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authorRobert Adams2013-01-28 17:08:34 -0800
committerRobert Adams2013-01-28 17:08:34 -0800
commit531d0429d1cc49a1959f6f7a0028ed3111dd6bd4 (patch)
treeb9942c3d26fd293c7b74e57c74357512efc60a79 /OpenSim
parentBulletSim: do not zero an avatar's standing velocity if it is standing (diff)
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BulletSim: first unit test: vehicle angular attraction
Diffstat (limited to 'OpenSim')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs12
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs32
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSScene.cs2
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs181
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs2
5 files changed, 150 insertions, 79 deletions
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
125 static readonly float PIOverTwo = ((float)Math.PI) / 2f; 125 static readonly float PIOverTwo = ((float)Math.PI) / 2f;
126 126
127 // For debugging, flags to turn on and off individual corrections. 127 // For debugging, flags to turn on and off individual corrections.
128 private bool enableAngularVerticalAttraction; 128 public bool enableAngularVerticalAttraction;
129 private bool enableAngularDeflection; 129 public bool enableAngularDeflection;
130 private bool enableAngularBanking; 130 public bool enableAngularBanking;
131 131
132 public BSDynamics(BSScene myScene, BSPrim myPrim) 132 public BSDynamics(BSScene myScene, BSPrim myPrim)
133 { 133 {
@@ -165,7 +165,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
165 } 165 }
166 166
167 #region Vehicle parameter setting 167 #region Vehicle parameter setting
168 internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) 168 public void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
169 { 169 {
170 VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); 170 VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
171 switch (pParam) 171 switch (pParam)
@@ -677,13 +677,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
677 private const int m_knownChangedWaterLevel = 1 << 9; 677 private const int m_knownChangedWaterLevel = 1 << 9;
678 private const int m_knownChangedForwardVelocity = 1 <<10; 678 private const int m_knownChangedForwardVelocity = 1 <<10;
679 679
680 private void ForgetKnownVehicleProperties() 680 public void ForgetKnownVehicleProperties()
681 { 681 {
682 m_knownHas = 0; 682 m_knownHas = 0;
683 m_knownChanged = 0; 683 m_knownChanged = 0;
684 } 684 }
685 // Push all the changed values back into the physics engine 685 // Push all the changed values back into the physics engine
686 private void PushKnownChanged() 686 public void PushKnownChanged()
687 { 687 {
688 if (m_knownChanged != 0) 688 if (m_knownChanged != 0)
689 { 689 {
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
73 private bool _kinematic; 73 private bool _kinematic;
74 private float _buoyancy; 74 private float _buoyancy;
75 75
76 private BSDynamics _vehicle; 76 public BSDynamics VehicleController { get; private set; }
77 77
78 private BSVMotor _targetMotor; 78 private BSVMotor _targetMotor;
79 private OMV.Vector3 _PIDTarget; 79 private OMV.Vector3 _PIDTarget;
@@ -107,7 +107,7 @@ public sealed class BSPrim : BSPhysObject
107 _friction = PhysicsScene.Params.defaultFriction; 107 _friction = PhysicsScene.Params.defaultFriction;
108 _restitution = PhysicsScene.Params.defaultRestitution; 108 _restitution = PhysicsScene.Params.defaultRestitution;
109 109
110 _vehicle = new BSDynamics(PhysicsScene, this); // add vehicleness 110 VehicleController = new BSDynamics(PhysicsScene, this); // add vehicleness
111 111
112 _mass = CalculateMass(); 112 _mass = CalculateMass();
113 113
@@ -512,7 +512,7 @@ public sealed class BSPrim : BSPhysObject
512 512
513 public override int VehicleType { 513 public override int VehicleType {
514 get { 514 get {
515 return (int)_vehicle.Type; // if we are a vehicle, return that type 515 return (int)VehicleController.Type; // if we are a vehicle, return that type
516 } 516 }
517 set { 517 set {
518 Vehicle type = (Vehicle)value; 518 Vehicle type = (Vehicle)value;
@@ -521,19 +521,19 @@ public sealed class BSPrim : BSPhysObject
521 { 521 {
522 // Done at taint time so we're sure the physics engine is not using the variables 522 // Done at taint time so we're sure the physics engine is not using the variables
523 // Vehicle code changes the parameters for this vehicle type. 523 // Vehicle code changes the parameters for this vehicle type.
