,
+0.169000,0.109010,
+0.170000,0.110242,
+0.171000,0.111480,
+0.172000,0.112724,
+0.173000,0.113974,
+0.174000,0.115230,
+0.175000,0.116491,
+0.176000,0.117758,
+0.177000,0.119030,
+0.178000,0.120309,
+0.179000,0.121593,
+0.180000,0.122882,
+0.181000,0.124177,
+0.182000,0.125478,
+0.183000,0.126784,
+0.184000,0.128096,
+0.185000,0.129413,
+0.186000,0.130736,
+0.187000,0.132064,
+0.188000,0.133398,
+0.189000,0.134737,
+0.190000,0.136081,
+0.191000,0.137431,
+0.192000,0.138786,
+0.193000,0.140146,
+0.194000,0.141512,
+0.195000,0.142883,
+0.196000,0.144259,
+0.197000,0.145640,
+0.198000,0.147026,
+0.199000,0.148418,
+0.200000,0.149814,
+0.201000,0.151216,
+0.202000,0.152623,
+0.203000,0.154034,
+0.204000,0.155451,
+0.205000,0.156873,
+0.206000,0.158299,
+0.207000,0.159731,
+0.208000,0.161167,
+0.209000,0.162608,
+0.210000,0.164054,
+0.211000,0.165505,
+0.212000,0.166961,
+0.213000,0.168421,
+0.214000,0.169886,
+0.215000,0.171356,
+0.216000,0.172830,
+0.217000,0.174309,
+0.218000,0.175793,
+0.219000,0.177281,
+0.220000,0.178774,
+0.221000,0.180271,
+0.222000,0.181773,
+0.223000,0.183279,
+0.224000,0.184790,
+0.225000,0.186305,
+0.226000,0.187824,
+0.227000,0.189348,
+0.228000,0.190876,
+0.229000,0.192408,
+0.230000,0.193945,
+0.231000,0.195485,
+0.232000,0.197030,
+0.233000,0.198579,
+0.234000,0.200133,
+0.235000,0.201690,
+0.236000,0.203251,
+0.237000,0.204817,
+0.238000,0.206386,
+0.239000,0.207960,
+0.240000,0.209537,
+0.241000,0.211118,
+0.242000,0.212703,
+0.243000,0.214293,
+0.244000,0.215885,
+0.245000,0.217482,
+0.246000,0.219082,
+0.247000,0.220687,
+0.248000,0.222295,
+0.249000,0.223906,
+0.250000,0.225521,
+0.251000,0.227140,
+0.252000,0.228762,
+0.253000,0.230388,
+0.254000,0.232018,
+0.255000,0.233651,
+0.256000,0.235287,
+0.257000,0.236927,
+0.258000,0.238570,
+0.259000,0.240217,
+0.260000,0.241867,
+0.261000,0.243520,
+0.262000,0.245176,
+0.263000,0.246836,
+0.264000,0.248499,
+0.265000,0.250165,
+0.266000,0.251834,
+0.267000,0.253507,
+0.268000,0.255182,
+0.269000,0.256861,
+0.270000,0.258542,
+0.271000,0.260227,
+0.272000,0.261914,
+0.273000,0.263604,
+0.274000,0.265298,
+0.275000,0.266994,
+0.276000,0.268693,
+0.277000,0.270394,
+0.278000,0.272099,
+0.279000,0.273806,
+0.280000,0.275516,
+0.281000,0.277229,
+0.282000,0.278944,
+0.283000,0.280662,
+0.284000,0.282382,
+0.285000,0.284105,
+0.286000,0.285830,
+0.287000,0.287558,
+0.288000,0.289288,
+0.289000,0.291021,
+0.290000,0.292756,
+0.291000,0.294493,
+0.292000,0.296233,
+0.293000,0.297975,
+0.294000,0.299719,
+0.295000,0.301466,
+0.296000,0.303214,
+0.297000,0.304965,
+0.298000,0.306718,
+0.299000,0.308473,
+0.300000,0.310230,
+0.301000,0.311989,
+0.302000,0.313750,
+0.303000,0.315513,
+0.304000,0.317278,
+0.305000,0.319044,
+0.306000,0.320813,
+0.307000,0.322583,
+0.308000,0.324355,
+0.309000,0.326129,
+0.310000,0.327905,
+0.311000,0.329682,
+0.312000,0.331461,
+0.313000,0.333241,
+0.314000,0.335024,
+0.315000,0.336807,
+0.316000,0.338592,
+0.317000,0.340379,
+0.318000,0.342167,
+0.319000,0.343957,
+0.320000,0.345748,
+0.321000,0.347540,
+0.322000,0.349334,
+0.323000,0.351128,
+0.324000,0.352925,
+0.325000,0.354722,
+0.326000,0.356520,
+0.327000,0.358320,
+0.328000,0.360121,
+0.329000,0.361923,
+0.330000,0.363726,
+0.331000,0.365530,
+0.332000,0.367335,
+0.333000,0.369141,
+0.334000,0.370947,
+0.335000,0.372755,
+0.336000,0.374564,
+0.337000,0.376373,
+0.338000,0.378183,
+0.339000,0.379994,
+0.340000,0.381806,
+0.341000,0.383618,
+0.342000,0.385431,
+0.343000,0.387245,
+0.344000,0.389059,
+0.345000,0.390874,
+0.346000,0.392689,
+0.347000,0.394505,
+0.348000,0.396321,
+0.349000,0.398138,
+0.350000,0.399955,
+0.351000,0.401772,
+0.352000,0.403590,
+0.353000,0.405408,
+0.354000,0.407226,
+0.355000,0.409045,
+0.356000,0.410864,
+0.357000,0.412682,
+0.358000,0.414501,
+0.359000,0.416321,
+0.360000,0.418140,
+0.361000,0.419959,
+0.362000,0.421778,
+0.363000,0.423597,
+0.364000,0.425417,
+0.365000,0.427236,
+0.366000,0.429055,
+0.367000,0.430873,
+0.368000,0.432692,
+0.369000,0.434510,
+0.370000,0.436328,
+0.371000,0.438146,
+0.372000,0.439963,
+0.373000,0.441781,
+0.374000,0.443597,
+0.375000,0.445413,
+0.376000,0.447229,
+0.377000,0.449045,
+0.378000,0.450859,
+0.379000,0.452674,
+0.380000,0.454487,
+0.381000,0.456301,
+0.382000,0.458113,
+0.383000,0.459925,
+0.384000,0.461736,
+0.385000,0.463546,
+0.386000,0.465356,
+0.387000,0.467164,
+0.388000,0.468972,
+0.389000,0.470779,
+0.390000,0.472585,
+0.391000,0.474391,
+0.392000,0.476195,
+0.393000,0.477998,
+0.394000,0.479800,
+0.395000,0.481601,
+0.396000,0.483402,
+0.397000,0.485200,
+0.398000,0.486998,
+0.399000,0.488795,
+0.400000,0.490590,
+0.401000,0.492384,
+0.402000,0.494177,
+0.403000,0.495969,
+0.404000,0.497759,
+0.405000,0.499548,
+0.406000,0.501336,
+0.407000,0.503122,
+0.408000,0.504906,
+0.409000,0.506689,
+0.410000,0.508471,
+0.411000,0.510251,
