From f348f7fa90cf4784e0e173c122594ecc145d3bb8 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Sun, 3 Sep 2017 17:15:27 -0700
Subject: BulletSim: first version of raycast. Only single contact point and no
filtering.
---
.../Region/PhysicsModules/BulletS/BSApiTemplate.cs | 14 ++
.../Region/PhysicsModules/BulletS/BSCharacter.cs | 3 -
OpenSim/Region/PhysicsModules/BulletS/BSParam.cs | 6 +-
OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs | 2 -
.../PhysicsModules/BulletS/BSPrimDisplaced.cs | 1 -
OpenSim/Region/PhysicsModules/BulletS/BSScene.cs | 182 ++++++++++-----------
.../PhysicsModules/BulletS/BSShapeCollection.cs | 4 -
.../Region/PhysicsModules/BulletS/Tests/Raycast.cs | 53 +++---
8 files changed, 137 insertions(+), 128 deletions(-)
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSApiTemplate.cs b/OpenSim/Region/PhysicsModules/BulletS/BSApiTemplate.cs
index afb0ba2..a288048 100644
--- a/OpenSim/Region/PhysicsModules/BulletS/BSApiTemplate.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSApiTemplate.cs
@@ -121,6 +121,14 @@ public struct SweepHit
public float Fraction;
public Vector3 Normal;
public Vector3 Point;
+
+ public bool hasHit()
+ {
+ float sum = Fraction
+ + Normal.X + Normal.Y + Normal.Z
+ + Point.X + Point.Y + Point.Z;
+ return (sum != 0) || (ID != 0);
+ }
}
[StructLayout(LayoutKind.Sequential)]
public struct RaycastHit
@@ -129,6 +137,12 @@ public struct RaycastHit
public float Fraction;
public Vector3 Normal;
public Vector3 Point;
+
+ public bool hasHit()
+ {
+ float sum = Normal.X + Normal.Y + Normal.Z + Point.X + Point.Y + Point.Z;
+ return (sum != 0);
+ }
}
[StructLayout(LayoutKind.Sequential)]
public struct CollisionDesc
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs b/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
index 04ac659..7faee70 100644
--- a/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
@@ -496,7 +496,6 @@ public sealed class BSCharacter : BSPhysObject
public override OMV.Vector3 ForceVelocity {
get { return RawVelocity; }
set {
- PhysScene.AssertNotInSimulationTime("BSCharacter.ForceVelocity");
DetailLog("{0},BSCharacter.ForceVelocity.set={1}", LocalID, value);
RawVelocity = Util.ClampV(value, BSParam.MaxLinearVelocity);
@@ -638,8 +637,6 @@ public sealed class BSCharacter : BSPhysObject
public override float ForceBuoyancy {
get { return _buoyancy; }
set {
- PhysScene.AssertNotInSimulationTime("BSCharacter.ForceBuoyancy");
-
_buoyancy = value;
DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
// Buoyancy is faked by changing the gravity applied to the object
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSParam.cs b/OpenSim/Region/PhysicsModules/BulletS/BSParam.cs
index 0792f5d..fcda92c 100755
--- a/OpenSim/Region/PhysicsModules/BulletS/BSParam.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSParam.cs
@@ -838,7 +838,7 @@ public static class BSParam
new ParameterDefn<float>("ResetBroadphasePool", "Setting this is any value resets the broadphase collision pool",
0f,
(s) => { return 0f; },
- (s,v) => { BSParam.ResetBroadphasePoolTainted(s, v, false /* inTaintTime */); } ),
+ (s,v) => { BSParam.ResetBroadphasePoolTainted(s, v); } ),
new ParameterDefn<float>("ResetConstraintSolver", "Setting this is any value resets the constraint solver",
0f,
(s) => { return 0f; },
@@ -924,10 +924,10 @@ public static class BSParam
// =====================================================================
// There are parameters that, when set, cause things to happen in the physics engine.
