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authorRobert Adams2014-12-31 12:48:26 -0800
committerRobert Adams2014-12-31 12:48:26 -0800
commitc89d0e26b2c098cd2c5679fb73987a742a66ce38 (patch)
tree0ee422a9563736aab47385a97a6420d70adc97da /OpenSim
parentBulletSim: Add axis locking enabled through the ExtendedPhysics module. (diff)
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BulletSim: add the beginnings of hull creation unit testing.
Change how physics engine is created in unit tests to resolve a lib reference problem. Add ShapeInfoInfo class to collect info about the created physical shape for debugging and unit test testing.
Diffstat (limited to 'OpenSim')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs5
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSScene.cs67
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSShapes.cs111
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs19
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs204
5 files changed, 394 insertions, 12 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 9695fcf..5d359e8 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -96,11 +96,9 @@ public class BSPrim : BSPhysObject
96 _isPhysical = pisPhysical; 96 _isPhysical = pisPhysical;
97 _isVolumeDetect = false; 97 _isVolumeDetect = false;
98 98
99 // Add a dynamic vehicle to our set of actors that can move this prim.
100 // PhysicalActors.Add(VehicleActorName, new BSDynamics(PhysScene, this, VehicleActorName));
101
102 _mass = CalculateMass(); 99 _mass = CalculateMass();
103 100
101 DetailLog("{0},BSPrim.constructor,pbs={1}", LocalID, BSScene.PrimitiveBaseShapeToString(pbs));
104 // DetailLog("{0},BSPrim.constructor,call", LocalID); 102 // DetailLog("{0},BSPrim.constructor,call", LocalID);
105 // do the actual object creation at taint time 103 // do the actual object creation at taint time
106 PhysScene.TaintedObject(LocalID, "BSPrim.create", delegate() 104 PhysScene.TaintedObject(LocalID, "BSPrim.create", delegate()
@@ -168,6 +166,7 @@ public class BSPrim : BSPhysObject
168 public override PrimitiveBaseShape Shape { 166 public override PrimitiveBaseShape Shape {
169 set { 167 set {
170 BaseShape = value; 168 BaseShape = value;
169 DetailLog("{0},BSPrim.changeShape,pbs={1}", LocalID, BSScene.PrimitiveBaseShapeToString(BaseShape));
171 PrimAssetState = PrimAssetCondition.Unknown; 170 PrimAssetState = PrimAssetCondition.Unknown;
172 ForceBodyShapeRebuild(false); 171 ForceBodyShapeRebuild(false);
173 } 172 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 414bc92..238fcc2 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -947,6 +947,73 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
947 } 947 }
948 #endregion // Extensions 948 #endregion // Extensions
949 949
950 public static string PrimitiveBaseShapeToString(PrimitiveBaseShape pbs)
951 {
952 float pathShearX = pbs.PathShearX < 128 ? (float)pbs.PathShearX * 0.01f : (float)(pbs.PathShearX - 256) * 0.01f;
953 float pathShearY = pbs.PathShearY < 128 ? (float)pbs.PathShearY * 0.01f : (float)(pbs.PathShearY - 256) * 0.01f;
954 float pathBegin = (float)pbs.PathBegin * 2.0e-5f;
955 float pathEnd = 1.0f - (float)pbs.PathEnd * 2.0e-5f;
956 float pathScaleX = (float)(pbs.PathScaleX - 100) * 0.01f;
957 float pathScaleY = (float)(pbs.PathScaleY - 100) * 0.01f;
958
959 float profileBegin = (float)pbs.ProfileBegin * 2.0e-5f;
960 float profileEnd = 1.0f - (float)pbs.ProfileEnd * 2.0e-5f;
961 float profileHollow = (float)pbs.ProfileHollow * 2.0e-5f;
962 if (profileHollow > 0.95f)
963 profileHollow = 0.95f;
964
965 StringBuilder buff = new StringBuilder();
966 buff.Append("shape=");
967 buff.Append(((ProfileShape)pbs.ProfileShape).ToString());
968 buff.Append(",");
969 buff.Append("hollow=");
970 buff.Append(((HollowShape)pbs.HollowShape).ToString());
971 buff.Append(",");
972 buff.Append("pathCurve=");
973 buff.Append(((Extrusion)pbs.PathCurve).ToString());
974 buff.Append(",");
975 buff.Append("profCurve=");
976 buff.Append(((Extrusion)pbs.ProfileCurve).ToString());