+0.412000,0.512029,
+0.413000,0.513806,
+0.414000,0.515581,
+0.415000,0.517355,
+0.416000,0.519127,
+0.417000,0.520897,
+0.418000,0.522665,
+0.419000,0.524432,
+0.420000,0.526196,
+0.421000,0.527959,
+0.422000,0.529720,
+0.423000,0.531479,
+0.424000,0.533236,
+0.425000,0.534991,
+0.426000,0.536745,
+0.427000,0.538496,
+0.428000,0.540245,
+0.429000,0.541992,
+0.430000,0.543736,
+0.431000,0.545479,
+0.432000,0.547220,
+0.433000,0.548958,
+0.434000,0.550694,
+0.435000,0.552428,
+0.436000,0.554159,
+0.437000,0.555888,
+0.438000,0.557615,
+0.439000,0.559340,
+0.440000,0.561062,
+0.441000,0.562781,
+0.442000,0.564498,
+0.443000,0.566213,
+0.444000,0.567925,
+0.445000,0.569634,
+0.446000,0.571341,
+0.447000,0.573046,
+0.448000,0.574747,
+0.449000,0.576446,
+0.450000,0.578143,
+0.451000,0.579836,
+0.452000,0.581527,
+0.453000,0.583215,
+0.454000,0.584901,
+0.455000,0.586583,
+0.456000,0.588263,
+0.457000,0.589939,
+0.458000,0.591613,
+0.459000,0.593284,
+0.460000,0.594952,
+0.461000,0.596617,
+0.462000,0.598279,
+0.463000,0.599937,
+0.464000,0.601593,
+0.465000,0.603246,
+0.466000,0.604895,
+0.467000,0.606542,
+0.468000,0.608185,
+0.469000,0.609825,
+0.470000,0.611461,
+0.471000,0.613095,
+0.472000,0.614725,
+0.473000,0.616352,
+0.474000,0.617975,
+0.475000,0.619595,
+0.476000,0.621212,
+0.477000,0.622825,
+0.478000,0.624435,
+0.479000,0.626042,
+0.480000,0.627645,
+0.481000,0.629244,
+0.482000,0.630840,
+0.483000,0.632432,
+0.484000,0.634021,
+0.485000,0.635606,
+0.486000,0.637187,
+0.487000,0.638765,
+0.488000,0.640339,
+0.489000,0.641909,
+0.490000,0.643476,
+0.491000,0.645039,
+0.492000,0.646598,
+0.493000,0.648153,
+0.494000,0.649704,
+0.495000,0.651252,
+0.496000,0.652795,
+0.497000,0.654335,
+0.498000,0.655870,
+0.499000,0.657402,
+0.500000,0.658930,
+0.501000,0.660454,
+0.502000,0.661973,
+0.503000,0.663489,
+0.504000,0.665001,
+0.505000,0.666508,
+0.506000,0.668011,
+0.507000,0.669511,
+0.508000,0.671006,
+0.509000,0.672496,
+0.510000,0.673983,
+0.511000,0.675465,
+0.512000,0.676943,
+0.513000,0.678417,
+0.514000,0.679886,
+0.515000,0.681352,
+0.516000,0.682812,
+0.517000,0.684269,
+0.518000,0.685721,
+0.519000,0.687168,
+0.520000,0.688611,
+0.521000,0.690050,
+0.522000,0.691484,
+0.523000,0.692914,
+0.524000,0.694339,
+0.525000,0.695759,
+0.526000,0.697175,
+0.527000,0.698587,
+0.528000,0.699994,
+0.529000,0.701396,
+0.530000,0.702793,
+0.531000,0.704186,
+0.532000,0.705574,
+0.533000,0.706957,
+0.534000,0.708336,
+0.535000,0.709710,
+0.536000,0.711079,
+0.537000,0.712443,
+0.538000,0.713803,
+0.539000,0.715157,
+0.540000,0.716507,
+0.541000,0.717852,
+0.542000,0.719192,
+0.543000,0.720527,
+0.544000,0.721857,
+0.545000,0.723182,
+0.546000,0.724502,
+0.547000,0.725817,
+0.548000,0.727127,
+0.549000,0.728432,
+0.550000,0.729732,
+0.551000,0.731027,
+0.552000,0.732317,
+0.553000,0.733602,
+0.554000,0.734881,
+0.555000,0.736155,
+0.556000,0.737425,
+0.557000,0.738689,
+0.558000,0.739948,
+0.559000,0.741201,
+0.560000,0.742449,
+0.561000,0.743693,
+0.562000,0.744930,
+0.563000,0.746163,
+0.564000,0.747390,
+0.565000,0.748612,
+0.566000,0.749828,
+0.567000,0.751039,
+0.568000,0.752245,
+0.569000,0.753446,
+0.570000,0.754640,
+0.571000,0.755830,
+0.572000,0.757014,
+0.573000,0.758192,
+0.574000,0.759365,
+0.575000,0.760533,
+0.576000,0.761695,
+0.577000,0.762851,
+0.578000,0.764002,
+0.579000,0.765148,
+0.580000,0.766287,
+0.581000,0.767422,
+0.582000,0.768550,
+0.583000,0.769673,
+0.584000,0.770790,
+0.585000,0.771902,
+0.586000,0.773008,
+0.587000,0.774108,
+0.588000,0.775202,
+0.589000,0.776291,
+0.590000,0.777374,
+0.591000,0.778451,
+0.592000,0.779522,
+0.593000,0.780588,
+0.594000,0.781648,
+0.595000,0.782702,
+0.596000,0.783750,
+0.597000,0.784792,
+0.598000,0.785829,
+0.599000,0.786860,
+0.600000,0.787884,
+0.601000,0.788903,
+0.602000,0.789916,
+0.603000,0.790923,
+0.604000,0.791924,
+0.605000,0.792919,
+0.606000,0.793908,
+0.607000,0.794891,
+0.608000,0.795868,
+0.609000,0.796839,
+0.610000,0.797804,
+0.611000,0.798763,
+0.612000,0.799716,
+0.613000,0.800663,
+0.614000,0.801603,
+0.615000,0.802538,
+0.616000,0.803466,
+0.617000,0.804389,
+0.618000,0.805305,
+0.619000,0.806215,
+0.620000,0.807119,
+0.621000,0.808017,
+0.622000,0.808909,
+0.623000,0.809794,
+0.624000,0.810673,
+0.625000,0.811546,
+0.626000,0.812413,
+0.627000,0.813274,
+0.628000,0.814128,
+0.629000,0.814976,
+0.630000,0.815817,
+0.631000,0.816653,
+0.632000,0.817482,
+0.633000,0.818305,
+0.634000,0.819121,
+0.635000,0.819931,
+0.636000,0.820735,
+0.637000,0.821533,
+0.638000,0.822324,
+0.639000,0.823109,
+0.640000,0.823887,
+0.641000,0.824659,
+0.642000,0.825424,
+0.643000,0.826183,
+0.644000,0.826936,
+0.645000,0.827682,
+0.646000,0.828422,
+0.647000,0.829156,
+0.648000,0.829882,
+0.649000,0.830603,
+0.650000,0.831317,
+0.651000,0.832024,
+0.652000,0.832725,
+0.653000,0.833419,
