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/*
* 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.PhysicsModule.BulletS;
using OpenSim.Region.PhysicsModules.SharedBase;
using OpenSim.Tests.Common;
using OpenMetaverse;
namespace OpenSim.Region.PhysicsModule.BulletS.Tests
{
[TestFixture]
public class BulletSimRaycast : 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 _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);
PrimitiveBaseShape pbs = PrimitiveBaseShape.CreateSphere();
Vector3 pos = new Vector3(100.0f, 100.0f, 50f);
_targetSpherePosition = pos;
Vector3 size = new Vector3(10f, 10f, 10f);
pbs.Scale = size;
Quaternion rot = Quaternion.Identity;
bool isPhys = false;
_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();
}
[TestFixtureTearDown]
public void TearDown()
{
if (_physicsScene != null)
{
// The Dispose() will also free any physical objects in the scene
_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(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);
if (expected) {
// 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
{
// 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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