// This causes the broadphase collision cache to be cleared.
- private static void ResetBroadphasePoolTainted(BSScene pPhysScene, float v, bool inTaintTime)
+ private static void ResetBroadphasePoolTainted(BSScene pPhysScene, float v)
{
BSScene physScene = pPhysScene;
- physScene.TaintedObject(inTaintTime, "BSParam.ResetBroadphasePoolTainted", delegate()
+ physScene.TaintedObject(BSScene.DetailLogZero, "BSParam.ResetBroadphasePoolTainted", delegate()
{
physScene.PE.ResetBroadphasePool(physScene.World);
});
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs b/OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs
index e1990ee..f085d70 100644
--- a/OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs
@@ -790,8 +790,6 @@ public class BSPrim : BSPhysObject
public override OMV.Vector3 ForceVelocity {
get { return RawVelocity; }
set {
- PhysScene.AssertNotInSimulationTime("BSPrim.ForceVelocity");
-
RawVelocity = Util.ClampV(value, BSParam.MaxLinearVelocity);
if (PhysBody.HasPhysicalBody)
{
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSPrimDisplaced.cs b/OpenSim/Region/PhysicsModules/BulletS/BSPrimDisplaced.cs
index d8ed56b..3f90fc5 100755
--- a/OpenSim/Region/PhysicsModules/BulletS/BSPrimDisplaced.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSPrimDisplaced.cs
@@ -81,7 +81,6 @@ public class BSPrimDisplaced : BSPrim
// Called at taint time.
public virtual Vector3 SetEffectiveCenterOfMassDisplacement(Vector3 centerOfMassDisplacement)
{
- PhysScene.AssertInTaintTime("BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement");
Vector3 comDisp;
if (UserSetCenterOfMassDisplacement.HasValue)
comDisp = (OMV.Vector3)UserSetCenterOfMassDisplacement;
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs b/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs
index 52aea87..ca54721 100644
--- a/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs
@@ -124,10 +124,8 @@ namespace OpenSim.Region.PhysicsModule.BulletS
// True if initialized and ready to do simulation steps
private bool m_initialized = false;
- // Flag which is true when processing taints.
- // Not guaranteed to be correct all the time (don't depend on this) but good for debugging.
- public bool InTaintTime { get; private set; }
-
+ // Object locked whenever execution is inside the physics engine
+ public Object PhysicsEngineLock = new object();
// Flag that is true when the simulator is active and shouldn't be touched
public bool InSimulationTime { get; private set; }
@@ -348,7 +346,6 @@ namespace OpenSim.Region.PhysicsModule.BulletS
m_log.InfoFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation);
InSimulationTime = false;
- InTaintTime = false;
m_initialized = true;
// If the physics engine runs on its own thread, start same.
@@ -661,60 +658,57 @@ namespace OpenSim.Region.PhysicsModule.BulletS
int beforeTime = Util.EnvironmentTickCount();
int simTime = 0;
+ int numTaints = 0;
+ int numSubSteps = 0;
- InTaintTime = true;
- // update the prim states while we know the physics engine is not busy
- int numTaints = ProcessTaints();
-
- // Some of the physical objects requre individual, pre-step calls
- // (vehicles and avatar movement, in particular)
- TriggerPreStepEvent(timeStep);
-
- // the prestep actions might have added taints
- numTaints += ProcessTaints();
-
- lock (_taintLock)
+ lock (PhysicsEngineLock)
{
InSimulationTime = true;
- }
+ // update the prim states while we know the physics engine is not busy
+ numTaints += ProcessTaints();
- // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
- // Only enable this in a limited test world with few objects.