+0.654000,0.834107,
+0.655000,0.834789,
+0.656000,0.835463,
+0.657000,0.836132,
+0.658000,0.836793,
+0.659000,0.837448,
+0.660000,0.838097,
+0.661000,0.838739,
+0.662000,0.839374,
+0.663000,0.840003,
+0.664000,0.840625,
+0.665000,0.841241,
+0.666000,0.841850,
+0.667000,0.842452,
+0.668000,0.843048,
+0.669000,0.843637,
+0.670000,0.844219,
+0.671000,0.844795,
+0.672000,0.845364,
+0.673000,0.845926,
+0.674000,0.846481,
+0.675000,0.847030,
+0.676000,0.847573,
+0.677000,0.848108,
+0.678000,0.848637,
+0.679000,0.849159,
+0.680000,0.849674,
+0.681000,0.850183,
+0.682000,0.850685,
+0.683000,0.851180,
+0.684000,0.851668,
+0.685000,0.852150,
+0.686000,0.852625,
+0.687000,0.853093,
+0.688000,0.853554,
+0.689000,0.854009,
+0.690000,0.854456,
+0.691000,0.854897,
+0.692000,0.855331,
+0.693000,0.855759,
+0.694000,0.856179,
+0.695000,0.856593,
+0.696000,0.857000,
+0.697000,0.857400,
+0.698000,0.857793,
+0.699000,0.858179,
+0.700000,0.858559,
+0.701000,0.858931,
+0.702000,0.859297,
+0.703000,0.859656,
+0.704000,0.860008,
+0.705000,0.860353,
+0.706000,0.860691,
+0.707000,0.861023,
+0.708000,0.861347,
+0.709000,0.861665,
+0.710000,0.861976,
+0.711000,0.862280,
+0.712000,0.862577,
+0.713000,0.862867,
+0.714000,0.863150,
+0.715000,0.863426,
+0.716000,0.863696,
+0.717000,0.863958,
+0.718000,0.864214,
+0.719000,0.864462,
+0.720000,0.864704,
+0.721000,0.864939,
+0.722000,0.865166,
+0.723000,0.865387,
+0.724000,0.865601,
+0.725000,0.865808,
+0.726000,0.866008,
+0.727000,0.866201,
+0.728000,0.866388,
+0.729000,0.866567,
+0.730000,0.866739,
+0.731000,0.866904,
+0.732000,0.867063,
+0.733000,0.867214,
+0.734000,0.867358,
+0.735000,0.867496,
+0.736000,0.867626,
+0.737000,0.867750,
+0.738000,0.867867,
+0.739000,0.867976,
+0.740000,0.868079,
+0.741000,0.868174,
+0.742000,0.868263,
+0.743000,0.868345,
+0.744000,0.868420,
+0.745000,0.868487,
+0.746000,0.868548,
+0.747000,0.868602,
+0.748000,0.868649,
+0.749000,0.868689,
+0.750000,0.868721,
+0.751000,0.868747,
+0.752000,0.868766,
+0.753000,0.868778,
+0.754000,0.868783,
+0.755000,0.868781,
+0.756000,0.868772,
+0.757000,0.868756,
+0.758000,0.868733,
+0.759000,0.868703,
+0.760000,0.868666,
+0.761000,0.868622,
+0.762000,0.868571,
+0.763000,0.868513,
+0.764000,0.868449,
+0.765000,0.868377,
+0.766000,0.868298,
+0.767000,0.868212,
+0.768000,0.868119,
+0.769000,0.868020,
+0.770000,0.867913,
+0.771000,0.867799,
+0.772000,0.867679,
+0.773000,0.867551,
+0.774000,0.867416,
+0.775000,0.867275,
+0.776000,0.867126,
+0.777000,0.866971,
+0.778000,0.866809,
+0.779000,0.866639,
+0.780000,0.866463,
+0.781000,0.866280,
+0.782000,0.866089,
+0.783000,0.865892,
+0.784000,0.865688,
+0.785000,0.865477,
+0.786000,0.865259,
+0.787000,0.865034,
+0.788000,0.864802,
+0.789000,0.864564,
+0.790000,0.864318,
+0.791000,0.864065,
+0.792000,0.863806,
+0.793000,0.863539,
+0.794000,0.863266,
+0.795000,0.862985,
+0.796000,0.862698,
+0.797000,0.862404,
+0.798000,0.862103,
+0.799000,0.861795,
+0.800000,0.861480,
+0.801000,0.861159,
+0.802000,0.860830,
+0.803000,0.860495,
+0.804000,0.860152,
+0.805000,0.859803,
+0.806000,0.859447,
+0.807000,0.859084,
+0.808000,0.858714,
+0.809000,0.858338,
+0.810000,0.857954,
+0.811000,0.857564,
+0.812000,0.857167,
+0.813000,0.856763,
+0.814000,0.856352,
+0.815000,0.855934,
+0.816000,0.855510,
+0.817000,0.855079,
+0.818000,0.854641,
+0.819000,0.854196,
+0.820000,0.853744,
+0.821000,0.853286,
+0.822000,0.852820,
+0.823000,0.852348,
+0.824000,0.851869,
+0.825000,0.851384,
+0.826000,0.850892,
+0.827000,0.850393,
+0.828000,0.849887,
+0.829000,0.849374,
+0.830000,0.848855,
+0.831000,0.848329,
+0.832000,0.847796,
+0.833000,0.847257,
+0.834000,0.846711,
+0.835000,0.846158,
+0.836000,0.845598,
+0.837000,0.845032,
+0.838000,0.844459,
+0.839000,0.843880,
+0.840000,0.843293,
+0.841000,0.842700,
+0.842000,0.842101,
+0.843000,0.841495,
+0.844000,0.840882,
+0.845000,0.840263,
+0.846000,0.839637,
+0.847000,0.839004,
+0.848000,0.838365,
+0.849000,0.837719,
+0.850000,0.837067,
+0.851000,0.836408,
+0.852000,0.835742,
+0.853000,0.835070,
+0.854000,0.834391,
+0.855000,0.833706,
+0.856000,0.833015,
+0.857000,0.832316,
+0.858000,0.831612,
+0.859000,0.830900,
+0.860000,0.830183,
+0.861000,0.829459,
+0.862000,0.828728,
+0.863000,0.827991,
+0.864000,0.827247,
+0.865000,0.826497,
+0.866000,0.825741,
+0.867000,0.824978,
+0.868000,0.824209,
+0.869000,0.823433,
+0.870000,0.822651,
+0.871000,0.821863,
+0.872000,0.821068,
+0.873000,0.820267,
+0.874000,0.819459,
+0.875000,0.818645,
+0.876000,0.817825,
+0.877000,0.816998,
+0.878000,0.816166,
+0.879000,0.815327,
+0.880000,0.814481,
+0.881000,0.813630,
+0.882000,0.812772,
+0.883000,0.811907,
+0.884000,0.811037,
+0.885000,0.810160,
+0.886000,0.809278,
+0.887000,0.808389,
+0.888000,0.807493,
+0.889000,0.806592,
+0.890000,0.805684,
+0.891000,0.804771,
+0.892000,0.803851,
+0.893000,0.802925,
+0.894000,0.801993,
+0.895000,0.801055,
+0.896000,0.800110,
