vh: add BulletSPlugin/Tests/*
Robert Adams
parent
eb0687f5af
commit
90bdb36e89
|
|
@ -0,0 +1,150 @@
|
||||||
|
/*
|
||||||
|
* 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 simulationTimeStep = 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(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 (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.VehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency);
|
||||||
|
TestVehicle.VehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, timeScale);
|
||||||
|
TestVehicle.VehicleActor.enableAngularVerticalAttraction = true;
|
||||||
|
|
||||||
|
TestVehicle.IsPhysical = true;
|
||||||
|
PhysicsScene.ProcessTaints();
|
||||||
|
|
||||||
|
// Step the simulator a bunch of times and vertical attraction should orient the vehicle up
|
||||||
|
for (int ii = 0; ii < simSteps; ii++)
|
||||||
|
{
|
||||||
|
TestVehicle.VehicleActor.ForgetKnownVehicleProperties();
|
||||||
|
TestVehicle.VehicleActor.ComputeAngularVerticalAttraction();
|
||||||
|
TestVehicle.VehicleActor.PushKnownChanged();
|
||||||
|
|
||||||
|
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));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -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 BulletSimTests : 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()
|
||||||
|
{
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,95 @@
|
||||||
|
/*
|
||||||
|
* 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.IO;
|
||||||
|
using System.Collections.Generic;
|
||||||
|
using System.Linq;
|
||||||
|
using System.Text;
|
||||||
|
|
||||||
|
using Nini.Config;
|
||||||
|
|
||||||
|
using OpenSim.Framework;
|
||||||
|
using OpenSim.Region.Physics.BulletSPlugin;
|
||||||
|
using OpenSim.Region.Physics.Meshing;
|
||||||
|
|
||||||
|
namespace OpenSim.Region.Physics.BulletSPlugin.Tests
|
||||||
|
{
|
||||||
|
// Utility functions for building up and tearing down the sample physics environments
|
||||||
|
public static class BulletSimTestsUtil
|
||||||
|
{
|
||||||
|
// 'engineName' is the Bullet engine to use. Either null (for unmanaged), "BulletUnmanaged" or "BulletXNA"
|
||||||
|
// 'params' is a set of keyValue pairs to set in the engine's configuration file (override defaults)
|
||||||
|
// May be 'null' if there are no overrides.
|
||||||
|
public static BSScene CreateBasicPhysicsEngine(Dictionary<string,string> paramOverrides)
|
||||||
|
{
|
||||||
|
IConfigSource openSimINI = new IniConfigSource();
|
||||||
|
IConfig startupConfig = openSimINI.AddConfig("Startup");
|
||||||
|
startupConfig.Set("physics", "BulletSim");
|
||||||
|
startupConfig.Set("meshing", "Meshmerizer");
|
||||||
|
startupConfig.Set("cacheSculptMaps", "false"); // meshmerizer shouldn't save maps
|
||||||
|
|
||||||
|
IConfig bulletSimConfig = openSimINI.AddConfig("BulletSim");
|
||||||
|
// If the caller cares, specify the bullet engine otherwise it will default to "BulletUnmanaged".
|
||||||
|
// bulletSimConfig.Set("BulletEngine", "BulletUnmanaged");
|
||||||
|
// bulletSimConfig.Set("BulletEngine", "BulletXNA");
|
||||||
|
bulletSimConfig.Set("MeshSculptedPrim", "false");
|
||||||
|
bulletSimConfig.Set("ForceSimplePrimMeshing", "true");
|
||||||
|
if (paramOverrides != null)
|
||||||
|
{
|
||||||
|
foreach (KeyValuePair<string, string> kvp in paramOverrides)
|
||||||
|
{
|
||||||
|
bulletSimConfig.Set(kvp.Key, kvp.Value);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// If a special directory exists, put detailed logging therein.
|
||||||
|
// This allows local testing/debugging without having to worry that the build engine will output logs.
|
||||||
|
if (Directory.Exists("physlogs"))
|
||||||
|
{
|
||||||
|
bulletSimConfig.Set("PhysicsLoggingDir","./physlogs");
|
||||||
|
bulletSimConfig.Set("PhysicsLoggingEnabled","True");
|
||||||
|
bulletSimConfig.Set("PhysicsLoggingDoFlush","True");
|
||||||
|
bulletSimConfig.Set("VehicleLoggingEnabled","True");
|
||||||
|
}
|
||||||
|
|
||||||
|
BSPlugin bsPlugin = new BSPlugin();
|
||||||
|
|
||||||
|
BSScene bsScene = (BSScene)bsPlugin.GetScene("BSTestRegion");
|
||||||
|
|
||||||
|
// Since the asset requestor is not initialized, any mesh or sculptie will be a cube.
|
||||||
|
// In the future, add a fake asset fetcher to get meshes and sculpts.
|
||||||
|
// bsScene.RequestAssetMethod = ???;
|
||||||
|
|
||||||
|
Meshing.Meshmerizer mesher = new Meshmerizer(openSimINI);
|
||||||
|
bsScene.Initialise(mesher, openSimINI);
|
||||||
|
|
||||||
|
return bsScene;
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
}
|
||||||
Loading…
Reference in New Issue