977 buff.Append(",");
978 buff.Append("profHollow=");
979 buff.Append(profileHollow.ToString());
980 buff.Append(",");
981 buff.Append("pathBegEnd=");
982 buff.Append(pathBegin.ToString());
983 buff.Append("/");
984 buff.Append(pathEnd.ToString());
985 buff.Append(",");
986 buff.Append("profileBegEnd=");
987 buff.Append(profileBegin.ToString());
988 buff.Append("/");
989 buff.Append(profileEnd.ToString());
990 buff.Append(",");
991 buff.Append("scaleXY=");
992 buff.Append(pathScaleX.ToString());
993 buff.Append("/");
994 buff.Append(pathScaleY.ToString());
995 buff.Append(",");
996 buff.Append("shearXY=");
997 buff.Append(pathShearX.ToString());
998 buff.Append("/");
999 buff.Append(pathShearY.ToString());
1000 buff.Append(",");
1001 buff.Append("taperXY=");
1002 buff.Append(pbs.PathTaperX.ToString());
1003 buff.Append("/");
1004 buff.Append(pbs.PathTaperY.ToString());
1005 buff.Append(",");
1006 buff.Append("skew=");
1007 buff.Append(pbs.PathSkew.ToString());
1008 buff.Append(",");
1009 buff.Append("twist/Beg=");
1010 buff.Append(pbs.PathTwist.ToString());
1011 buff.Append("/");
1012 buff.Append(pbs.PathTwistBegin.ToString());
1013
1014 return buff.ToString();
1015 }
1016
950 #region Taints 1017 #region Taints
951 // The simulation execution order is: 1018 // The simulation execution order is:
952 // Simulate() 1019 // Simulate()
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
index 09f5bc4..aa04726 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
@@ -38,6 +38,76 @@ using OMV = OpenMetaverse;
38 38
39namespace OpenSim.Region.Physics.BulletSPlugin 39namespace OpenSim.Region.Physics.BulletSPlugin
40{ 40{
41// Information class that holds stats for the shape. Which values mean
42// something depends on the type of shape.
43// This information is used for debugging and stats and is not used
44// for operational things.
45public class ShapeInfoInfo
46{
47 public int Vertices { get; set; }
48 private int m_hullCount;
49 private int[] m_verticesPerHull;
50 public ShapeInfoInfo()
51 {
52 Vertices = 0;
53 m_hullCount = 0;
54 m_verticesPerHull = null;
55 }
56 public int HullCount
57 {
58 set
59 {
60 m_hullCount = value;
61 m_verticesPerHull = new int[m_hullCount];
62 Array.Clear(m_verticesPerHull, 0, m_hullCount);
63 }
64 get { return m_hullCount; }
65 }
66 public void SetVerticesPerHull(int hullNum, int vertices)
67 {
68 if (m_verticesPerHull != null && hullNum < m_verticesPerHull.Length)
69 {
70 m_verticesPerHull[hullNum] = vertices;
71 }
72 }
73 public int GetVerticesPerHull(int hullNum)
74 {
75 if (m_verticesPerHull != null && hullNum < m_verticesPerHull.Length)
76 {
77 return m_verticesPerHull[hullNum];
78 }
79 return 0;
80 }
81 public override string ToString()
82 {
83 StringBuilder buff = new StringBuilder();
84 // buff.Append("ShapeInfo=<");
85 buff.Append("<");
86 if (Vertices > 0)
87 {
88 buff.Append("verts=");
89 buff.Append(Vertices.ToString());
90 }
91
92 if (Vertices > 0 && HullCount > 0) buff.Append(",");
93
94 if (HullCount > 0)
95 {
96 buff.Append("nHulls=");
97 buff.Append(HullCount.ToString());
98 buff.Append(",");
99 buff.Append("hullVerts=");
100 for (int ii = 0; ii < HullCount; ii++)
101 {
102 if (ii != 0) buff.Append(",");
103 buff.Append(GetVerticesPerHull(ii).ToString());
104 }
105 }
106 buff.Append(">");
107 return buff.ToString();
108 }
109}
110
41public abstract class BSShape 111public abstract class BSShape
42{ 112{
43 private static string LogHeader = "[BULLETSIM SHAPE]"; 113 private static string LogHeader = "[BULLETSIM SHAPE]";
@@ -45,18 +115,21 @@ public abstract class BSShape
45 public int referenceCount { get; set; } 115 public int referenceCount { get; set; }
46 public DateTime lastReferenced { get; set; } 116 public DateTime lastReferenced { get; set; }
47 public BulletShape physShapeInfo { get; set; } 117 public BulletShape physShapeInfo { get; set; }
118 public ShapeInfoInfo shapeInfo { get; private set; }
48 119
49 public BSShape() 120 public BSShape()
50 { 121 {
51 referenceCount = 1; 122 referenceCount = 1;