+0.897000,0.799160,
+0.898000,0.798203,
+0.899000,0.797241,
+0.900000,0.796272,
+0.901000,0.795298,
+0.902000,0.794317,
+0.903000,0.793331,
+0.904000,0.792338,
+0.905000,0.791340,
+0.906000,0.790335,
+0.907000,0.789325,
+0.908000,0.788309,
+0.909000,0.787286,
+0.910000,0.786258,
+0.911000,0.785224,
+0.912000,0.784184,
+0.913000,0.783139,
+0.914000,0.782087,
+0.915000,0.781030,
+0.916000,0.779966,
+0.917000,0.778897,
+0.918000,0.777823,
+0.919000,0.776742,
+0.920000,0.775656,
+0.921000,0.774564,
+0.922000,0.773466,
+0.923000,0.772362,
+0.924000,0.771253,
+0.925000,0.770138,
+0.926000,0.769018,
+0.927000,0.767891,
+0.928000,0.766760,
+0.929000,0.765622,
+0.930000,0.764479,
+0.931000,0.763331,
+0.932000,0.762177,
+0.933000,0.761017,
+0.934000,0.759852,
+0.935000,0.758681,
+0.936000,0.757505,
+0.937000,0.756323,
+0.938000,0.755136,
+0.939000,0.753943,
+0.940000,0.752745,
+0.941000,0.751542,
+0.942000,0.750333,
+0.943000,0.749118,
+0.944000,0.747899,
+0.945000,0.746674,
+0.946000,0.745444,
+0.947000,0.744208,
+0.948000,0.742967,
+0.949000,0.741721,
+0.950000,0.740470,
+0.951000,0.739213,
+0.952000,0.737951,
+0.953000,0.736684,
+0.954000,0.735412,
+0.955000,0.734134,
+0.956000,0.732852,
+0.957000,0.731564,
+0.958000,0.730271,
+0.959000,0.728973,
+0.960000,0.727670,
+0.961000,0.726362,
+0.962000,0.725049,
+0.963000,0.723731,
+0.964000,0.722408,
+0.965000,0.721080,
+0.966000,0.719747,
+0.967000,0.718410,
+0.968000,0.717067,
+0.969000,0.715719,
+0.970000,0.714366,
+0.971000,0.713009,
+0.972000,0.711647,
+0.973000,0.710280,
+0.974000,0.708908,
+0.975000,0.707531,
+0.976000,0.706150,
+0.977000,0.704764,
+0.978000,0.703373,
+0.979000,0.701977,
+0.980000,0.700577,
+0.981000,0.699172,
+0.982000,0.697763,
+0.983000,0.696349,
+0.984000,0.694930,
+0.985000,0.693507,
+0.986000,0.692079,
+0.987000,0.690647,
+0.988000,0.689210,
+0.989000,0.687769,
+0.990000,0.686323,
+0.991000,0.684873,
+0.992000,0.683419,
+0.993000,0.681960,
+0.994000,0.680496,
+0.995000,0.679029,
+0.996000,0.677557,
+0.997000,0.676080,
+0.998000,0.674600,
+0.999000,0.673115,
+1.000000,0.671626,
+1.001000,0.670133,
+1.002000,0.668635,
+1.003000,0.667134,
+1.004000,0.665628,
+1.005000,0.664118,
+1.006000,0.662604,
+1.007000,0.661086,
+1.008000,0.659564,
+1.009000,0.658038,
+1.010000,0.656508,
+1.011000,0.654974,
+1.012000,0.653436,
+1.013000,0.651894,
+1.014000,0.650348,
+1.015000,0.648798,
+1.016000,0.647245,
+1.017000,0.645687,
+1.018000,0.644126,
+1.019000,0.642561,
+1.020000,0.640992,
+1.021000,0.639420,
+1.022000,0.637844,
+1.023000,0.636264,
+1.024000,0.634680,
+1.025000,0.633093,
+1.026000,0.631502,
+1.027000,0.629908,
+1.028000,0.628310,
+1.029000,0.626709,
+1.030000,0.625104,
+1.031000,0.623495,
+1.032000,0.621883,
+1.033000,0.620268,
+1.034000,0.618649,
+1.035000,0.617027,
+1.036000,0.615402,
+1.037000,0.613773,
+1.038000,0.612141,
+1.039000,0.610506,
+1.040000,0.608867,
+1.041000,0.607225,
+1.042000,0.605580,
+1.043000,0.603932,
+1.044000,0.602281,
+1.045000,0.600626,
+1.046000,0.598969,
+1.047000,0.597308,
+1.048000,0.595645,
+1.049000,0.593978,
+1.050000,0.592308,
+1.051000,0.590636,
+1.052000,0.588960,
+1.053000,0.587282,
+1.054000,0.585601,
+1.055000,0.583916,
+1.056000,0.582230,
+1.057000,0.580540,
+1.058000,0.578847,
+1.059000,0.577152,
+1.060000,0.575454,
+1.061000,0.573754,
+1.062000,0.572050,
+1.063000,0.570345,
+1.064000,0.568636,
+1.065000,0.566925,
+1.066000,0.565212,
+1.067000,0.563495,
+1.068000,0.561777,
+1.069000,0.560056,
+1.070000,0.558332,
+1.071000,0.556607,
+1.072000,0.554878,
+1.073000,0.553148,
+1.074000,0.551415,
+1.075000,0.549680,
+1.076000,0.547943,
+1.077000,0.546203,
+1.078000,0.544461,
+1.079000,0.542717,
+1.080000,0.540971,
+1.081000,0.539223,
+1.082000,0.537473,
+1.083000,0.535721,
+1.084000,0.533966,
+1.085000,0.532210,
+1.086000,0.530452,
+1.087000,0.528692,
+1.088000,0.526930,
+1.089000,0.525166,
+1.090000,0.523400,
+1.091000,0.521632,
+1.092000,0.519863,
+1.093000,0.518092,
+1.094000,0.516319,
+1.095000,0.514545,
+1.096000,0.512768,
+1.097000,0.510991,
+1.098000,0.509211,
+1.099000,0.507430,
+1.100000,0.505648,
+1.101000,0.503864,
+1.102000,0.502078,
+1.103000,0.500292,
+1.104000,0.498503,
+1.105000,0.496714,
+1.106000,0.494923,
+1.107000,0.493130,
+1.108000,0.491337,
+1.109000,0.489542,
+1.110000,0.487746,
+1.111000,0.485948,
+1.112000,0.484150,
+1.113000,0.482350,
+1.114000,0.480549,
+1.115000,0.478748,
+1.116000,0.476945,
+1.117000,0.475141,
+1.118000,0.473336,
+1.119000,0.471530,
+1.120000,0.469724,
+1.121000,0.467916,
+1.122000,0.466108,
+1.123000,0.464299,
+1.124000,0.462489,
+1.125000,0.460678,
+1.126000,0.458866,
+1.127000,0.457054,
+1.128000,0.455242,
+1.129000,0.453428,
+1.130000,0.451614,
+1.131000,0.449799,
+1.132000,0.447984,
+1.133000,0.446169,
+1.134000,0.444353,
+1.135000,0.442536,
+1.136000,0.440719,
+1.137000,0.438902,
+1.138000,0.437084,
+1.139000,0.435266,