524 _vehicle.ProcessTypeChange(type); 524 VehicleController.ProcessTypeChange(type);
525 ActivateIfPhysical(false); 525 ActivateIfPhysical(false);
526 526
527 // If an active vehicle, register the vehicle code to be called before each step 527 // If an active vehicle, register the vehicle code to be called before each step
528 if (_vehicle.Type == Vehicle.TYPE_NONE) 528 if (VehicleController.Type == Vehicle.TYPE_NONE)
529 { 529 {
530 UnRegisterPreStepAction("BSPrim.Vehicle", LocalID); 530 UnRegisterPreStepAction("BSPrim.Vehicle", LocalID);
531 PhysicsScene.AfterStep -= _vehicle.PostStep; 531 PhysicsScene.AfterStep -= VehicleController.PostStep;
532 } 532 }
533 else 533 else
534 { 534 {
535 RegisterPreStepAction("BSPrim.Vehicle", LocalID, _vehicle.Step); 535 RegisterPreStepAction("BSPrim.Vehicle", LocalID, VehicleController.Step);
536 PhysicsScene.AfterStep += _vehicle.PostStep; 536 PhysicsScene.AfterStep += VehicleController.PostStep;
537 } 537 }
538 }); 538 });
539 } 539 }
@@ -542,7 +542,7 @@ public sealed class BSPrim : BSPhysObject
542 { 542 {
543 PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate() 543 PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
544 { 544 {
545 _vehicle.ProcessFloatVehicleParam((Vehicle)param, value); 545 VehicleController.ProcessFloatVehicleParam((Vehicle)param, value);
546 ActivateIfPhysical(false); 546 ActivateIfPhysical(false);
547 }); 547 });
548 } 548 }
@@ -550,7 +550,7 @@ public sealed class BSPrim : BSPhysObject
550 { 550 {
551 PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate() 551 PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
552 { 552 {
553 _vehicle.ProcessVectorVehicleParam((Vehicle)param, value); 553 VehicleController.ProcessVectorVehicleParam((Vehicle)param, value);
554 ActivateIfPhysical(false); 554 ActivateIfPhysical(false);
555 }); 555 });
556 } 556 }
@@ -558,7 +558,7 @@ public sealed class BSPrim : BSPhysObject
558 { 558 {
559 PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate() 559 PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
560 { 560 {
561 _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); 561 VehicleController.ProcessRotationVehicleParam((Vehicle)param, rotation);
562 ActivateIfPhysical(false); 562 ActivateIfPhysical(false);
563 }); 563 });
564 } 564 }
@@ -566,7 +566,7 @@ public sealed class BSPrim : BSPhysObject
566 { 566 {
567 PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate() 567 PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate()
568 { 568 {
569 _vehicle.ProcessVehicleFlags(param, remove); 569 VehicleController.ProcessVehicleFlags(param, remove);
570 }); 570 });
571 } 571 }
572 572
@@ -747,7 +747,7 @@ public sealed class BSPrim : BSPhysObject
747 // isSolid: other objects bounce off of this object 747 // isSolid: other objects bounce off of this object
748 // isVolumeDetect: other objects pass through but can generate collisions 748 // isVolumeDetect: other objects pass through but can generate collisions
749 // collisionEvents: whether this object returns collision events 749 // collisionEvents: whether this object returns collision events
750 private void UpdatePhysicalParameters() 750 public void UpdatePhysicalParameters()
751 { 751 {
752 // DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape); 752 // DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape);
753 753
@@ -759,7 +759,7 @@ public sealed class BSPrim : BSPhysObject
759 MakeDynamic(IsStatic); 759 MakeDynamic(IsStatic);
760 760
761 // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters) 761 // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters)
762 _vehicle.Refresh(); 762 VehicleController.Refresh();
763 763
764 // Arrange for collision events if the simulator wants them 764 // Arrange for collision events if the simulator wants them
765 EnableCollisions(SubscribedEvents()); 765 EnableCollisions(SubscribedEvents());
@@ -1601,7 +1601,7 @@ public sealed class BSPrim : BSPhysObject
1601 // Remove all the physical dependencies on the old body. 1601 // Remove all the physical dependencies on the old body.