52 lastReferenced = DateTime.Now; 123 lastReferenced = DateTime.Now;
53 physShapeInfo = new BulletShape(); 124 physShapeInfo = new BulletShape();
125 shapeInfo = new ShapeInfoInfo();
54 } 126 }
55 public BSShape(BulletShape pShape) 127 public BSShape(BulletShape pShape)
56 { 128 {
57 referenceCount = 1; 129 referenceCount = 1;
58 lastReferenced = DateTime.Now; 130 lastReferenced = DateTime.Now;
59 physShapeInfo = pShape; 131 physShapeInfo = pShape;
132 shapeInfo = new ShapeInfoInfo();
60 } 133 }
61 134
62 // Get another reference to this shape. 135 // Get another reference to this shape.
@@ -283,6 +356,9 @@ public class BSShapeNull : BSShape
283} 356}
284 357
285// ============================================================================================================ 358// ============================================================================================================
359// BSShapeNative is a wrapper for a Bullet 'native' shape -- cube and sphere.
360// They are odd in that they don't allocate meshes but are computated/procedural.
361// This means allocation and freeing is different than meshes.
286public class BSShapeNative : BSShape 362public class BSShapeNative : BSShape
287{ 363{
288 private static string LogHeader = "[BULLETSIM SHAPE NATIVE]"; 364 private static string LogHeader = "[BULLETSIM SHAPE NATIVE]";
@@ -361,6 +437,7 @@ public class BSShapeNative : BSShape
361} 437}
362 438
363// ============================================================================================================ 439// ============================================================================================================
440// BSShapeMesh is a simple mesh.
364public class BSShapeMesh : BSShape 441public class BSShapeMesh : BSShape
365{ 442{
366 private static string LogHeader = "[BULLETSIM SHAPE MESH]"; 443 private static string LogHeader = "[BULLETSIM SHAPE MESH]";
@@ -457,7 +534,11 @@ public class BSShapeMesh : BSShape
457 PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) 534 PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
458 { 535 {
459 return BSShapeMesh.CreatePhysicalMeshShape(physicsScene, prim, newMeshKey, pbs, size, lod, 536 return BSShapeMesh.CreatePhysicalMeshShape(physicsScene, prim, newMeshKey, pbs, size, lod,
460 (w, iC, i, vC, v) => physicsScene.PE.CreateMeshShape(w, iC, i, vC, v) ); 537 (w, iC, i, vC, v) =>
538 {
539 shapeInfo.Vertices = vC;
540 return physicsScene.PE.CreateMeshShape(w, iC, i, vC, v);
541 });
461 } 542 }
462 543
463 // Code that uses the mesher to create the index/vertices info for a trimesh shape. 544 // Code that uses the mesher to create the index/vertices info for a trimesh shape.
@@ -545,6 +626,9 @@ public class BSShapeMesh : BSShape
545} 626}
546 627
547// ============================================================================================================ 628// ============================================================================================================
629// BSShapeHull is a physical shape representation htat is made up of many convex hulls.
630// The convex hulls are either supplied with the asset or are approximated by one of the
631// convex hull creation routines (in OpenSim or in Bullet).
548public class BSShapeHull : BSShape 632public class BSShapeHull : BSShape
549{ 633{
550#pragma warning disable 414 634#pragma warning disable 414
@@ -553,6 +637,7 @@ public class BSShapeHull : BSShape
553 637
554 public static Dictionary<System.UInt64, BSShapeHull> Hulls = new Dictionary<System.UInt64, BSShapeHull>(); 638 public static Dictionary<System.UInt64, BSShapeHull> Hulls = new Dictionary<System.UInt64, BSShapeHull>();
555 639
640
556 public BSShapeHull(BulletShape pShape) : base(pShape) 641 public BSShapeHull(BulletShape pShape) : base(pShape)
557 { 642 {
558 } 643 }
@@ -615,6 +700,7 @@ public class BSShapeHull : BSShape
615 // TODO: schedule aging and destruction of unused meshes. 700 // TODO: schedule aging and destruction of unused meshes.