+1.140000,0.433448,
+1.141000,0.431630,
+1.142000,0.429811,
+1.143000,0.427992,
+1.144000,0.426173,
+1.145000,0.424354,
+1.146000,0.422535,
+1.147000,0.420716,
+1.148000,0.418896,
+1.149000,0.417077,
+1.150000,0.415258,
+1.151000,0.413439,
+1.152000,0.411620,
+1.153000,0.409801,
+1.154000,0.407983,
+1.155000,0.406164,
+1.156000,0.404346,
+1.157000,0.402528,
+1.158000,0.400710,
+1.159000,0.398893,
+1.160000,0.397076,
+1.161000,0.395260,
+1.162000,0.393444,
+1.163000,0.391629,
+1.164000,0.389814,
+1.165000,0.387999,
+1.166000,0.386185,
+1.167000,0.384372,
+1.168000,0.382559,
+1.169000,0.380747,
+1.170000,0.378936,
+1.171000,0.377126,
+1.172000,0.375316,
+1.173000,0.373507,
+1.174000,0.371699,
+1.175000,0.369892,
+1.176000,0.368085,
+1.177000,0.366280,
+1.178000,0.364476,
+1.179000,0.362672,
+1.180000,0.360870,
+1.181000,0.359069,
+1.182000,0.357269,
+1.183000,0.355470,
+1.184000,0.353672,
+1.185000,0.351875,
+1.186000,0.350080,
+1.187000,0.348286,
+1.188000,0.346493,
+1.189000,0.344701,
+1.190000,0.342911,
+1.191000,0.341123,
+1.192000,0.339335,
+1.193000,0.337549,
+1.194000,0.335765,
+1.195000,0.333982,
+1.196000,0.332201,
+1.197000,0.330422,
+1.198000,0.328644,
+1.199000,0.326867,
+1.200000,0.325093,
+1.201000,0.323320,
+1.202000,0.321549,
+1.203000,0.319779,
+1.204000,0.318012,
+1.205000,0.316246,
+1.206000,0.314483,
+1.207000,0.312721,
+1.208000,0.310961,
+1.209000,0.309203,
+1.210000,0.307448,
+1.211000,0.305694,
+1.212000,0.303942,
+1.213000,0.302193,
+1.214000,0.300445,
+1.215000,0.298700,
+1.216000,0.296957,
+1.217000,0.295217,
+1.218000,0.293478,
+1.219000,0.291742,
+1.220000,0.290009,
+1.221000,0.288277,
+1.222000,0.286548,
+1.223000,0.284822,
+1.224000,0.283098,
+1.225000,0.281377,
+1.226000,0.279658,
+1.227000,0.277942,
+1.228000,0.276228,
+1.229000,0.274517,
+1.230000,0.272809,
+1.231000,0.271103,
+1.232000,0.269400,
+1.233000,0.267700,
+1.234000,0.266003,
+1.235000,0.264308,
+1.236000,0.262617,
+1.237000,0.260928,
+1.238000,0.259242,
+1.239000,0.257560,
+1.240000,0.255880,
+1.241000,0.254203,
+1.242000,0.252530,
+1.243000,0.250859,
+1.244000,0.249192,
+1.245000,0.247527,
+1.246000,0.245866,
+1.247000,0.244208,
+1.248000,0.242554,
+1.249000,0.240903,
+1.250000,0.239255,
+1.251000,0.237610,
+1.252000,0.235969,
+1.253000,0.234331,
+1.254000,0.232696,
+1.255000,0.231066,
+1.256000,0.229438,
+1.257000,0.227814,
+1.258000,0.226194,
+1.259000,0.224577,
+1.260000,0.222964,
+1.261000,0.221355,
+1.262000,0.219749,
+1.263000,0.218147,
+1.264000,0.216549,
+1.265000,0.214954,
+1.266000,0.213364,
+1.267000,0.211777,
+1.268000,0.210194,
+1.269000,0.208615,
+1.270000,0.207040,
+1.271000,0.205469,
+1.272000,0.203902,
+1.273000,0.202339,
+1.274000,0.200780,
+1.275000,0.199225,
+1.276000,0.197674,
+1.277000,0.196127,
+1.278000,0.194585,
+1.279000,0.193047,
+1.280000,0.191512,
+1.281000,0.189983,
+1.282000,0.188457,
+1.283000,0.186936,
+1.284000,0.185419,
+1.285000,0.183907,
+1.286000,0.182399,
+1.287000,0.180895,
+1.288000,0.179396,
+1.289000,0.177901,
+1.290000,0.176411,
+1.291000,0.174926,
+1.292000,0.173445,
+1.293000,0.171969,
+1.294000,0.170497,
+1.295000,0.169030,
+1.296000,0.167568,
+1.297000,0.166110,
+1.298000,0.164657,
+1.299000,0.163209,
+1.300000,0.161766,
+1.301000,0.160328,
+1.302000,0.158894,
+1.303000,0.157465,
+1.304000,0.156042,
+1.305000,0.154623,
+1.306000,0.153209,
+1.307000,0.151800,
+1.308000,0.150397,
+1.309000,0.148998,
+1.310000,0.147604,
+1.311000,0.146216,
+1.312000,0.144833,
+1.313000,0.143454,
+1.314000,0.142081,
+1.315000,0.140714,
+1.316000,0.139351,
+1.317000,0.137994,
+1.318000,0.136642,
+1.319000,0.135295,
+1.320000,0.133954,
+1.321000,0.132618,
+1.322000,0.131288,
+1.323000,0.129963,
+1.324000,0.128643,
+1.325000,0.127329,
+1.326000,0.126021,
+1.327000,0.124718,
+1.328000,0.123420,
+1.329000,0.122128,
+1.330000,0.120842,
+1.331000,0.119561,
+1.332000,0.118286,
+1.333000,0.117017,
+1.334000,0.115753,
+1.335000,0.114495,
+1.336000,0.113243,
+1.337000,0.111997,
+1.338000,0.110757,
+1.339000,0.109522,
+1.340000,0.108293,
+1.341000,0.107070,
+1.342000,0.105853,
+1.343000,0.104642,
+1.344000,0.103437,
+1.345000,0.102237,
+1.346000,0.101044,
+1.347000,0.099857,
+1.348000,0.098676,
+1.349000,0.097501,
+1.350000,0.096332,
+1.351000,0.095169,
+1.352000,0.094012,
+1.353000,0.092862,
+1.354000,0.091717,
+1.355000,0.090579,
+1.356000,0.089447,
+1.357000,0.088322,
+1.358000,0.087202,
+1.359000,0.086089,
+1.360000,0.084982,
+1.361000,0.083882,
+1.362000,0.082787,
+1.363000,0.081700,
+1.364000,0.080618,
+1.365000,0.079543,
+1.366000,0.078475,
+1.367000,0.077413,
+1.368000,0.076357,
+1.369000,0.075308,
+1.370000,0.074266,
+1.371000,0.073230,
+1.372000,0.072200,
+1.373000,0.071177,
+1.374000,0.070161,
+1.375000,0.069151,
+1.376000,0.068148,
+1.377000,0.067152,
+1.378000,0.066163,
+1.379000,0.065180,
+1.380000,0.064203,
+1.381000,0.063234,
