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author | David Walter Seikel | 2016-11-03 21:44:39 +1000 |
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committer | David Walter Seikel | 2016-11-03 21:44:39 +1000 |
commit | 134f86e8d5c414409631b25b8c6f0ee45fbd8631 (patch) | |
tree | 216b89d3fb89acfb81be1e440c25c41ab09fa96d /OpenSim/Region/PhysicsModules/BulletS/Tests/BasicVehicles.cs | |
parent | More changing to production grid. Double oops. (diff) | |
download | opensim-SC_OLD-134f86e8d5c414409631b25b8c6f0ee45fbd8631.zip opensim-SC_OLD-134f86e8d5c414409631b25b8c6f0ee45fbd8631.tar.gz opensim-SC_OLD-134f86e8d5c414409631b25b8c6f0ee45fbd8631.tar.bz2 opensim-SC_OLD-134f86e8d5c414409631b25b8c6f0ee45fbd8631.tar.xz |
Initial update to OpenSim 0.8.2.1 source code.
Diffstat (limited to '')
-rwxr-xr-x | OpenSim/Region/PhysicsModules/BulletS/Tests/BasicVehicles.cs | 156 |
1 files changed, 156 insertions, 0 deletions
diff --git a/OpenSim/Region/PhysicsModules/BulletS/Tests/BasicVehicles.cs b/OpenSim/Region/PhysicsModules/BulletS/Tests/BasicVehicles.cs new file mode 100755 index 0000000..35eba29 --- /dev/null +++ b/OpenSim/Region/PhysicsModules/BulletS/Tests/BasicVehicles.cs | |||
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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 | |||
28 | using System; | ||
29 | using System.Collections.Generic; | ||
30 | using System.Linq; | ||
31 | using System.Text; | ||
32 | |||
33 | using NUnit.Framework; | ||
34 | using log4net; | ||
35 | |||
36 | using OpenSim.Framework; | ||
37 | using OpenSim.Region.PhysicsModule.BulletS; | ||
38 | using OpenSim.Region.PhysicsModules.SharedBase; | ||
39 | using OpenSim.Tests.Common; | ||
40 | |||
41 | using OpenMetaverse; | ||
42 | |||
43 | namespace OpenSim.Region.PhysicsModule.BulletS.Tests | ||
44 | { | ||
45 | [TestFixture] | ||
46 | public class BasicVehicles : 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 | BSPrim TestVehicle { get; set; } | ||
53 | Vector3 TestVehicleInitPosition { get; set; } | ||
54 | float simulationTimeStep = 0.089f; | ||
55 | |||
56 | [TestFixtureSetUp] | ||
57 | public void Init() | ||
58 | { | ||
59 | Dictionary<string, string> engineParams = new Dictionary<string, string>(); | ||
60 | engineParams.Add("VehicleEnableAngularVerticalAttraction", "true"); | ||
61 | engineParams.Add("VehicleAngularVerticalAttractionAlgorithm", "1"); | ||
62 | PhysicsScene = BulletSimTestsUtil.CreateBasicPhysicsEngine(engineParams); | ||
63 | |||
64 | PrimitiveBaseShape pbs = PrimitiveBaseShape.CreateSphere(); | ||
65 | Vector3 pos = new Vector3(100.0f, 100.0f, 0f); | ||
66 | pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 2f; | ||
67 | TestVehicleInitPosition = pos; | ||
68 | Vector3 size = new Vector3(1f, 1f, 1f); | ||
69 | pbs.Scale = size; | ||
70 | Quaternion rot = Quaternion.Identity; | ||
71 | bool isPhys = false; | ||
72 | uint localID = 123; | ||
73 | |||
74 | PhysicsScene.AddPrimShape("testPrim", pbs, pos, size, rot, isPhys, localID); | ||
75 | TestVehicle = (BSPrim)PhysicsScene.PhysObjects[localID]; | ||
76 | // The actual prim shape creation happens at taint time | ||
77 | PhysicsScene.ProcessTaints(); | ||
78 | |||
79 | } | ||
80 | |||
81 | [TestFixtureTearDown] | ||
82 | public void TearDown() | ||
83 | { | ||
84 | if (PhysicsScene != null) | ||
85 | { | ||
86 | // The Dispose() will also free any physical objects in the scene | ||
87 | PhysicsScene.Dispose(); | ||
88 | PhysicsScene = null; | ||
89 | } | ||
90 | } | ||
91 | |||
