BulletSim: first unit test: vehicle angular attraction

OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs

@@ -125,9 +125,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         static readonly float PIOverTwo = ((float)Math.PI) / 2f;
 
         // For debugging, flags to turn on and off individual corrections.
-        private bool enableAngularVerticalAttraction;
+        public bool enableAngularVerticalAttraction;
-        private bool enableAngularDeflection;
+        public bool enableAngularDeflection;
-        private bool enableAngularBanking;
+        public bool enableAngularBanking;
 
         public BSDynamics(BSScene myScene, BSPrim myPrim)
         {
@@ -165,7 +165,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         }
 
         #region Vehicle parameter setting
-        internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
+        public void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
         {
             VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
             switch (pParam)
@@ -677,13 +677,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         private const int m_knownChangedWaterLevel         = 1 << 9;
         private const int m_knownChangedForwardVelocity    = 1 <<10;
 
-        private void ForgetKnownVehicleProperties()
+        public void ForgetKnownVehicleProperties()
         {
             m_knownHas = 0;
             m_knownChanged = 0;
         }
         // Push all the changed values back into the physics engine
-        private void PushKnownChanged()
+        public void PushKnownChanged()
         {
             if (m_knownChanged != 0)
             {

OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs

@@ -73,7 +73,7 @@ public sealed class BSPrim : BSPhysObject
     private bool _kinematic;
     private float _buoyancy;
 
-    private BSDynamics _vehicle;
+    public BSDynamics VehicleController { get; private set; }
 
     private BSVMotor _targetMotor;
     private OMV.Vector3 _PIDTarget;
@@ -107,7 +107,7 @@ public sealed class BSPrim : BSPhysObject
         _friction = PhysicsScene.Params.defaultFriction;
         _restitution = PhysicsScene.Params.defaultRestitution;
 
-        _vehicle = new BSDynamics(PhysicsScene, this);            // add vehicleness
+        VehicleController = new BSDynamics(PhysicsScene, this);            // add vehicleness
 
         _mass = CalculateMass();
 
@@ -512,7 +512,7 @@ public sealed class BSPrim : BSPhysObject
 
     public override int VehicleType {
         get {
-            return (int)_vehicle.Type;   // if we are a vehicle, return that type
+            return (int)VehicleController.Type;   // if we are a vehicle, return that type
         }
         set {
             Vehicle type = (Vehicle)value;
@@ -521,19 +521,19 @@ public sealed class BSPrim : BSPhysObject
             {
                 // Done at taint time so we're sure the physics engine is not using the variables
                 // Vehicle code changes the parameters for this vehicle type.
-                _vehicle.ProcessTypeChange(type);
+                VehicleController.ProcessTypeChange(type);
                 ActivateIfPhysical(false);
 
                 // If an active vehicle, register the vehicle code to be called before each step
-                if (_vehicle.Type == Vehicle.TYPE_NONE)
+                if (VehicleController.Type == Vehicle.TYPE_NONE)
                 {
                     UnRegisterPreStepAction("BSPrim.Vehicle", LocalID);
-                    PhysicsScene.AfterStep -= _vehicle.PostStep;
+                    PhysicsScene.AfterStep -= VehicleController.PostStep;
                 }
                 else
                 {
-                    RegisterPreStepAction("BSPrim.Vehicle", LocalID, _vehicle.Step);
+                    RegisterPreStepAction("BSPrim.Vehicle", LocalID, VehicleController.Step);
-                    PhysicsScene.AfterStep += _vehicle.PostStep;
+                    PhysicsScene.AfterStep += VehicleController.PostStep;
                 }
             });
         }
@@ -542,7 +542,7 @@ public sealed class BSPrim : BSPhysObject
     {
         PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
         {
-            _vehicle.ProcessFloatVehicleParam((Vehicle)param, value);
+            VehicleController.ProcessFloatVehicleParam((Vehicle)param, value);
             ActivateIfPhysical(false);
         });
     }
@@ -550,7 +550,7 @@ public sealed class BSPrim : BSPhysObject
     {
         PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
         {
-            _vehicle.ProcessVectorVehicleParam((Vehicle)param, value);
+            VehicleController.ProcessVectorVehicleParam((Vehicle)param, value);
             ActivateIfPhysical(false);
         });
     }
@@ -558,7 +558,7 @@ public sealed class BSPrim : BSPhysObject
     {
         PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
         {
-            _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
+            VehicleController.ProcessRotationVehicleParam((Vehicle)param, rotation);
             ActivateIfPhysical(false);
         });
     }
@@ -566,7 +566,7 @@ public sealed class BSPrim : BSPhysObject
     {
         PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate()
         {
-            _vehicle.ProcessVehicleFlags(param, remove);
+            VehicleController.ProcessVehicleFlags(param, remove);
         });
     }
 