+1.382000,0.062271,
+1.383000,0.061315,
+1.384000,0.060366,
+1.385000,0.059424,
+1.386000,0.058488,
+1.387000,0.057560,
+1.388000,0.056638,
+1.389000,0.055723,
+1.390000,0.054815,
+1.391000,0.053914,
+1.392000,0.053020,
+1.393000,0.052133,
+1.394000,0.051253,
+1.395000,0.050380,
+1.396000,0.049514,
+1.397000,0.048654,
+1.398000,0.047802,
+1.399000,0.046957,
+1.400000,0.046119,
+1.401000,0.045289,
+1.402000,0.044465,
+1.403000,0.043648,
+1.404000,0.042839,
+1.405000,0.042037,
+1.406000,0.041242,
+1.407000,0.040454,
+1.408000,0.039673,
+1.409000,0.038899,
+1.410000,0.038133,
+1.411000,0.037374,
+1.412000,0.036622,
+1.413000,0.035878,
+1.414000,0.035141,
+1.415000,0.034411,
+1.416000,0.033688,
+1.417000,0.032973,
+1.418000,0.032265,
+1.419000,0.031565,
+1.420000,0.030872,
+1.421000,0.030186,
+1.422000,0.029508,
+1.423000,0.028837,
+1.424000,0.028174,
+1.425000,0.027518,
+1.426000,0.026869,
+1.427000,0.026228,
+1.428000,0.025595,
+1.429000,0.024968,
+1.430000,0.024350,
+1.431000,0.023739,
+1.432000,0.023135,
+1.433000,0.022539,
+1.434000,0.021951,
+1.435000,0.021370,
+1.436000,0.020797,
+1.437000,0.020231,
+1.438000,0.019673,
+1.439000,0.019123,
+1.440000,0.018580,
+1.441000,0.018045,
+1.442000,0.017517,
+1.443000,0.016998,
+1.444000,0.016485,
+1.445000,0.015981,
+1.446000,0.015484,
+1.447000,0.014995,
+1.448000,0.014513,
+1.449000,0.014040,
+1.450000,0.013574,
+1.451000,0.013115,
+1.452000,0.012665,
+1.453000,0.012222,
+1.454000,0.011787,
+1.455000,0.011360,
+1.456000,0.010940,
+1.457000,0.010529,
+1.458000,0.010125,
+1.459000,0.009729,
+1.460000,0.009341,
+1.461000,0.008960,
+1.462000,0.008587,
+1.463000,0.008223,
+1.464000,0.007866,
+1.465000,0.007517,
+1.466000,0.007175,
+1.467000,0.006842,
+1.468000,0.006516,
+1.469000,0.006199,
+1.470000,0.005889,
+1.471000,0.005587,
+1.472000,0.005293,
+1.473000,0.005007,
+1.474000,0.004729,
+1.475000,0.004458,
+1.476000,0.004196,
+1.477000,0.003942,
+1.478000,0.003695,
+1.479000,0.003456,
+1.480000,0.003226,
+1.481000,0.003003,
+1.482000,0.002788,
+1.483000,0.002581,
+1.484000,0.002382,
+1.485000,0.002191,
+1.486000,0.002008,
+1.487000,0.001833,
+1.488000,0.001666,
+1.489000,0.001507,
+1.490000,0.001356,
+1.491000,0.001213,
+1.492000,0.001077,
+1.493000,0.000950,
+1.494000,0.000831,
+1.495000,0.000720,
+1.496000,0.000617,
+1.497000,0.000521,
+1.498000,0.000434,
+1.499000,0.000355,
+1.500000,0.000283,
+1.501000,0.000220,
+1.502000,0.000165,
+1.503000,0.000117,
+1.504000,0.000078,
+1.505000,0.000047,
+1.506000,0.000023,
+1.507000,0.000008,
+1.508000,0.000001,
+1.509000,0.000001,
+1.510000,0.000010,
+1.511000,0.000027,
+1.512000,0.000051,
+1.513000,0.000084,
+1.514000,0.000125,
+1.515000,0.000173,
+1.516000,0.000230,
+1.517000,0.000295,
+1.518000,0.000367,
+1.519000,0.000448,
+1.520000,0.000537,
+1.521000,0.000633,
+1.522000,0.000738,
+1.523000,0.000851,
+1.524000,0.000971,
+1.525000,0.001100,
+1.526000,0.001236,
+1.527000,0.001381,
+1.528000,0.001533,
+1.529000,0.001694,
+1.530000,0.001862,
+1.531000,0.002039,
+1.532000,0.002223,
+1.533000,0.002415,
+1.534000,0.002615,
+1.535000,0.002824,
+1.536000,0.003040,
+1.537000,0.003264,
+1.538000,0.003496,
+1.539000,0.003736,
+1.540000,0.003984,
+1.541000,0.004240,
+1.542000,0.004503,
+1.543000,0.004775,
+1.544000,0.005054,
+1.545000,0.005342,
+1.546000,0.005637,
+1.547000,0.005941,
+1.548000,0.006252,
+1.549000,0.006571,
+1.550000,0.006897,
+1.551000,0.007232,
+1.552000,0.007575,
+1.553000,0.007925,
+1.554000,0.008283,
+1.555000,0.008650,
+1.556000,0.009024,
+1.557000,0.009405,
+1.558000,0.009795,
+1.559000,0.010192,
+1.560000,0.010598,
+1.561000,0.011010,
+1.562000,0.011431,
+1.563000,0.011860,
+1.564000,0.012296,
+1.565000,0.012740,
+1.566000,0.013192,
+1.567000,0.013652,
+1.568000,0.014119,
+1.569000,0.014594,
+1.570000,0.015077,
+1.571000,0.015567,
+1.572000,0.016065,
+1.573000,0.016571,
+1.574000,0.017085,
+1.575000,0.017606,
+1.576000,0.018134,
+1.577000,0.018671,
+1.578000,0.019215,
+1.579000,0.019767,
+1.580000,0.020326,
+1.581000,0.020893,
+1.582000,0.021467,
+1.583000,0.022050,
+1.584000,0.022639,
+1.585000,0.023236,
+1.586000,0.023841,
+1.587000,0.024454,
+1.588000,0.025073,
+1.589000,0.025701,
+1.590000,0.026335,
+1.591000,0.026978,
+1.592000,0.027628,
+1.593000,0.028285,
+1.594000,0.028949,
+1.595000,0.029622,
+1.596000,0.030301,
+1.597000,0.030988,
+1.598000,0.031682,
+1.599000,0.032384,
+1.600000,0.033093,
+1.601000,0.033810,
+1.602000,0.034533,
+1.603000,0.035264,
+1.604000,0.036003,
+1.605000,0.036748,
+1.606000,0.037501,
+1.607000,0.038262,
+1.608000,0.039029,
+1.609000,0.039804,
+1.610000,0.040586,
+1.611000,0.041375,
+1.612000,0.042171,
+1.613000,0.042975,
+1.614000,0.043785,
+1.615000,0.044603,
+1.616000,0.045428,
+1.617000,0.046260,
+1.618000,0.047099,
+1.619000,0.047945,
+1.620000,0.048799,
+1.621000,0.049659,
+1.622000,0.050526,
+1.623000,0.051400,
+1.624000,0.052282,
