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author | Robert Adams | 2013-01-28 17:08:34 -0800 |
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committer | Robert Adams | 2013-01-28 17:08:34 -0800 |
commit | 531d0429d1cc49a1959f6f7a0028ed3111dd6bd4 (patch) | |
tree | b9942c3d26fd293c7b74e57c74357512efc60a79 /OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs | |
parent | BulletSim: do not zero an avatar's standing velocity if it is standing (diff) | |
download | opensim-SC_OLD-531d0429d1cc49a1959f6f7a0028ed3111dd6bd4.zip opensim-SC_OLD-531d0429d1cc49a1959f6f7a0028ed3111dd6bd4.tar.gz opensim-SC_OLD-531d0429d1cc49a1959f6f7a0028ed3111dd6bd4.tar.bz2 opensim-SC_OLD-531d0429d1cc49a1959f6f7a0028ed3111dd6bd4.tar.xz |
BulletSim: first unit test: vehicle angular attraction
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs')
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs | 181 |
1 files changed, 126 insertions, 55 deletions
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 @@ | |||
1 | /* | 1 | /* |
2 | * Copyright (c) Contributors, http://opensimulator.org/ | 2 | * Copyright (c) Contributors, http://opensimulator.org/ |
3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. | 3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. |
4 | * | 4 | * |
5 | * Redistribution and use in source and binary forms, with or without | 5 | * Redistribution and use in source and binary forms, with or without |
6 | * modification, are permitted provided that the following conditions are met: | 6 | * modification, are permitted provided that the following conditions are met: |
7 | * * Redistributions of source code must retain the above copyright | 7 | * * Redistributions of source code must retain the above copyright |
8 | * notice, this list of conditions and the following disclaimer. | 8 | * notice, this list of conditions and the following disclaimer. |
9 | * * Redistributions in binary form must reproduce the above copyright | 9 | * * Redistributions in binary form must reproduce the above copyright |
10 | * notice, this list of conditions and the following disclaimer in the | 10 | * notice, this list of conditions and the following disclaimer in the |
11 | * documentation and/or other materials provided with the distribution. | 11 | * documentation and/or other materials provided with the distribution. |
12 | * * Neither the name of the OpenSimulator Project nor the | 12 | * * Neither the name of the OpenSimulator Project nor the |
13 | * names of its contributors may be used to endorse or promote products | 13 | * names of its contributors may be used to endorse or promote products |
14 | * derived from this software without specific prior written permission. | 14 | * derived from this software without specific prior written permission. |
15 | * | 15 | * |
16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY | 16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY |
17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED | 17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED |
18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | 18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY | 19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY |
20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES | 20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES |
21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | 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 | 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 | 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 | 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. | 25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
26 | */ | 26 | */ |
27 | 27 | ||
28 | using System; | 28 | using System; |
29 | using System.Collections.Generic; | 29 | using System.Collections.Generic; |
30 | using System.Linq; | 30 | using System.Linq; |
31 | using System.Text; | 31 | using System.Text; |
32 | 32 | ||
33 | using NUnit.Framework; | 33 | using NUnit.Framework; |
34 | using log4net; | 34 | using log4net; |
35 | 35 | ||
36 | using OpenSim.Tests.Common; | 36 | using OpenSim.Framework; |
37 | 37 | using OpenSim.Region.Physics.BulletSPlugin; | |
38 | namespace OpenSim.Region.Physics.BulletSPlugin.Tests | 38 | using OpenSim.Region.Physics.Manager; |