616 } 701 }
617 } 702 }
703
618 List<ConvexResult> m_hulls; 704 List<ConvexResult> m_hulls;
619 private BulletShape CreatePhysicalHull(BSScene physicsScene, BSPhysObject prim, System.UInt64 newHullKey, 705 private BulletShape CreatePhysicalHull(BSScene physicsScene, BSPhysObject prim, System.UInt64 newHullKey,
620 PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) 706 PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
@@ -647,6 +733,7 @@ public class BSShapeHull : BSShape
647 if (allHulls != null && BSParam.ShouldUseAssetHulls) 733 if (allHulls != null && BSParam.ShouldUseAssetHulls)
648 { 734 {
649 int hullCount = allHulls.Count; 735 int hullCount = allHulls.Count;
736 shapeInfo.HullCount = hullCount;
650 int totalVertices = 1; // include one for the count of the hulls 737 int totalVertices = 1; // include one for the count of the hulls
651 // Using the structure described for HACD hulls, create the memory sturcture 738 // Using the structure described for HACD hulls, create the memory sturcture
652 // to pass the hull data to the creater. 739 // to pass the hull data to the creater.
@@ -659,6 +746,7 @@ public class BSShapeHull : BSShape
659 746
660 convHulls[0] = (float)hullCount; 747 convHulls[0] = (float)hullCount;
661 int jj = 1; 748 int jj = 1;
749 int hullIndex = 0;
662 foreach (List<OMV.Vector3> hullVerts in allHulls) 750 foreach (List<OMV.Vector3> hullVerts in allHulls)
663 { 751 {
664 convHulls[jj + 0] = hullVerts.Count; 752 convHulls[jj + 0] = hullVerts.Count;
@@ -673,6 +761,8 @@ public class BSShapeHull : BSShape
673 convHulls[jj + 2] = oneVert.Z; 761 convHulls[jj + 2] = oneVert.Z;
674 jj += 3; 762 jj += 3;
675 } 763 }
764 shapeInfo.SetVerticesPerHull(hullIndex, hullVerts.Count);
765 hullIndex++;
676 } 766 }
677 767
678 // create the hull data structure in Bullet 768 // create the hull data structure in Bullet
@@ -708,6 +798,10 @@ public class BSShapeHull : BSShape
708 physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,shape={1}", prim.LocalID, newShape); 798 physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,shape={1}", prim.LocalID, newShape);
709 799
710 // Now done with the mesh shape. 800 // Now done with the mesh shape.
801 shapeInfo.HullCount = 1;
802 BSShapeMesh maybeMesh = meshShape as BSShapeMesh;
803 if (maybeMesh != null)
804 shapeInfo.SetVerticesPerHull(0, maybeMesh.shapeInfo.Vertices);
711 meshShape.Dereference(physicsScene); 805 meshShape.Dereference(physicsScene);
712 } 806 }
713 physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,bulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); 807 physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,bulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape);
@@ -857,6 +951,8 @@ public class BSShapeHull : BSShape
857} 951}
858 952
859// ============================================================================================================ 953// ============================================================================================================
954// BSShapeCompound is a wrapper for the Bullet compound shape which is built from multiple, separate
955// meshes. Used by BulletSim for complex shapes like linksets.
860public class BSShapeCompound : BSShape 956public class BSShapeCompound : BSShape
861{ 957{
862 private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]"; 958 private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]";
@@ -999,6 +1095,9 @@ public class BSShapeCompound : BSShape
999} 1095}
1000 1096
1001// ============================================================================================================ 1097// ============================================================================================================
1098// BSShapeConvexHull is a wrapper for a Bullet single convex hull. A BSShapeHull contains multiple convex
1099// hull shapes. This is used for simple prims that are convex and thus can be made into a simple
1100// collision shape (a single hull). More complex physical shapes will be BSShapeHull's.