92 | [TestCase(2f, 0.2f, 0.25f, 0.25f, 0.25f)] | ||
93 | [TestCase(2f, 0.2f, -0.25f, 0.25f, 0.25f)] | ||
94 | [TestCase(2f, 0.2f, 0.25f, -0.25f, 0.25f)] | ||
95 | [TestCase(2f, 0.2f, -0.25f, -0.25f, 0.25f)] | ||
96 | // [TestCase(2f, 0.2f, 0.785f, 0.0f, 0.25f) /*, "Leaning 45 degrees to the side" */] | ||
97 | // [TestCase(2f, 0.2f, 1.650f, 0.0f, 0.25f) /*, "Leaning more than 90 degrees to the side" */] | ||
98 | // [TestCase(2f, 0.2f, 2.750f, 0.0f, 0.25f) /*, "Almost upside down, tipped right" */] | ||
99 | // [TestCase(2f, 0.2f,-2.750f, 0.0f, 0.25f) /*, "Almost upside down, tipped left" */] | ||
100 | // [TestCase(2f, 0.2f, 0.0f, 0.785f, 0.25f) /*, "Tipped back 45 degrees" */] | ||
101 | // [TestCase(2f, 0.2f, 0.0f, 1.650f, 0.25f) /*, "Tipped back more than 90 degrees" */] | ||
102 | // [TestCase(2f, 0.2f, 0.0f, 2.750f, 0.25f) /*, "Almost upside down, tipped back" */] | ||
103 | // [TestCase(2f, 0.2f, 0.0f,-2.750f, 0.25f) /*, "Almost upside down, tipped forward" */] | ||
104 | public void AngularVerticalAttraction(float timeScale, float efficiency, float initRoll, float initPitch, float initYaw) | ||
105 | { | ||
106 | // Enough simulation steps to cover the timescale the operation should take | ||
107 | int simSteps = (int)(timeScale / simulationTimeStep) + 1; | ||
108 | |||
109 | // Tip the vehicle | ||
110 | Quaternion initOrientation = Quaternion.CreateFromEulers(initRoll, initPitch, initYaw); | ||
111 | TestVehicle.Orientation = initOrientation; | ||
112 | |||
113 | TestVehicle.Position = TestVehicleInitPosition; | ||
114 | |||
115 | // The vehicle controller is not enabled directly (by setting a vehicle type). | ||
116 | // Instead the appropriate values are set and calls are made just the parts of the | ||
117 | // controller we want to exercise. Stepping the physics engine then applies | ||
118 | // the actions of that one feature. | ||
119 | BSDynamics vehicleActor = TestVehicle.GetVehicleActor(true /* createIfNone */); | ||
120 | if (vehicleActor != null) | ||
121 | { | ||
122 | vehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency); | ||
123 | vehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, timeScale); | ||
124 | // vehicleActor.enableAngularVerticalAttraction = true; | ||
125 | |||
126 | TestVehicle.IsPhysical = true; | ||
127 | PhysicsScene.ProcessTaints(); | ||
128 | |||
129 | // Step the simulator a bunch of times and vertical attraction should orient the vehicle up | ||
130 | for (int ii = 0; ii < simSteps; ii++) | ||
131 | { | ||
132 | vehicleActor.ForgetKnownVehicleProperties(); | ||
133 | vehicleActor.ComputeAngularVerticalAttraction(); | ||
134 | vehicleActor.PushKnownChanged(); | ||
135 | |||
136 | PhysicsScene.Simulate(simulationTimeStep); | ||
137 | } | ||
138 | } | ||
139 | |||
140 | TestVehicle.IsPhysical = false; | ||
141 | PhysicsScene.ProcessTaints(); | ||
142 | |||
143 | // After these steps, the vehicle should be upright | ||
144 | /* | ||
145 | float finalRoll, finalPitch, finalYaw; | ||
146 | TestVehicle.Orientation.GetEulerAngles(out finalRoll, out finalPitch, out finalYaw); | ||
147 | Assert.That(finalRoll, Is.InRange(-0.01f, 0.01f)); | ||
148 | Assert.That(finalPitch, Is.InRange(-0.01f, 0.01f)); | ||
149 | Assert.That(finalYaw, Is.InRange(initYaw - 0.1f, initYaw + 0.1f)); | ||
150 | */ | ||
151 | |||
152 | Vector3 upPointer = Vector3.UnitZ * TestVehicle.Orientation; | ||
153 | Assert.That(upPointer.Z, Is.GreaterThan(0.99f)); | ||
154 | } | ||
155 | } | ||
156 | } \ No newline at end of file | ||