From ec0a182a124731d3968e13419db4e3110b7954b6 Mon Sep 17 00:00:00 2001
From: Erwin Coumans
 <erwincoumans@erwincoumans-macbookpro2.roam.corp.google.com>
Date: Tue, 28 Nov 2017 21:53:26 -0800
Subject: [PATCH] add pybullet unittests.py with travis support

---
 .travis.yml                              |  3 ++
 examples/pybullet/unittests/unittests.py | 46 ++++++++++++++++++++++++
 setup.py                                 |  2 +-
 3 files changed, 50 insertions(+), 1 deletion(-)
 create mode 100644 examples/pybullet/unittests/unittests.py

diff --git a/.travis.yml b/.travis.yml
index d2ad176f4..20e5c857a 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -10,6 +10,7 @@ addons:
     packages:
       - python3
 
+
 script:
   - echo "CXX="$CXX
   - echo "CC="$CC
@@ -25,3 +26,5 @@ script:
   - make -j8
   - ctest -j8 --output-on-failure
   - sudo make install
+  - sudo python3 setup.py install
+  - python3 examples/pybullet/unittests/unittests.py
diff --git a/examples/pybullet/unittests/unittests.py b/examples/pybullet/unittests/unittests.py
new file mode 100644
index 000000000..3975c44af
--- /dev/null
+++ b/examples/pybullet/unittests/unittests.py
@@ -0,0 +1,46 @@
+import unittest
+import pybullet
+import time
+
+class TestPybulletMethods(unittest.TestCase):
+
+    def test_import(self):
+        import pybullet as p
+        self.assertGreater(p.getAPIVersion(), 201700000)
+
+    def test_connect_direct(self):
+        import pybullet as p
+        cid = p.connect(p.DIRECT)
+        self.assertEqual(cid,0)
+        p.disconnect()
+
+    def test_loadurdf(self):
+        import pybullet as p
+        p.connect(p.DIRECT)
+        ob = p.loadURDF("r2d2.urdf")
+        self.assertEqual(ob,0)
+        p.disconnect()
+
+    def test_rolling_friction(self):
+        import pybullet as p
+        p.connect(p.DIRECT)
+        p.loadURDF("plane.urdf")
+        sphere = p.loadURDF("sphere2.urdf",[0,0,1])
+        p.resetBaseVelocity(sphere,linearVelocity=[1,0,0])
+        p.changeDynamics(sphere,-1,linearDamping=0,angularDamping=0)
+        #p.changeDynamics(sphere,-1,rollingFriction=0)
+        p.setGravity(0,0,-10)
+        for i in range (1000):
+          p.stepSimulation()
+        vel = p.getBaseVelocity(sphere)
+        self.assertLess(vel[0][0],1e-10)
+        self.assertLess(vel[0][1],1e-10)
+        self.assertLess(vel[0][2],1e-10)
+        self.assertLess(vel[1][0],1e-10)
+        self.assertLess(vel[1][1],1e-10)
+        self.assertLess(vel[1][2],1e-10)
+        p.disconnect()
+       
+if __name__ == '__main__':
+    unittest.main()
+
diff --git a/setup.py b/setup.py
index f8faa2d37..e86b79fc3 100644
--- a/setup.py
+++ b/setup.py
@@ -442,7 +442,7 @@ print("-----")
 
 setup(
 	name = 'pybullet',
-	version='1.7.3',
+	version='1.7.4',
 	description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',