From a345a2feb794d05dcb628aa916569b19394c2337 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 27 Jan 2013 10:31:08 -0800 Subject: BulletSim: add framework for BulletSim unit tests. No tests yet. --- .../Physics/BulletSPlugin/Tests/BasicVehicles.cs | 56 ++++++++++++++++++++++ 1 file changed, 56 insertions(+) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs new file mode 100755 index 0000000..41ef67b --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs @@ -0,0 +1,56 @@ +/* + * 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.Tests.Common; + +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 + + [TestFixtureSetUp] + public void Init() + { + } + + [TestFixtureTearDown] + public void TearDown() + { + } +} +} \ No newline at end of file -- cgit v1.1 From 531d0429d1cc49a1959f6f7a0028ed3111dd6bd4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 28 Jan 2013 17:08:34 -0800 Subject: BulletSim: first unit test: vehicle angular attraction --- .../Physics/BulletSPlugin/Tests/BasicVehicles.cs | 181 ++++++++++++++------- 1 file changed, 126 insertions(+), 55 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs') 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 @@ -/* - * 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.Tests.Common; - -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 - - [TestFixtureSetUp] - public void Init() - { - } - - [TestFixtureTearDown] - public void TearDown() - { - } -} +/* + * 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 timeStep = 0.089f; + + [TestFixtureSetUp] + public void Init() + { + Dictionary engineParams = new Dictionary(); + 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(25, 0.25f, 0.25f, 0.25f)] + [TestCase(25, -0.25f, 0.25f, 0.25f)] + [TestCase(25, 0.25f, -0.25f, 0.25f)] + [TestCase(25, -0.25f, -0.25f, 0.25f)] + public void VerticalAttraction(int simSteps, float initRoll, float initPitch, float initYaw) + { + Quaternion initOrientation = Quaternion.CreateFromEulers(initRoll, initPitch, initYaw); + TestVehicle.Orientation = initOrientation; + + TestVehicle.Position = TestVehicleInitPosition; + + // The vehicle controller is not enabled directly (set 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.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, 0.2f); + TestVehicle.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, 2f); + TestVehicle.VehicleController.enableAngularVerticalAttraction = true; + + TestVehicle.IsPhysical = true; + PhysicsScene.ProcessTaints(); + + // Step the simulator a bunch of times and and vertical attraction should orient the vehicle up + for (int ii = 0; ii < simSteps; ii++) + { + TestVehicle.VehicleController.ForgetKnownVehicleProperties(); + TestVehicle.VehicleController.ComputeAngularVerticalAttraction(); + TestVehicle.VehicleController.PushKnownChanged(); + + PhysicsScene.Simulate(timeStep); + } + + // After these steps, the vehicle should be upright + Vector3 upPointer = Vector3.UnitZ * TestVehicle.Orientation; + Assert.That(upPointer.Z, Is.GreaterThan(0.99f)); + } +} } \ No newline at end of file -- cgit v1.1 From a61ecee227450ea81c9afe85a62b207fefa888a9 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 29 Jan 2013 17:01:27 -0800 Subject: BulletSim: fix physics repositioning when under ground to only happen for physical objects. Non-physical objects can go anywhere they want. --- .../Physics/BulletSPlugin/Tests/BasicVehicles.cs | 45 ++++++++++++++++------ 1 file changed, 34 insertions(+), 11 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs index 5900103..33232bd 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs @@ -51,7 +51,7 @@ public class BasicVehicles : OpenSimTestCase BSScene PhysicsScene { get; set; } BSPrim TestVehicle { get; set; } Vector3 TestVehicleInitPosition { get; set; } - float timeStep = 0.089f; + float simulationTimeStep = 0.089f; [TestFixtureSetUp] public void Init() @@ -87,39 +87,62 @@ public class BasicVehicles : OpenSimTestCase } } - [TestCase(25, 0.25f, 0.25f, 0.25f)] - [TestCase(25, -0.25f, 0.25f, 0.25f)] - [TestCase(25, 0.25f, -0.25f, 0.25f)] - [TestCase(25, -0.25f, -0.25f, 0.25f)] - public void VerticalAttraction(int simSteps, float initRoll, float initPitch, float initYaw) + [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 (set a vehicle type). + // 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.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, 0.2f); - TestVehicle.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, 2f); + TestVehicle.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency); + TestVehicle.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, timeScale); TestVehicle.VehicleController.enableAngularVerticalAttraction = true; TestVehicle.IsPhysical = true; PhysicsScene.ProcessTaints(); - // Step the simulator a bunch of times and and vertical attraction should orient the vehicle up + // Step the simulator a bunch of times and vertical attraction should orient the vehicle up for (int ii = 0; ii < simSteps; ii++) { TestVehicle.VehicleController.ForgetKnownVehicleProperties(); TestVehicle.VehicleController.ComputeAngularVerticalAttraction(); TestVehicle.VehicleController.PushKnownChanged(); - PhysicsScene.Simulate(timeStep); + 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)); } -- cgit v1.1