From 531d0429d1cc49a1959f6f7a0028ed3111dd6bd4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 28 Jan 2013 17:08:34 -0800 Subject: BulletSim: first unit test: vehicle angular attraction --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 12 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 32 ++-- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 2 +- .../Physics/BulletSPlugin/Tests/BasicVehicles.cs | 181 ++++++++++++++------- .../BulletSPlugin/Tests/BulletSimTestsUtil.cs | 2 +- 5 files changed, 150 insertions(+), 79 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 94194b0..05a0dcc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -125,9 +125,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin static readonly float PIOverTwo = ((float)Math.PI) / 2f; // For debugging, flags to turn on and off individual corrections. - private bool enableAngularVerticalAttraction; - private bool enableAngularDeflection; - private bool enableAngularBanking; + public bool enableAngularVerticalAttraction; + public bool enableAngularDeflection; + public bool enableAngularBanking; public BSDynamics(BSScene myScene, BSPrim myPrim) { @@ -165,7 +165,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } #region Vehicle parameter setting - internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) + public void ProcessFloatVehicleParam(Vehicle pParam, float pValue) { VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); switch (pParam) @@ -677,13 +677,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin private const int m_knownChangedWaterLevel = 1 << 9; private const int m_knownChangedForwardVelocity = 1 <<10; - private void ForgetKnownVehicleProperties() + public void ForgetKnownVehicleProperties() { m_knownHas = 0; m_knownChanged = 0; } // Push all the changed values back into the physics engine - private void PushKnownChanged() + public void PushKnownChanged() { if (m_knownChanged != 0) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 998836c..2b0a539 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -73,7 +73,7 @@ public sealed class BSPrim : BSPhysObject private bool _kinematic; private float _buoyancy; - private BSDynamics _vehicle; + public BSDynamics VehicleController { get; private set; } private BSVMotor _targetMotor; private OMV.Vector3 _PIDTarget; @@ -107,7 +107,7 @@ public sealed class BSPrim : BSPhysObject _friction = PhysicsScene.Params.defaultFriction; _restitution = PhysicsScene.Params.defaultRestitution; - _vehicle = new BSDynamics(PhysicsScene, this); // add vehicleness + VehicleController = new BSDynamics(PhysicsScene, this); // add vehicleness _mass = CalculateMass(); @@ -512,7 +512,7 @@ public sealed class BSPrim : BSPhysObject public override int VehicleType { get { - return (int)_vehicle.Type; // if we are a vehicle, return that type + return (int)VehicleController.Type; // if we are a vehicle, return that type } set { Vehicle type = (Vehicle)value; @@ -521,19 +521,19 @@ public sealed class BSPrim : BSPhysObject { // Done at taint time so we're sure the physics engine is not using the variables // Vehicle code changes the parameters for this vehicle type. - _vehicle.ProcessTypeChange(type); + VehicleController.ProcessTypeChange(type); ActivateIfPhysical(false); // If an active vehicle, register the vehicle code to be called before each step - if (_vehicle.Type == Vehicle.TYPE_NONE) + if (VehicleController.Type == Vehicle.TYPE_NONE) { UnRegisterPreStepAction("BSPrim.Vehicle", LocalID); - PhysicsScene.AfterStep -= _vehicle.PostStep; + PhysicsScene.AfterStep -= VehicleController.PostStep; } else { - RegisterPreStepAction("BSPrim.Vehicle", LocalID, _vehicle.Step); - PhysicsScene.AfterStep += _vehicle.PostStep; + RegisterPreStepAction("BSPrim.Vehicle", LocalID, VehicleController.Step); + PhysicsScene.AfterStep += VehicleController.PostStep; } }); } @@ -542,7 +542,7 @@ public sealed class BSPrim : BSPhysObject { PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate() { - _vehicle.ProcessFloatVehicleParam((Vehicle)param, value); + VehicleController.ProcessFloatVehicleParam((Vehicle)param, value); ActivateIfPhysical(false); }); } @@ -550,7 +550,7 @@ public sealed class BSPrim : BSPhysObject { PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate() { - _vehicle.ProcessVectorVehicleParam((Vehicle)param, value); + VehicleController.ProcessVectorVehicleParam((Vehicle)param, value); ActivateIfPhysical(false); }); } @@ -558,7 +558,7 @@ public sealed class BSPrim : BSPhysObject { PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate() { - _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); + VehicleController.ProcessRotationVehicleParam((Vehicle)param, rotation); ActivateIfPhysical(false); }); } @@ -566,7 +566,7 @@ public sealed class BSPrim : BSPhysObject { PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate() { - _vehicle.ProcessVehicleFlags(param, remove); + VehicleController.ProcessVehicleFlags(param, remove); }); } @@ -747,7 +747,7 @@ public sealed class BSPrim : BSPhysObject // isSolid: other objects bounce off of this object // isVolumeDetect: other objects pass through but can generate collisions // collisionEvents: whether this object returns collision events - private void UpdatePhysicalParameters() + public void UpdatePhysicalParameters() { // DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape); @@ -759,7 +759,7 @@ public sealed class BSPrim : BSPhysObject MakeDynamic(IsStatic); // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters) - _vehicle.Refresh(); + VehicleController.Refresh(); // Arrange for collision events if the simulator wants them EnableCollisions(SubscribedEvents()); @@ -1601,7 +1601,7 @@ public sealed class BSPrim : BSPhysObject // Remove all the physical dependencies on the old body. // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...) Linkset.RemoveBodyDependencies(this); - _vehicle.RemoveBodyDependencies(this); + VehicleController.RemoveBodyDependencies(this); }); // Make