- if (m_physicsPhysicalDumpEnabled)
- PE.DumpAllInfo(World);
+ // Some of the physical objects requre individual, pre-step calls
+ // (vehicles and avatar movement, in particular)
+ TriggerPreStepEvent(timeStep);
- // step the physical world one interval
- m_simulationStep++;
- int numSubSteps = 0;
- try
- {
- numSubSteps = PE.PhysicsStep(World, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out collidersCount);
- }
- catch (Exception e)
- {
- m_log.WarnFormat("{0},PhysicsStep Exception: nTaints={1}, substeps={2}, updates={3}, colliders={4}, e={5}",
- LogHeader, numTaints, numSubSteps, updatedEntityCount, collidersCount, e);
- DetailLog("{0},PhysicsStepException,call, nTaints={1}, substeps={2}, updates={3}, colliders={4}",
- DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount);
- updatedEntityCount = 0;
- collidersCount = 0;
- }
+ // the prestep actions might have added taints
+ numTaints += ProcessTaints();
- // Make the physics engine dump useful statistics periodically
- if (PhysicsMetricDumpFrames != 0 && ((m_simulationStep % PhysicsMetricDumpFrames) == 0))
- PE.DumpPhysicsStatistics(World);
+ // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
+ // Only enable this in a limited test world with few objects.
+ if (m_physicsPhysicalDumpEnabled)
+ PE.DumpAllInfo(World);
+
+ // step the physical world one interval
+ m_simulationStep++;
+ try
+ {
+ numSubSteps = PE.PhysicsStep(World, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out collidersCount);
+ }
+ catch (Exception e)
+ {
+ m_log.WarnFormat("{0},PhysicsStep Exception: nTaints={1}, substeps={2}, updates={3}, colliders={4}, e={5}",
+ LogHeader, numTaints, numSubSteps, updatedEntityCount, collidersCount, e);
+ DetailLog("{0},PhysicsStepException,call, nTaints={1}, substeps={2}, updates={3}, colliders={4}",
+ DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount);
+ updatedEntityCount = 0;
+ collidersCount = 0;
+ }
+
+ // Make the physics engine dump useful statistics periodically
+ if (PhysicsMetricDumpFrames != 0 && ((m_simulationStep % PhysicsMetricDumpFrames) == 0))
+ PE.DumpPhysicsStatistics(World);
- lock (_taintLock)
- {
- InTaintTime = false;
InSimulationTime = false;
- }
- // Some actors want to know when the simulation step is complete.
- TriggerPostStepEvent(timeStep);
+ // Some actors want to know when the simulation step is complete.
+ TriggerPostStepEvent(timeStep);
- // In case there were any parameter updates that happened during the simulation step
- numTaints += ProcessTaints();
+ // In case there were any parameter updates that happened during the simulation step
+ numTaints += ProcessTaints();
+
+ InSimulationTime = false;
+ }
// Get a value for 'now' so all the collision and update routines don't have to get their own.
SimulationNowTime = Util.EnvironmentTickCount();
@@ -1040,20 +1034,39 @@ namespace OpenSim.Region.PhysicsModule.BulletS
}
}
- public override List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int Count)
+ public override List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int count)
{
- List<ContactResult> ret = new List<ContactResult>();
- if (BSParam.UseBulletRaycast)
- {
- }
- return ret;
+ return (List<ContactResult>)RaycastWorld(position, direction, length, count, RayFilterFlags.All);
}
- public override object RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags filter)
+ public override object RaycastWorld(Vector3 position, Vector3 direction, float length, int count, RayFilterFlags filter)
{
- object ret = null;
+ List<ContactResult> ret = new List<ContactResult>();
if (BSParam.UseBulletRaycast)
{
+ DetailLog("{0},RaycastWorld,pos={1},dir={2},len={3},count={4},filter={5}",
+ DetailLogZero, position, direction, length, count, filter);
+ // NOTE: locking ensures the physics engine is not executing.
+ // The caller might have to wait for the physics engine to finish.
