/* * 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 simulationTimeStep = 0.089f; [TestFixtureSetUp] public void Init() { Dictionary<string, string> engineParams = new Dictionary<string, string>(); 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(2f, 0.2f, 0.25f, 0.25f, 0.25f)] [TestCase(2f, 0.2f, -0.25f, 0.25f, 0.25f)] [TestCase(2f, 0.2f, 0.25f, -0.25f, 0.25f)] [TestCase(2f, 0.2f, -0.25f, -0.25f, 0.25f)] // [TestCase(2f, 0.2f, 0.785f, 0.0f, 0.25f) /*, "Leaning 45 degrees to the side" */] // [TestCase(2f, 0.2f, 1.650f, 0.0f, 0.25f) /*, "Leaning more than 90 degrees to the side" */] // [TestCase(2f, 0.2f, 2.750f, 0.0f, 0.25f) /*, "Almost upside down, tipped right" */] // [TestCase(2f, 0.2f,-2.750f, 0.0f, 0.25f) /*, "Almost upside down, tipped left" */] // [TestCase(2f, 0.2f, 0.0f, 0.785f, 0.25f) /*, "Tipped back 45 degrees" */] // [TestCase(2f, 0.2f, 0.0f, 1.650f, 0.25f) /*, "Tipped back more than 90 degrees" */] // [TestCase(2f, 0.2f, 0.0f, 2.750f, 0.25f) /*, "Almost upside down, tipped back" */] // [TestCase(2f, 0.2f, 0.0f,-2.750f, 0.25f) /*, "Almost upside down, tipped forward" */] public void AngularVerticalAttraction(float timeScale, float efficiency, float initRoll, float initPitch, float initYaw) { // Enough simulation steps to cover the timescale the operation should take int simSteps = (int)(timeScale / simulationTimeStep) + 1; // Tip the vehicle Quaternion initOrientation = Quaternion.CreateFromEulers(initRoll, initPitch, initYaw); TestVehicle.Orientation = initOrientation; TestVehicle.Position = TestVehicleInitPosition; // The vehicle controller is not enabled directly (by setting 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.VehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency); TestVehicle.VehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, timeScale); TestVehicle.VehicleActor.enableAngularVerticalAttraction = true; TestVehicle.IsPhysical = true; PhysicsScene.ProcessTaints(); // Step the simulator a bunch of times and vertical attraction should orient the vehicle up for (int ii = 0; ii < simSteps; ii++) { TestVehicle.VehicleActor.ForgetKnownVehicleProperties(); TestVehicle.VehicleActor.ComputeAngularVerticalAttraction(); TestVehicle.VehicleActor.PushKnownChanged(); PhysicsScene.Simulate(simulationTimeStep); } TestVehicle.IsPhysical = false; PhysicsScene.ProcessTaints(); // After these steps, the vehicle should be upright /* float finalRoll, finalPitch, finalYaw; TestVehicle.Orientation.GetEulerAngles(out finalRoll, out finalPitch, out finalYaw); Assert.That(finalRoll, Is.InRange(-0.01f, 0.01f)); Assert.That(finalPitch, Is.InRange(-0.01f, 0.01f)); Assert.That(finalYaw, Is.InRange(initYaw - 0.1f, initYaw + 0.1f)); */ Vector3 upPointer = Vector3.UnitZ * TestVehicle.Orientation; Assert.That(upPointer.Z, Is.GreaterThan(0.99f)); } } }