+1.625000,0.053170,
+1.626000,0.054065,
+1.627000,0.054968,
+1.628000,0.055877,
+1.629000,0.056793,
+1.630000,0.057716,
+1.631000,0.058645,
+1.632000,0.059582,
+1.633000,0.060525,
+1.634000,0.061476,
+1.635000,0.062433,
+1.636000,0.063397,
+1.637000,0.064367,
+1.638000,0.065345,
+1.639000,0.066329,
+1.640000,0.067319,
+1.641000,0.068317,
+1.642000,0.069321,
+1.643000,0.070332,
+1.644000,0.071349,
+1.645000,0.072373,
+1.646000,0.073403,
+1.647000,0.074441,
+1.648000,0.075484,
+1.649000,0.076534,
+1.650000,0.077591,
+1.651000,0.078654,
+1.652000,0.079724,
+1.653000,0.080800,
+1.654000,0.081882,
+1.655000,0.082971,
+1.656000,0.084066,
+1.657000,0.085168,
+1.658000,0.086276,
+1.659000,0.087390,
+1.660000,0.088511,
+1.661000,0.089637,
+1.662000,0.090770,
+1.663000,0.091910,
+1.664000,0.093055,
+1.665000,0.094207,
+1.666000,0.095364,
+1.667000,0.096528,
+1.668000,0.097698,
+1.669000,0.098874,
+1.670000,0.100056,
+1.671000,0.101245,
+1.672000,0.102439,
+1.673000,0.103639,
+1.674000,0.104845,
+1.675000,0.106057,
+1.676000,0.107275,
+1.677000,0.108499,
+1.678000,0.109729,
+1.679000,0.110965,
+1.680000,0.112206,
+1.681000,0.113454,
+1.682000,0.114707,
+1.683000,0.115966,
+1.684000,0.117230,
+1.685000,0.118500,
+1.686000,0.119776,
+1.687000,0.121058,
+1.688000,0.122345,
+1.689000,0.123638,
+1.690000,0.124936,
+1.691000,0.126240,
+1.692000,0.127550,
+1.693000,0.128865,
+1.694000,0.130185,
+1.695000,0.131511,
+1.696000,0.132843,
+1.697000,0.134179,
+1.698000,0.135522,
+1.699000,0.136869,
+1.700000,0.138222,
+1.701000,0.139580,
+1.702000,0.140943,
+1.703000,0.142312,
+1.704000,0.143686,
+1.705000,0.145065,
+1.706000,0.146449,
+1.707000,0.147839,
+1.708000,0.149233,
+1.709000,0.150632,
+1.710000,0.152037,
+1.711000,0.153447,
+1.712000,0.154861,
+1.713000,0.156281,
+1.714000,0.157705,
+1.715000,0.159135,
+1.716000,0.160569,
+1.717000,0.162008,
+1.718000,0.163452,
+1.719000,0.164901,
+1.720000,0.166355,
+1.721000,0.167813,
+1.722000,0.169276,
+1.723000,0.170744,
+1.724000,0.172217,
+1.725000,0.173694,
+1.726000,0.175176,
+1.727000,0.176662,
+1.728000,0.178153,
+1.729000,0.179648,
+1.730000,0.181148,
+1.731000,0.182652,
+1.732000,0.184161,
+1.733000,0.185674,
+1.734000,0.187192,
+1.735000,0.188714,
+1.736000,0.190240,
+1.737000,0.191770,
+1.738000,0.193305,
+1.739000,0.194844,
+1.740000,0.196387,
+1.741000,0.197935,
+1.742000,0.199486,
+1.743000,0.201042,
+1.744000,0.202601,
+1.745000,0.204165,
+1.746000,0.205733,
+1.747000,0.207305,
+1.748000,0.208881,
+1.749000,0.210460,
+1.750000,0.212044,
+1.751000,0.213631,
+1.752000,0.215222,
+1.753000,0.216818,
+1.754000,0.218416,
+1.755000,0.220019,
+1.756000,0.221625,
+1.757000,0.223235,
+1.758000,0.224849,
+1.759000,0.226466,
+1.760000,0.228087,
+1.761000,0.229712,
+1.762000,0.231340,
+1.763000,0.232971,
+1.764000,0.234606,
+1.765000,0.236245,
+1.766000,0.237886,
+1.767000,0.239532,
+1.768000,0.241180,
+1.769000,0.242832,
+1.770000,0.244487,
+1.771000,0.246146,
+1.772000,0.247807,
+1.773000,0.249472,
+1.774000,0.251140,
+1.775000,0.252811,
+1.776000,0.254485,
+1.777000,0.256162,
+1.778000,0.257843,
+1.779000,0.259526,
+1.780000,0.261212,
+1.781000,0.262901,
+1.782000,0.264593,
+1.783000,0.266288,
+1.784000,0.267986,
+1.785000,0.269686,
+1.786000,0.271390,
+1.787000,0.273096,
+1.788000,0.274805,
+1.789000,0.276516,
+1.790000,0.278230,
+1.791000,0.279947,
+1.792000,0.281666,
+1.793000,0.283388,
+1.794000,0.285112,
+1.795000,0.286839,
+1.796000,0.288568,
+1.797000,0.290300,
+1.798000,0.292034,
+1.799000,0.293771,
+1.800000,0.295509,
+1.801000,0.297250,
+1.802000,0.298994,
+1.803000,0.300739,
+1.804000,0.302487,
+1.805000,0.304237,
+1.806000,0.305989,
+1.807000,0.307743,
+1.808000,0.309499,
+1.809000,0.311257,
+1.810000,0.313017,
+1.811000,0.314779,
+1.812000,0.316543,
+1.813000,0.318309,
+1.814000,0.320077,
+1.815000,0.321847,
+1.816000,0.323618,
+1.817000,0.325391,
+1.818000,0.327166,
+1.819000,0.328943,
+1.820000,0.330721,
+1.821000,0.332501,
+1.822000,0.334282,
+1.823000,0.336065,
+1.824000,0.337850,
+1.825000,0.339636,
+1.826000,0.341423,
+1.827000,0.343212,
+1.828000,0.345003,
+1.829000,0.346794,
+1.830000,0.348587,
+1.831000,0.350382,
+1.832000,0.352177,
+1.833000,0.353974,
+1.834000,0.355772,
+1.835000,0.357572,
+1.836000,0.359372,
+1.837000,0.361173,
+1.838000,0.362976,
+1.839000,0.364779,
+1.840000,0.366584,
+1.841000,0.368389,
+1.842000,0.370196,
+1.843000,0.372003,
+1.844000,0.373811,
+1.845000,0.375620,
+1.846000,0.377430,
+1.847000,0.379241,
+1.848000,0.381052,
+1.849000,0.382864,
+1.850000,0.384677,
+1.851000,0.386490,
+1.852000,0.388304,
+1.853000,0.390119,
+1.854000,0.391934,
+1.855000,0.393750,
+1.856000,0.395566,
+1.857000,0.397382,
+1.858000,0.399199,
+1.859000,0.401016,
+1.860000,0.402834,
+1.861000,0.404652,
+1.862000,0.406470,
+1.863000,0.408289,
+1.864000,0.410107,
+1.865000,0.411926,
+1.866000,0.413745,
+1.867000,0.415564,