1002public class BSShapeConvexHull : BSShape 1101public class BSShapeConvexHull : BSShape
1003{ 1102{
1004#pragma warning disable 414 1103#pragma warning disable 414
@@ -1098,6 +1197,9 @@ public class BSShapeConvexHull : BSShape
1098 } 1197 }
1099} 1198}
1100// ============================================================================================================ 1199// ============================================================================================================
1200// BSShapeGImpact is a wrapper for the Bullet GImpact shape which is a collision mesh shape that
1201// can handle concave as well as convex shapes. Much slower computationally but creates smoother
1202// shapes than multiple convex hull approximations.
1101public class BSShapeGImpact : BSShape 1203public class BSShapeGImpact : BSShape
1102{ 1204{
1103#pragma warning disable 414 1205#pragma warning disable 414
@@ -1151,7 +1253,11 @@ public class BSShapeGImpact : BSShape
1151 PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) 1253 PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
1152 { 1254 {
1153 return BSShapeMesh.CreatePhysicalMeshShape(physicsScene, prim, newMeshKey, pbs, size, lod, 1255 return BSShapeMesh.CreatePhysicalMeshShape(physicsScene, prim, newMeshKey, pbs, size, lod,
1154 (w, iC, i, vC, v) => physicsScene.PE.CreateGImpactShape(w, iC, i, vC, v) ); 1256 (w, iC, i, vC, v) =>
1257 {
1258 shapeInfo.Vertices = vC;
1259 return physicsScene.PE.CreateGImpactShape(w, iC, i, vC, v);
1260 });
1155 } 1261 }
1156 1262
1157 public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim) 1263 public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim)
@@ -1206,6 +1312,7 @@ public class BSShapeGImpact : BSShape
1206} 1312}
1207 1313
1208// ============================================================================================================ 1314// ============================================================================================================
1315// BSShapeAvatar is a specialized mesh shape for avatars.
1209public class BSShapeAvatar : BSShape 1316public class BSShapeAvatar : BSShape
1210{ 1317{
1211#pragma warning disable 414 1318#pragma warning disable 414
diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs
index 28207a4..775bca2 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs
@@ -28,15 +28,16 @@
28using System; 28using System;
29using System.IO; 29using System.IO;
30using System.Collections.Generic; 30using System.Collections.Generic;
31using System.Linq;
32using System.Text; 31using System.Text;
33 32
34using Nini.Config; 33using Nini.Config;
35 34
36using OpenSim.Framework; 35using OpenSim.Framework;
37using OpenSim.Region.Physics.BulletSPlugin; 36using OpenSim.Region.Physics.Manager;
38using OpenSim.Region.Physics.Meshing; 37using OpenSim.Region.Physics.Meshing;
39 38
39using OpenMetaverse;
40
40namespace OpenSim.Region.Physics.BulletSPlugin.Tests 41namespace OpenSim.Region.Physics.BulletSPlugin.Tests
41{ 42{
42// Utility functions for building up and tearing down the sample physics environments 43// Utility functions for building up and tearing down the sample physics environments
@@ -77,17 +78,21 @@ public static class BulletSimTestsUtil
77 bulletSimConfig.Set("VehicleLoggingEnabled","True"); 78 bulletSimConfig.Set("VehicleLoggingEnabled","True");
78 } 79 }
79 80
80 BSPlugin bsPlugin = new BSPlugin(); 81 PhysicsPluginManager physicsPluginManager;
82 physicsPluginManager = new PhysicsPluginManager();
83 physicsPluginManager.LoadPluginsFromAssemblies("Physics");
84
85 Vector3 regionExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
86
87 PhysicsScene pScene = physicsPluginManager.GetPhysicsScene(
88 "BulletSim", "Meshmerizer", openSimINI, "BSTestRegion", regionExtent);
81 89
82 BSScene bsScene = (BSScene)bsPlugin.GetScene("BSTestRegion"); 90 BSScene bsScene = pScene as BSScene;
83 91
84 // Since the asset requestor is not initialized, any mesh or sculptie will be a cube. 92 // Since the asset requestor is not initialized, any mesh or sculptie will be a cube.
85 // In the future, add a fake asset fetcher to get meshes and sculpts. 93 // In the future, add a fake asset fetcher to get meshes and sculpts.