1602 // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...) 1602 // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...)
1603 Linkset.RemoveBodyDependencies(this); 1603 Linkset.RemoveBodyDependencies(this);
1604 _vehicle.RemoveBodyDependencies(this); 1604 VehicleController.RemoveBodyDependencies(this);
1605 }); 1605 });
1606 1606
1607 // Make sure the properties are set on the new object 1607 // Make sure the properties are set on the new object
@@ -1618,7 +1618,7 @@ public sealed class BSPrim : BSPhysObject
1618 { 1618 {
1619 // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet 1619 // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
1620 // TODO: handle physics introduced by Bullet with computed vehicle physics. 1620 // TODO: handle physics introduced by Bullet with computed vehicle physics.
1621 if (_vehicle.IsActive) 1621 if (VehicleController.IsActive)
1622 { 1622 {
1623 entprop.RotationalVelocity = OMV.Vector3.Zero; 1623 entprop.RotationalVelocity = OMV.Vector3.Zero;
1624 } 1624 }
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
855 { 855 {
856 DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom); 856 DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom);
857 m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom); 857 m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom);
858 Util.PrintCallStack(DetailLog); 858 // Util.PrintCallStack(DetailLog);
859 } 859 }
860 return InTaintTime; 860 return InTaintTime;
861 } 861 }
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
28using System; 28using System;
29using System.Collections.Generic; 29using System.Collections.Generic;
30using System.Linq; 30using System.Linq;
31using System.Text; 31using System.Text;
32 32
33using NUnit.Framework; 33using NUnit.Framework;
34using log4net; 34using log4net;
35 35
36using OpenSim.Tests.Common; 36using OpenSim.Framework;
37 37using OpenSim.Region.Physics.BulletSPlugin;
38namespace OpenSim.Region.Physics.BulletSPlugin.Tests 38using OpenSim.Region.Physics.Manager;
39{ 39using OpenSim.Tests.Common;
40[TestFixture] 40
41public class BasicVehicles : OpenSimTestCase 41using OpenMetaverse;
42{ 42
43 // Documentation on attributes: http://www.nunit.org/index.php?p=attributes&r=2.6.1 43namespace 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] 46public 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
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
47 public static BSScene CreateBasicPhysicsEngine(Dictionary<string,string> paramOverrides) 47 public static BSScene CreateBasicPhysicsEngine(Dictionary<string,string> paramOverrides)
48 { 48 {
49 IConfigSource openSimINI = new IniConfigSource(); 49 IConfigSource openSimINI = new IniConfigSource();
50 IConfig startupConfig = openSimINI.AddConfig("StartUp"); 50 IConfig startupConfig = openSimINI.AddConfig("Startup");
51 startupConfig.Set("physics", "BulletSim"); 51 startupConfig.Set("physics", "BulletSim");
52 startupConfig.Set("meshing", "Meshmerizer"); 52 startupConfig.Set("meshing", "Meshmerizer");
53 startupConfig.Set("cacheSculptMaps", "false"); // meshmerizer shouldn't save maps 53 startupConfig.Set("cacheSculptMaps", "false"); // meshmerizer shouldn't save maps