vh: add BulletSPlugin/Tests/*
Robert Adams
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eb0687f5af
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90bdb36e89
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/*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the OpenSimulator Project nor the
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* names of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using NUnit.Framework;
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using log4net;
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using OpenSim.Framework;
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using OpenSim.Region.Physics.BulletSPlugin;
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using OpenSim.Region.Physics.Manager;
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using OpenSim.Tests.Common;
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using OpenMetaverse;
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namespace OpenSim.Region.Physics.BulletSPlugin.Tests
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{
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[TestFixture]
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public class BasicVehicles : OpenSimTestCase
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{
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// Documentation on attributes: http://www.nunit.org/index.php?p=attributes&r=2.6.1
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// Documentation on assertions: http://www.nunit.org/index.php?p=assertions&r=2.6.1
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BSScene PhysicsScene { get; set; }
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BSPrim TestVehicle { get; set; }
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Vector3 TestVehicleInitPosition { get; set; }
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float simulationTimeStep = 0.089f;
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[TestFixtureSetUp]
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public void Init()
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{
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Dictionary<string, string> engineParams = new Dictionary<string, string>();
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PhysicsScene = BulletSimTestsUtil.CreateBasicPhysicsEngine(engineParams);
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PrimitiveBaseShape pbs = PrimitiveBaseShape.CreateSphere();
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Vector3 pos = new Vector3(100.0f, 100.0f, 0f);
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pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 2f;
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TestVehicleInitPosition = pos;
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Vector3 size = new Vector3(1f, 1f, 1f);
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pbs.Scale = size;
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Quaternion rot = Quaternion.Identity;
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bool isPhys = false;
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uint localID = 123;
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PhysicsScene.AddPrimShape("testPrim", pbs, pos, size, rot, isPhys, localID);
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TestVehicle = (BSPrim)PhysicsScene.PhysObjects[localID];
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// The actual prim shape creation happens at taint time
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PhysicsScene.ProcessTaints();
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}
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[TestFixtureTearDown]
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public void TearDown()
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{
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if (PhysicsScene != null)
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{
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// The Dispose() will also free any physical objects in the scene
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PhysicsScene.Dispose();
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PhysicsScene = null;
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}
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}
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[TestCase(2f, 0.2f, 0.25f, 0.25f, 0.25f)]
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[TestCase(2f, 0.2f, -0.25f, 0.25f, 0.25f)]
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[TestCase(2f, 0.2f, 0.25f, -0.25f, 0.25f)]
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[TestCase(2f, 0.2f, -0.25f, -0.25f, 0.25f)]
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// [TestCase(2f, 0.2f, 0.785f, 0.0f, 0.25f) /*, "Leaning 45 degrees to the side" */]
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// [TestCase(2f, 0.2f, 1.650f, 0.0f, 0.25f) /*, "Leaning more than 90 degrees to the side" */]
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// [TestCase(2f, 0.2f, 2.750f, 0.0f, 0.25f) /*, "Almost upside down, tipped right" */]
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// [TestCase(2f, 0.2f,-2.750f, 0.0f, 0.25f) /*, "Almost upside down, tipped left" */]
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// [TestCase(2f, 0.2f, 0.0f, 0.785f, 0.25f) /*, "Tipped back 45 degrees" */]
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// [TestCase(2f, 0.2f, 0.0f, 1.650f, 0.25f) /*, "Tipped back more than 90 degrees" */]
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// [TestCase(2f, 0.2f, 0.0f, 2.750f, 0.25f) /*, "Almost upside down, tipped back" */]
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// [TestCase(2f, 0.2f, 0.0f,-2.750f, 0.25f) /*, "Almost upside down, tipped forward" */]
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public void AngularVerticalAttraction(float timeScale, float efficiency, float initRoll, float initPitch, float initYaw)
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{
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// Enough simulation steps to cover the timescale the operation should take
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int simSteps = (int)(timeScale / simulationTimeStep) + 1;
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// Tip the vehicle
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Quaternion initOrientation = Quaternion.CreateFromEulers(initRoll, initPitch, initYaw);
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TestVehicle.Orientation = initOrientation;
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TestVehicle.Position = TestVehicleInitPosition;
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// The vehicle controller is not enabled directly (by setting a vehicle type).
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// Instead the appropriate values are set and calls are made just the parts of the
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// controller we want to exercise. Stepping the physics engine then applies
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// the actions of that one feature.