+ lock (PhysicsEngineLock)
+ {
+ Vector3 posFrom = position;
+ Vector3 posTo = Vector3.Normalize(direction) * length + position;
+ DetailLog("{0},RaycastWorld,RayTest2,from={1},to={2}",
+ DetailLogZero, posFrom, posTo);
+ RaycastHit hitInfo = PE.RayTest2(World, posFrom, posTo, 0xffff, 0xffff);
+ if (hitInfo.hasHit())
+ {
+ ContactResult result = new ContactResult();
+ result.Pos = hitInfo.Point;
+ result.Normal = hitInfo.Normal;
+ result.ConsumerID = hitInfo.ID;
+ result.Depth = hitInfo.Fraction;
+ ret.Add(result);
+ DetailLog("{0},RaycastWorld,hit,pos={1},norm={2},depth={3},id={4}",
+ DetailLogZero, result.Pos, result.Normal, result.Depth, result.ConsumerID);
+ }
+ }
}
return ret;
}
@@ -1173,47 +1186,40 @@ namespace OpenSim.Region.PhysicsModule.BulletS
// Calls to the PhysicsActors can't directly call into the physics engine
// because it might be busy. We delay changes to a known time.
// We rely on C#'s closure to save and restore the context for the delegate.
- public void TaintedObject(string pOriginator, string pIdent, TaintCallback pCallback)
+ // NOTE: 'inTaintTime' is no longer used. This entry exists so all the calls don't have to be changed.
+ // public void TaintedObject(bool inTaintTime, String pIdent, TaintCallback pCallback)
+ // {
+ // TaintedObject(BSScene.DetailLogZero, pIdent, pCallback);
+ // }
+ // NOTE: 'inTaintTime' is no longer used. This entry exists so all the calls don't have to be changed.
+ public void TaintedObject(bool inTaintTime, uint pOriginator, String pIdent, TaintCallback pCallback)
{
- TaintedObject(false /*inTaintTime*/, pOriginator, pIdent, pCallback);
+ TaintedObject(m_physicsLoggingEnabled ? pOriginator.ToString() : BSScene.DetailLogZero, pIdent, pCallback);
}
public void TaintedObject(uint pOriginator, String pIdent, TaintCallback pCallback)
{
- TaintedObject(false /*inTaintTime*/, m_physicsLoggingEnabled ? pOriginator.ToString() : BSScene.DetailLogZero, pIdent, pCallback);
- }
- public void TaintedObject(bool inTaintTime, String pIdent, TaintCallback pCallback)
- {
- TaintedObject(inTaintTime, BSScene.DetailLogZero, pIdent, pCallback);
- }
- public void TaintedObject(bool inTaintTime, uint pOriginator, String pIdent, TaintCallback pCallback)
- {
- TaintedObject(inTaintTime, m_physicsLoggingEnabled ? pOriginator.ToString() : BSScene.DetailLogZero, pIdent, pCallback);
+ TaintedObject(m_physicsLoggingEnabled ? pOriginator.ToString() : BSScene.DetailLogZero, pIdent, pCallback);
}
// Sometimes a potentially tainted operation can be used in and out of taint time.
// This routine executes the command immediately if in taint-time otherwise it is queued.
- public void TaintedObject(bool inTaintTime, string pOriginator, string pIdent, TaintCallback pCallback)
+ public void TaintedObject(string pOriginator, string pIdent, TaintCallback pCallback)
{
if (!m_initialized) return;
- lock (_taintLock) {
- if (inTaintTime || !InSimulationTime) {
- pCallback();
- }
- else {
- _taintOperations.Add(new TaintCallbackEntry(pOriginator, pIdent, pCallback));
- }
- }
- /*
- if (inTaintTime)
+ if (Monitor.TryEnter(PhysicsEngineLock))
+ {
+ // If we can get exclusive access to the physics engine, just do the operation
pCallback();
+ Monitor.Exit(PhysicsEngineLock);
+ }
else
{
+ // The physics engine is busy, queue the operation
lock (_taintLock)
{
_taintOperations.Add(new TaintCallbackEntry(pOriginator, pIdent, pCallback));
}
}
- */
}
private void TriggerPreStepEvent(float timeStep)
@@ -1236,6 +1242,7 @@ namespace OpenSim.Region.PhysicsModule.BulletS
// a callback into itself to do the actual property change. That callback is called
// here just before the physics engine is called to step the simulation.