86 // bsScene.RequestAssetMethod = ???; 94 // bsScene.RequestAssetMethod = ???;
87 95
88 Meshing.Meshmerizer mesher = new Meshmerizer(openSimINI);
89 bsScene.Initialise(mesher, openSimINI);
90
91 return bsScene; 96 return bsScene;
92 } 97 }
93 98
diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs
new file mode 100644
index 0000000..da532e0e
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/HullCreation.cs
@@ -0,0 +1,204 @@
1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyright
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27
28using System;
29using System.Collections.Generic;
30using System.Linq;
31using System.Text;
32
33using NUnit.Framework;
34using log4net;
35
36using OpenSim.Framework;
37using OpenSim.Region.Physics.BulletSPlugin;
38using OpenSim.Region.Physics.Manager;
39using OpenSim.Tests.Common;
40
41using OpenMetaverse;
42
43namespace OpenSim.Region.Physics.BulletSPlugin.Tests
44{
45[TestFixture]
46public class HullCreation : OpenSimTestCase
47{
48 // Documentation on attributes: http://www.nunit.org/index.php?p=attributes&r=2.6.1
49 // Documentation on assertions: http://www.nunit.org/index.php?p=assertions&r=2.6.1
50
51 BSScene PhysicsScene { get; set; }
52 Vector3 ObjectInitPosition;
53 float simulationTimeStep = 0.089f;
54
55 [TestFixtureSetUp]
56 public void Init()
57 {
58
59 }
60
61 [TestFixtureTearDown]
62 public void TearDown()
63 {
64 if (PhysicsScene != null)
65 {
66 // The Dispose() will also free any physical objects in the scene
67 PhysicsScene.Dispose();
68 PhysicsScene = null;
69 }
70 }
71
72 [TestCase(7, 2, 5f, 5f, 32, 0f)] /* default hull parameters */
73 public void GeomHullConvexDecomp( int maxDepthSplit,
74 int maxDepthSplitForSimpleShapes,
75 float concavityThresholdPercent,
76 float volumeConservationThresholdPercent,
77 int maxVertices,
78 float maxSkinWidth)
79 {
80 // Setup the physics engine to use the C# version of convex decomp
81 Dictionary<string, string> engineParams = new Dictionary<string, string>();
82 engineParams.Add("MeshSculptedPrim", "true"); // ShouldMeshSculptedPrim
83 engineParams.Add("ForceSimplePrimMeshing", "false"); // ShouldForceSimplePrimMeshing
84 engineParams.Add("UseHullsForPhysicalObjects", "true"); // ShouldUseHullsForPhysicalObjects
85 engineParams.Add("ShouldRemoveZeroWidthTriangles", "true");
86 engineParams.Add("ShouldUseBulletHACD", "false");
87 engineParams.Add("ShouldUseSingleConvexHullForPrims", "true");
88 engineParams.Add("ShouldUseGImpactShapeForPrims", "false");
89 engineParams.Add("ShouldUseAssetHulls", "true");
90
91 engineParams.Add("CSHullMaxDepthSplit", maxDepthSplit.ToString());
92 engineParams.Add("CSHullMaxDepthSplitForSimpleShapes", maxDepthSplitForSimpleShapes.ToString());
93 engineParams.Add("CSHullConcavityThresholdPercent", concavityThresholdPercent.ToString());
94 engineParams.Add("CSHullVolumeConservationThresholdPercent", volumeConservationThresholdPercent.ToString());
95 engineParams.Add("CSHullMaxVertices", maxVertices.ToString());
96 engineParams.Add("CSHullMaxSkinWidth", maxSkinWidth.ToString());
97
98 PhysicsScene = BulletSimTestsUtil.CreateBasicPhysicsEngine(engineParams);
99
100 PrimitiveBaseShape pbs;
101 Vector3 pos;
102 Vector3 size;
103 Quaternion rot;
104 bool isPhys;
105
106 // Cylinder
107 pbs = PrimitiveBaseShape.CreateCylinder();
108 pos = new Vector3(100.0f, 100.0f, 0f);
109 pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 10f;
110 ObjectInitPosition = pos;