sure the properties are set on the new object @@ -1618,7 +1618,7 @@ public sealed class BSPrim : BSPhysObject { // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet // TODO: handle physics introduced by Bullet with computed vehicle physics. - if (_vehicle.IsActive) + if (VehicleController.IsActive) { entprop.RotationalVelocity = OMV.Vector3.Zero; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index b23be91..a4690ba 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -855,7 +855,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom); m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom); - Util.PrintCallStack(DetailLog); + // Util.PrintCallStack(DetailLog); } return InTaintTime; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs index 41ef67b..5900103 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs @@ -1,56 +1,127 @@ -/* - * Copyright (c) Contributors, http://opensimulator.org/ - * See CONTRIBUTORS.TXT for a full list of copyright holders. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the OpenSimulator Project nor the - * names of its contributors may be used to endorse or promote products - * derived from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY - * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY - * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ - -using System; -using System.Collections.Generic; -using System.Linq; -using System.Text; - -using NUnit.Framework; -using log4net; - -using OpenSim.Tests.Common; - -namespace OpenSim.Region.Physics.BulletSPlugin.Tests -{ -[TestFixture] -public class BasicVehicles : OpenSimTestCase -{ - // Documentation on attributes: http://www.nunit.org/index.php?p=attributes&r=2.6.1 - // Documentation on assertions: http://www.nunit.org/index.php?p=assertions&r=2.6.1 - - [TestFixtureSetUp] - public void Init() - { - } - - [TestFixtureTearDown] - public void TearDown() - { - } -} +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + */ + +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; + +using NUnit.Framework; +using log4net; + +using OpenSim.Framework; +using OpenSim.Region.Physics.BulletSPlugin; +using OpenSim.Region.Physics.Manager; +using OpenSim.Tests.Common; + +using OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin.Tests +{ +[TestFixture] +public class BasicVehicles : OpenSimTestCase +{ + // Documentation on attributes: http://www.nunit.org/index.php?p=attributes&r=2.6.1 + // Documentation on assertions: http://www.nunit.org/index.php?p=assertions&r=2.6.1 + + BSScene PhysicsScene { get; set; } + BSPrim TestVehicle { get; set; } + Vector3 TestVehicleInitPosition { get; set; } + float timeStep = 0.089f; + + [TestFixtureSetUp] + public void Init() + { + Dictionary engineParams = new Dictionary(); + PhysicsScene = BulletSimTestsUtil.CreateBasicPhysicsEngine(engineParams); + + PrimitiveBaseShape pbs = PrimitiveBaseShape.CreateSphere(); + Vector3 pos = new Vector3(100.0f, 100.0f, 0f); + pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 2f; + TestVehicleInitPosition = pos; + Vector3 size = new Vector3(1f, 1f, 1f); + pbs.Scale = size; + Quaternion rot = Quaternion.Identity; + bool isPhys = false; + uint localID = 123; + + PhysicsScene.AddPrimShape("testPrim", pbs, pos, size, rot, isPhys, localID); + TestVehicle = (BSPrim)PhysicsScene.PhysObjects[localID]; + // The actual prim shape creation happens at taint time + PhysicsScene.ProcessTaints(); + + } + + [TestFixtureTearDown] + public void TearDown() + { + if (PhysicsScene != null) + { + // The Dispose() will also free any physical objects in the scene + PhysicsScene.Dispose(); + PhysicsScene = null; + } + } + + [TestCase(25, 0.25f, 0.25f, 0.25f)] + [TestCase(25, -0.25f, 0.25f, 0.25f)] + [TestCase(25, 0.25f, -0.25f, 0.25f)] + [TestCase(25, -0.25f, -0.25f, 0.25f)] + public void VerticalAttraction(int simSteps, float initRoll, float initPitch, float initYaw) + { + Quaternion initOrientation = Quaternion.CreateFromEulers(initRoll, initPitch, initYaw); + TestVehicle.Orientation = initOrientation; + + TestVehicle.Position = TestVehicleInitPosition; + + // The vehicle controller is not enabled directly (set a vehicle type). + // Instead the appropriate values are set and calls are made just the parts of the + // controller we want to exercise. Stepping the physics engine then applies + // the actions of that one feature. + TestVehicle.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, 0.2f); + TestVehicle.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, 2f); + TestVehicle.VehicleController.enableAngularVerticalAttraction = true; + + TestVehicle.IsPhysical = true; + PhysicsScene.ProcessTaints(); + + // Step the simulator a bunch of times and and vertical attraction should orient the vehicle up + for (int ii = 0; ii < simSteps; ii++) + { + TestVehicle.VehicleController.ForgetKnownVehicleProperties(); + TestVehicle.VehicleController.ComputeAngularVerticalAttraction(); + TestVehicle.VehicleController.PushKnownChanged(); + + PhysicsScene.Simulate(timeStep); + } + + // After these steps, the vehicle should be upright + Vector3 upPointer = Vector3.UnitZ * TestVehicle.Orientation; + Assert.That(upPointer.Z, Is.GreaterThan(0.99f)); + } +} } \ No newline at end of file diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs index e7657f9..215e92f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs @@ -47,7 +47,7 @@ public static class BulletSimTestsUtil public static BSScene CreateBasicPhysicsEngine(Dictionary paramOverrides) { IConfigSource openSimINI = new IniConfigSource(); - IConfig startupConfig = openSimINI.AddConfig("StartUp"); + IConfig startupConfig = openSimINI.AddConfig("Startup"); startupConfig.Set("physics", "BulletSim"); startupConfig.Set("meshing", "Meshmerizer"); startupConfig.Set("cacheSculptMaps", "false"); // meshmerizer shouldn't save maps -- cgit v1.1