@@ -747,7 +747,7 @@ public sealed class BSPrim : BSPhysObject
     //     isSolid: other objects bounce off of this object
     //     isVolumeDetect: other objects pass through but can generate collisions
     //     collisionEvents: whether this object returns collision events
-    private void UpdatePhysicalParameters()
+    public void UpdatePhysicalParameters()
     {
         // DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape);
 
@@ -759,7 +759,7 @@ public sealed class BSPrim : BSPhysObject
         MakeDynamic(IsStatic);
 
         // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters)
-        _vehicle.Refresh();
+        VehicleController.Refresh();
 
         // Arrange for collision events if the simulator wants them
         EnableCollisions(SubscribedEvents());
@@ -1601,7 +1601,7 @@ public sealed class BSPrim : BSPhysObject
             // Remove all the physical dependencies on the old body.
             // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...)
             Linkset.RemoveBodyDependencies(this);
-            _vehicle.RemoveBodyDependencies(this);
+            VehicleController.RemoveBodyDependencies(this);
         });
 
         // Make sure the properties are set on the new object
@@ -1618,7 +1618,7 @@ public sealed class BSPrim : BSPhysObject
         {
             // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
             // TODO: handle physics introduced by Bullet with computed vehicle physics.
-            if (_vehicle.IsActive)
+            if (VehicleController.IsActive)
             {
                 entprop.RotationalVelocity = OMV.Vector3.Zero;
             }

OpenSim/Region/Physics/BulletSPlugin/BSScene.cs

@@ -855,7 +855,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
         {
             DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom);
             m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom);
-            Util.PrintCallStack(DetailLog);
+            // Util.PrintCallStack(DetailLog);
         }
         return InTaintTime;
     }

OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs

@@ -1,4 +1,4 @@
-/*
+/*
  * Copyright (c) Contributors, http://opensimulator.org/
  * See CONTRIBUTORS.TXT for a full list of copyright holders.
  *
@@ -33,8 +33,13 @@ 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]
@@ -43,14 +48,80 @@ 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<string, string> engineParams = new Dictionary<string, string>();
+        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));
     }
 }
 }

OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs

@@ -47,7 +47,7 @@ public static class BulletSimTestsUtil
     public static BSScene CreateBasicPhysicsEngine(Dictionary<string,string> paramOverrides)
     {
         IConfigSource openSimINI = new IniConfigSource();
-        IConfig startupConfig = openSimINI.AddConfig("StartUp");
+        IConfig startupConfig = openSimINI.AddConfig("Startup");
         startupConfig.Set("physics", "BulletSim");
         startupConfig.Set("meshing", "Meshmerizer");
         startupConfig.Set("cacheSculptMaps", "false");  // meshmerizer shouldn't save maps

prebuild.xml

@@ -3378,6 +3378,8 @@
       <Reference name="Nini" path="../../../../../bin/"/>
       <Reference name="log4net" path="../../../../../bin/"/>
       <Reference name="nunit.framework" path="../../../../../bin/"/>
+      <Reference name="OpenMetaverse" path="../../../../../bin/"/>
+      <Reference name="OpenMetaverseTypes" path="../../../../../bin/"/>
       <Reference name="OpenSim.Framework"/>
       <Reference name="OpenSim.Tests.Common"/>
       <Reference name="OpenSim.Region.CoreModules"/>