39 | { | 39 | using OpenSim.Tests.Common; |
40 | [TestFixture] | 40 | |
41 | public class BasicVehicles : OpenSimTestCase | 41 | using OpenMetaverse; |
42 | { | 42 | |
43 | // Documentation on attributes: http://www.nunit.org/index.php?p=attributes&r=2.6.1 | 43 | namespace OpenSim.Region.Physics.BulletSPlugin.Tests |
44 | // Documentation on assertions: http://www.nunit.org/index.php?p=assertions&r=2.6.1 | 44 | { |
45 | 45 | [TestFixture] | |
46 | [TestFixtureSetUp] | 46 | public class BasicVehicles : OpenSimTestCase |
47 | public void Init() | 47 | { |
48 | { | 48 | // Documentation on attributes: http://www.nunit.org/index.php?p=attributes&r=2.6.1 |
49 | } | 49 | // Documentation on assertions: http://www.nunit.org/index.php?p=assertions&r=2.6.1 |
50 | 50 | ||
51 | [TestFixtureTearDown] | 51 | BSScene PhysicsScene { get; set; } |
52 | public void TearDown() | 52 | BSPrim TestVehicle { get; set; } |
53 | { | 53 | Vector3 TestVehicleInitPosition { get; set; } |
54 | } | 54 | float timeStep = 0.089f; |
55 | } | 55 | |
56 | [TestFixtureSetUp] | ||
57 | public void Init() | ||
58 | { | ||
59 | Dictionary<string, string> engineParams = new Dictionary<string, string>(); | ||
60 | PhysicsScene = BulletSimTestsUtil.CreateBasicPhysicsEngine(engineParams); | ||
61 | |||
62 | PrimitiveBaseShape pbs = PrimitiveBaseShape.CreateSphere(); | ||
63 | Vector3 pos = new Vector3(100.0f, 100.0f, 0f); | ||
64 | pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 2f; | ||
65 | TestVehicleInitPosition = pos; | ||
66 | Vector3 size = new Vector3(1f, 1f, 1f); | ||
67 | pbs.Scale = size; | ||
68 | Quaternion rot = Quaternion.Identity; | ||
69 | bool isPhys = false; | ||
70 | uint localID = 123; | ||
71 | |||
72 | PhysicsScene.AddPrimShape("testPrim", pbs, pos, size, rot, isPhys, localID); | ||
73 | TestVehicle = (BSPrim)PhysicsScene.PhysObjects[localID]; | ||
74 | // The actual prim shape creation happens at taint time | ||
75 | PhysicsScene.ProcessTaints(); | ||
76 | |||
77 | } | ||
78 | |||
79 | [TestFixtureTearDown] | ||
80 | public void TearDown() | ||
81 | { | ||
82 | if (PhysicsScene != null) | ||
83 | { | ||
84 | // The Dispose() will also free any physical objects in the scene | ||
85 | PhysicsScene.Dispose(); | ||
86 | PhysicsScene = null; | ||
87 | } | ||
88 | } | ||
89 | |||
90 | [TestCase(25, 0.25f, 0.25f, 0.25f)] | ||
91 | [TestCase(25, -0.25f, 0.25f, 0.25f)] | ||
92 | [TestCase(25, 0.25f, -0.25f, 0.25f)] | ||
93 | [TestCase(25, -0.25f, -0.25f, 0.25f)] | ||
94 | public void VerticalAttraction(int simSteps, float initRoll, float initPitch, float initYaw) | ||
95 | { | ||
96 | Quaternion initOrientation = Quaternion.CreateFromEulers(initRoll, initPitch, initYaw); | ||
97 | TestVehicle.Orientation = initOrientation; | ||
98 | |||
99 | TestVehicle.Position = TestVehicleInitPosition; | ||
100 | |||
101 | // The vehicle controller is not enabled directly (set a vehicle type). | ||
102 | // Instead the appropriate values are set and calls are made just the parts of the | ||
103 | // controller we want to exercise. Stepping the physics engine then applies | ||
104 | // the actions of that one feature. | ||
105 | TestVehicle.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, 0.2f); | ||
106 | TestVehicle.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, 2f); | ||
107 | TestVehicle.VehicleController.enableAngularVerticalAttraction = true; | ||
108 | |||
109 | TestVehicle.IsPhysical = true; | ||
110 | PhysicsScene.ProcessTaints(); | ||
111 | |||
112 | // Step the simulator a bunch of times and and vertical attraction should orient the vehicle up | ||
113 | for (int ii = 0; ii < simSteps; ii++) | ||
114 | { | ||
115 | TestVehicle.VehicleController.ForgetKnownVehicleProperties(); | ||
116 | TestVehicle.VehicleController.ComputeAngularVerticalAttraction(); | ||
117 | TestVehicle.VehicleController.PushKnownChanged(); | ||
118 | |||
119 | PhysicsScene.Simulate(timeStep); | ||
120 | } | ||
121 | |||
122 | // After these steps, the vehicle should be upright | ||
123 | Vector3 upPointer = Vector3.UnitZ * TestVehicle.Orientation; | ||
124 | Assert.That(upPointer.Z, Is.GreaterThan(0.99f)); | ||
125 | } | ||
126 | } | ||
56 | } \ No newline at end of file | 127 | } \ No newline at end of file |