+1.868000,0.417383,
+1.869000,0.419202,
+1.870000,0.421022,
+1.871000,0.422841,
+1.872000,0.424660,
+1.873000,0.426479,
+1.874000,0.428298,
+1.875000,0.430117,
+1.876000,0.431936,
+1.877000,0.433754,
+1.878000,0.435572,
+1.879000,0.437390,
+1.880000,0.439208,
+1.881000,0.441025,
+1.882000,0.442842,
+1.883000,0.444658,
+1.884000,0.446474,
+1.885000,0.448290,
+1.886000,0.450105,
+1.887000,0.451919,
+1.888000,0.453733,
+1.889000,0.455547,
+1.890000,0.457359,
+1.891000,0.459171,
+1.892000,0.460983,
+1.893000,0.462793,
+1.894000,0.464603,
+1.895000,0.466412,
+1.896000,0.468221,
+1.897000,0.470028,
+1.898000,0.471834,
+1.899000,0.473640,
+1.900000,0.475445,
+1.901000,0.477248,
+1.902000,0.479051,
+1.903000,0.480853,
+1.904000,0.482653,
+1.905000,0.484453,
+1.906000,0.486251,
+1.907000,0.488048,
+1.908000,0.489844,
+1.909000,0.491639,
+1.910000,0.493432,
+1.911000,0.495224,
+1.912000,0.497015,
+1.913000,0.498804,
+1.914000,0.500592,
+1.915000,0.502379,
+1.916000,0.504164,
+1.917000,0.505948,
+1.918000,0.507730,
+1.919000,0.509511,
+1.920000,0.511290,
+1.921000,0.513067,
+1.922000,0.514843,
+1.923000,0.516618,
+1.924000,0.518390,
+1.925000,0.520161,
+1.926000,0.521930,
+1.927000,0.523697,
+1.928000,0.525463,
+1.929000,0.527226,
+1.930000,0.528988,
+1.931000,0.530748,
+1.932000,0.532506,
+1.933000,0.534262,
+1.934000,0.536016,
+1.935000,0.537768,
+1.936000,0.539518,
+1.937000,0.541265,
+1.938000,0.543011,
+1.939000,0.544755,
+1.940000,0.546496,
+1.941000,0.548235,
+1.942000,0.549972,
+1.943000,0.551707,
+1.944000,0.553439,
+1.945000,0.555169,
+1.946000,0.556897,
+1.947000,0.558623,
+1.948000,0.560346,
+1.949000,0.562066,
+1.950000,0.563784,
+1.951000,0.565500,
+1.952000,0.567213,
+1.953000,0.568924,
+1.954000,0.570632,
+1.955000,0.572337,
+1.956000,0.574040,
+1.957000,0.575740,
+1.958000,0.577438,
+1.959000,0.579132,
+1.960000,0.580824,
+1.961000,0.582514,
+1.962000,0.584200,
+1.963000,0.585884,
+1.964000,0.587565,
+1.965000,0.589242,
+1.966000,0.590917,
+1.967000,0.592589,
+1.968000,0.594259,
+1.969000,0.595925,
+1.970000,0.597588,
+1.971000,0.599248,
+1.972000,0.600905,
+1.973000,0.602559,
+1.974000,0.604210,
+1.975000,0.605857,
+1.976000,0.607502,
+1.977000,0.609143,
+1.978000,0.610781,
+1.979000,0.612416,
+1.980000,0.614047,
+1.981000,0.615676,
+1.982000,0.617301,
+1.983000,0.618922,
+1.984000,0.620540,
+1.985000,0.622155,
+1.986000,0.623766,
+1.987000,0.625374,
+1.988000,0.626979,
+1.989000,0.628579,
+1.990000,0.630177,
+1.991000,0.631770,
+1.992000,0.633361,
+1.993000,0.634947,
+1.994000,0.636530,
+1.995000,0.638109,
+1.996000,0.639685,
+1.997000,0.641257,
+1.998000,0.642825,
+1.999000,0.644389
+};
+
+#endif //PENDULUM_GOLD_H
diff --git a/test/BulletDynamics/pendulum/CMakeLists.txt b/test/BulletDynamics/pendulum/CMakeLists.txt
new file mode 100644
index 000000000..570dc0715
--- /dev/null
+++ b/test/BulletDynamics/pendulum/CMakeLists.txt
@@ -0,0 +1,30 @@
+
+INCLUDE_DIRECTORIES(
+	.
+	../../../src
+	../../gtest-1.7.0/include
+)
+
+
+ADD_DEFINITIONS(-DUSE_GTEST)
+ADD_DEFINITIONS(-D_VARIADIC_MAX=10)
+
+LINK_LIBRARIES(
+ BulletDynamics BulletCollision LinearMath gtest
+)
+
+IF (NOT WIN32)
+	LINK_LIBRARIES(		pthread	)
+ENDIF()
+
+	ADD_EXECUTABLE(Test_BulletDynamics
+		 ../../../examples/MultiBody/Pendulum.cpp
+	)
+
+ADD_TEST(Test_BulletDynamics_PASS Test_BulletDynamics)
+
+IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
+			SET_TARGET_PROPERTIES(Test_BulletDynamics PROPERTIES  DEBUG_POSTFIX "_Debug")
+			SET_TARGET_PROPERTIES(Test_BulletDynamics PROPERTIES  MINSIZEREL_POSTFIX "_MinsizeRel")
+			SET_TARGET_PROPERTIES(Test_BulletDynamics PROPERTIES  RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
+ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
diff --git a/test/BulletDynamics/pendulum/premake4.lua b/test/BulletDynamics/pendulum/premake4.lua
new file mode 100644
index 000000000..bd82fe4a1
--- /dev/null
+++ b/test/BulletDynamics/pendulum/premake4.lua
@@ -0,0 +1,34 @@
+
+	project "Test_BulletDynamics"
+		
+	kind "ConsoleApp"
+	
+	defines {"USE_GTEST"}
+	
+
+	
+	includedirs 
+	{
+		".",
+		"../../../src",
+		"../../gtest-1.7.0/include"
+	
+	}
+
+
+	if os.is("Windows") then
+		--see http://stackoverflow.com/questions/12558327/google-test-in-visual-studio-2012
+		defines {"_VARIADIC_MAX=10"}
+	end
+	
+	links {"BulletDynamics", "BulletCollision","LinearMath", "gtest"}
+	
+	files {
+		"../../../examples/MultiBody/Pendulum.cpp",
+		"../../../examples/MultiBody/pendulum_gold.h",
+	}
+
+	if os.is("Linux") then
+                links {"pthread"}
+        end
+
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 2a0d88431..e8b0842a0 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -3,5 +3,5 @@ IF(BUILD_BULLET3)
 	SUBDIRS(  InverseDynamics )
 ENDIF(BUILD_BULLET3)
 
-SUBDIRS(  gtest-1.7.0  collision )
+SUBDIRS(  gtest-1.7.0  collision BulletDynamics/pendulum )