// Returns the number of taints processed
+ // NOTE: Called while PhysicsEngineLock is locked
public int ProcessTaints()
{
int ret = 0;
@@ -1245,6 +1252,7 @@ namespace OpenSim.Region.PhysicsModule.BulletS
}
// Returns the number of taints processed
+ // NOTE: Called while PhysicsEngineLock is locked
private int ProcessRegularTaints()
{
int ret = 0;
@@ -1293,6 +1301,7 @@ namespace OpenSim.Region.PhysicsModule.BulletS
// Taints that happen after the normal taint processing but before the simulation step.
// Returns the number of taints processed
+ // NOTE: Called while PhysicsEngineLock is locked
private int ProcessPostTaintTaints()
{
int ret = 0;
@@ -1322,19 +1331,6 @@ namespace OpenSim.Region.PhysicsModule.BulletS
}
return ret;
}
-
- // Verify that things are being diddled when the physics engine is not running.
- public bool AssertNotInSimulationTime(string whereFrom)
- {
- if (InSimulationTime)
- {
- DetailLog("{0},BSScene.AssertInTaintTime,IN SIMULATION TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom);
- m_log.ErrorFormat("{0} IN SIMULATION TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom);
- // Util.PrintCallStack(DetailLog);
- }
- return InSimulationTime;
- }
-
#endregion // Taints
#region IPhysicsParameters
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSShapeCollection.cs b/OpenSim/Region/PhysicsModules/BulletS/BSShapeCollection.cs
index cda33e4..86bf23f 100755
--- a/OpenSim/Region/PhysicsModules/BulletS/BSShapeCollection.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSShapeCollection.cs
@@ -75,8 +75,6 @@ public sealed class BSShapeCollection : IDisposable
// Called at taint-time.
public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim, PhysicalDestructionCallback bodyCallback)
{
- m_physicsScene.AssertNotInSimulationTime("BSShapeCollection.GetBodyAndShape");
-
bool ret = false;
// This lock could probably be pushed down lower but building shouldn't take long
@@ -346,8 +344,6 @@ public sealed class BSShapeCollection : IDisposable
if (!body.HasPhysicalBody)
return;
- m_physicsScene.AssertNotInSimulationTime("BSShapeCollection.DereferenceBody");
-
lock (m_collectionActivityLock)
{
if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1}", body.ID, body);
diff --git a/OpenSim/Region/PhysicsModules/BulletS/Tests/Raycast.cs b/OpenSim/Region/PhysicsModules/BulletS/Tests/Raycast.cs
index 046df56..bfa95c1 100755
--- a/OpenSim/Region/PhysicsModules/BulletS/Tests/Raycast.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/Tests/Raycast.cs
@@ -48,67 +48,76 @@ namespace OpenSim.Region.PhysicsModule.BulletS.Tests
// 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 TargetSphere { get; set; }
- Vector3 TargetSpherePosition { get; set; }
- float simulationTimeStep = 0.089f;
+ BSScene _physicsScene { get; set; }
+ BSPrim _targetSphere { get; set; }
+ Vector3 _targetSpherePosition { get; set; }
+ float _simulationTimeStep = 0.089f;
+
+ uint _targetLocalID = 123;
[TestFixtureSetUp]
public void Init()
{
Dictionary<string, string> engineParams = new Dictionary<string, string>();
engineParams.Add("UseBulletRaycast", "true");
- PhysicsScene = BulletSimTestsUtil.CreateBasicPhysicsEngine(engineParams);
+ _physicsScene = BulletSimTestsUtil.CreateBasicPhysicsEngine(engineParams);
PrimitiveBaseShape pbs = PrimitiveBaseShape.CreateSphere();