111 size = new Vector3(2f, 2f, 2f);
112 pbs.Scale = size;
113 rot = Quaternion.Identity;
114 isPhys = true;
115 uint cylinderLocalID = 123;
116 PhysicsScene.AddPrimShape("testCylinder", pbs, pos, size, rot, isPhys, cylinderLocalID);
117 BSPrim primTypeCylinder = (BSPrim)PhysicsScene.PhysObjects[cylinderLocalID];
118
119 // Hollow Cylinder
120 pbs = PrimitiveBaseShape.CreateCylinder();
121 pbs.ProfileHollow = (ushort)(0.70f * 50000);
122 pos = new Vector3(110.0f, 110.0f, 0f);
123 pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 10f;
124 ObjectInitPosition = pos;
125 size = new Vector3(2f, 2f, 2f);
126 pbs.Scale = size;
127 rot = Quaternion.Identity;
128 isPhys = true;
129 uint hollowCylinderLocalID = 124;
130 PhysicsScene.AddPrimShape("testHollowCylinder", pbs, pos, size, rot, isPhys, hollowCylinderLocalID);
131 BSPrim primTypeHollowCylinder = (BSPrim)PhysicsScene.PhysObjects[hollowCylinderLocalID];
132
133 // Torus
134 // ProfileCurve = Circle, PathCurve = Curve1
135 pbs = PrimitiveBaseShape.CreateSphere();
136 pbs.ProfileShape = (byte)ProfileShape.Circle;
137 pbs.PathCurve = (byte)Extrusion.Curve1;
138 pos = new Vector3(120.0f, 120.0f, 0f);
139 pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 10f;
140 ObjectInitPosition = pos;
141 size = new Vector3(2f, 4f, 4f);
142 pbs.Scale = size;
143 rot = Quaternion.Identity;
144 isPhys = true;
145 uint torusLocalID = 125;
146 PhysicsScene.AddPrimShape("testTorus", pbs, pos, size, rot, isPhys, torusLocalID);
147 BSPrim primTypeTorus = (BSPrim)PhysicsScene.PhysObjects[torusLocalID];
148
149 // The actual prim shape creation happens at taint time
150 PhysicsScene.ProcessTaints();
151
152 // Check out the created hull shapes and report their characteristics
153 ReportShapeGeom(primTypeCylinder);
154 ReportShapeGeom(primTypeHollowCylinder);
155 ReportShapeGeom(primTypeTorus);
156 }
157
158 [TestCase]
159 public void GeomHullBulletHACD()
160 {
161 // Cylinder
162 // Hollow Cylinder
163 // Torus
164 }
165
166 private void ReportShapeGeom(BSPrim prim)
167 {
168 if (prim != null)
169 {
170 if (prim.PhysShape.HasPhysicalShape)
171 {
172 BSShape physShape = prim.PhysShape;
173 string shapeType = physShape.GetType().ToString();
174 switch (shapeType)
175 {
176 case "OpenSim.Region.Physics.BulletSPlugin.BSShapeNative":
177 BSShapeNative nShape = physShape as BSShapeNative;
178 prim.PhysScene.DetailLog("{0}, type={1}", prim.Name, shapeType);
179 break;
180 case "OpenSim.Region.Physics.BulletSPlugin.BSShapeMesh":
181 BSShapeMesh mShape = physShape as BSShapeMesh;
182 prim.PhysScene.DetailLog("{0}, mesh, shapeInfo={1}", prim.Name, mShape.shapeInfo);
183 break;
184 case "OpenSim.Region.Physics.BulletSPlugin.BSShapeHull":
185 BSShapeHull hShape = physShape as BSShapeHull;
186 prim.PhysScene.DetailLog("{0}, hull, shapeInfo={1}", prim.Name, hShape.shapeInfo);
187 break;
188 case "OpenSim.Region.Physics.BulletSPlugin.BSShapeConvexHull":
189 BSShapeConvexHull chShape = physShape as BSShapeConvexHull;
190 prim.PhysScene.DetailLog("{0}, convexHull, shapeInfo={1}", prim.Name, chShape.shapeInfo);
191 break;
192 case "OpenSim.Region.Physics.BulletSPlugin.BSShapeCompound":
193 BSShapeCompound cShape = physShape as BSShapeCompound;
194 prim.PhysScene.DetailLog("{0}, type={1}", prim.Name, shapeType);
195 break;
196 default:
197 prim.PhysScene.DetailLog("{0}, type={1}", prim.Name, shapeType);
198 break;
199 }
200 }
201 }
202 }
203}
204} \ No newline at end of file