Vector3 pos = new Vector3(100.0f, 100.0f, 50f);
- pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 2f;
- TargetSpherePosition = pos;
+ _targetSpherePosition = pos;
Vector3 size = new Vector3(10f, 10f, 10f);
pbs.Scale = size;
Quaternion rot = Quaternion.Identity;
bool isPhys = false;
- uint localID = 123;
- PhysicsScene.AddPrimShape("TargetSphere", pbs, pos, size, rot, isPhys, localID);
- TargetSphere = (BSPrim)PhysicsScene.PhysObjects[localID];
+ _physicsScene.AddPrimShape("TargetSphere", pbs, pos, size, rot, isPhys, _targetLocalID);
+ _targetSphere = (BSPrim)_physicsScene.PhysObjects[_targetLocalID];
// The actual prim shape creation happens at taint time
- PhysicsScene.ProcessTaints();
+ _physicsScene.ProcessTaints();
}
[TestFixtureTearDown]
public void TearDown()
{
- if (PhysicsScene != null)
+ if (_physicsScene != null)
{
// The Dispose() will also free any physical objects in the scene
- PhysicsScene.Dispose();
- PhysicsScene = null;
+ _physicsScene.Dispose();
+ _physicsScene = null;
}
}
// There is a 10x10x10 sphere at <100,100,50>
// Shoot rays around the sphere and verify it hits and doesn't hit
// TestCase parameters are <x,y,z> of start and <x,y,z> of end and expected result
- [TestCase(20f, 20f, 50f, 50f, 50f, 50f, true)] // in front to sphere
- [TestCase(20f, 20f, 100f, 50f, 50f, 50f, true)] // from above to sphere
- [TestCase(50f, 50f, 50f, 150f, 150f, 50f, true)] // through sphere
- [TestCase(50f, 50f, 65f, 150f, 150f, 65f, false)] // pass over sphere
- public void RaycastAroundObject(float fromX, float fromY, float fromZ, float toX, float toY, float toZ, bool expected) {
+ [TestCase(100f, 50f, 50f, 100f, 150f, 50f, true, "Pass through sphere from front")]
+ [TestCase(50f, 100f, 50f, 150f, 100f, 50f, true, "Pass through sphere from side")]
+ [TestCase(50f, 50f, 50f, 150f, 150f, 50f, true, "Pass through sphere diaginally")]
+ [TestCase(100f, 100f, 100f, 100f, 100f, 20f, true, "Pass through sphere from above")]
+ [TestCase(20f, 20f, 50f, 80f, 80f, 50f, false, "Not reach sphere")]
+ [TestCase(50f, 50f, 65f, 150f, 150f, 65f, false, "Passed over sphere")]
+ public void RaycastAroundObject(float fromX, float fromY, float fromZ, float toX, float toY, float toZ, bool expected, string msg) {
Vector3 fromPos = new Vector3(fromX, fromY, fromZ);
Vector3 toPos = new Vector3(toX, toY, toZ);
Vector3 direction = toPos - fromPos;
float len = Vector3.Distance(fromPos, toPos);
- List<ContactResult> results = PhysicsScene.RaycastWorld(fromPos, direction, len, 1);
+ List<ContactResult> results = _physicsScene.RaycastWorld(fromPos, direction, len, 1);
if (expected) {
- Assert.True(results.Count > 0);
+ // The test coordinates should generate a hit
+ Assert.True(results.Count != 0, msg + ": Did not return a hit but expected to.");
+ Assert.True(results.Count == 1, msg + ": Raycast returned not just one hit result.");
+ Assert.True(results[0].ConsumerID == _targetLocalID, msg + ": Raycast returned a collision object other than the target");
}
else
{
- Assert.False(results.Count > 0);
+ // The test coordinates should not generate a hit
+ if (results.Count > 0)
+ {
+ Assert.False(results.Count > 0, msg + ": Returned a hit at " + results[0].Pos.ToString());
+ }
}
}
}
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