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TestVehicle.VehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency);
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TestVehicle.VehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, timeScale);
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TestVehicle.VehicleActor.enableAngularVerticalAttraction = true;
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TestVehicle.IsPhysical = true;
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PhysicsScene.ProcessTaints();
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// Step the simulator a bunch of times and vertical attraction should orient the vehicle up
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for (int ii = 0; ii < simSteps; ii++)
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{
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TestVehicle.VehicleActor.ForgetKnownVehicleProperties();
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TestVehicle.VehicleActor.ComputeAngularVerticalAttraction();
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TestVehicle.VehicleActor.PushKnownChanged();
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PhysicsScene.Simulate(simulationTimeStep);
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}
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TestVehicle.IsPhysical = false;
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PhysicsScene.ProcessTaints();
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// After these steps, the vehicle should be upright
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/*
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float finalRoll, finalPitch, finalYaw;
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TestVehicle.Orientation.GetEulerAngles(out finalRoll, out finalPitch, out finalYaw);
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Assert.That(finalRoll, Is.InRange(-0.01f, 0.01f));
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Assert.That(finalPitch, Is.InRange(-0.01f, 0.01f));
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Assert.That(finalYaw, Is.InRange(initYaw - 0.1f, initYaw + 0.1f));
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*/
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Vector3 upPointer = Vector3.UnitZ * TestVehicle.Orientation;
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Assert.That(upPointer.Z, Is.GreaterThan(0.99f));
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}
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}
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}
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@ -0,0 +1,56 @@
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/*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the OpenSimulator Project nor the
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* names of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using NUnit.Framework;
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using log4net;
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using OpenSim.Tests.Common;
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namespace OpenSim.Region.Physics.BulletSPlugin.Tests
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{
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[TestFixture]
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public class BulletSimTests : OpenSimTestCase
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{
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// Documentation on attributes: http://www.nunit.org/index.php?p=attributes&r=2.6.1
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// Documentation on assertions: http://www.nunit.org/index.php?p=assertions&r=2.6.1
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[TestFixtureSetUp]
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public void Init()
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{
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}
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[TestFixtureTearDown]
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public void TearDown()
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{
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}
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}
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}
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@ -0,0 +1,95 @@
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/*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
|
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* * Redistributions of source code must retain the above copyright
|
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* notice, this list of conditions and the following disclaimer.
|
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* * Redistributions in binary form must reproduce the above copyright
|
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the OpenSimulator Project nor the
|
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* names of its contributors may be used to endorse or promote products
|
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* derived from this software without specific prior written permission.
|
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*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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using System;
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using System.IO;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using Nini.Config;
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using OpenSim.Framework;
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using OpenSim.Region.Physics.BulletSPlugin;
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using OpenSim.Region.Physics.Meshing;
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namespace OpenSim.Region.Physics.BulletSPlugin.Tests
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{
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// Utility functions for building up and tearing down the sample physics environments
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public static class BulletSimTestsUtil
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{
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// 'engineName' is the Bullet engine to use. Either null (for unmanaged), "BulletUnmanaged" or "BulletXNA"
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// 'params' is a set of keyValue pairs to set in the engine's configuration file (override defaults)
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// May be 'null' if there are no overrides.
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public static BSScene CreateBasicPhysicsEngine(Dictionary<string,string> paramOverrides)
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{
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IConfigSource openSimINI = new IniConfigSource();
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IConfig startupConfig = openSimINI.AddConfig("Startup");
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startupConfig.Set("physics", "BulletSim");
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startupConfig.Set("meshing", "Meshmerizer");
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startupConfig.Set("cacheSculptMaps", "false"); // meshmerizer shouldn't save maps
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IConfig bulletSimConfig = openSimINI.AddConfig("BulletSim");
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// If the caller cares, specify the bullet engine otherwise it will default to "BulletUnmanaged".
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// bulletSimConfig.Set("BulletEngine", "BulletUnmanaged");
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// bulletSimConfig.Set("BulletEngine", "BulletXNA");
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bulletSimConfig.Set("MeshSculptedPrim", "false");
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bulletSimConfig.Set("ForceSimplePrimMeshing", "true");
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if (paramOverrides != null)
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{
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foreach (KeyValuePair<string, string> kvp in paramOverrides)
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{
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bulletSimConfig.Set(kvp.Key, kvp.Value);
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}
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}
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// If a special directory exists, put detailed logging therein.
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// This allows local testing/debugging without having to worry that the build engine will output logs.
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if (Directory.Exists("physlogs"))
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{
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bulletSimConfig.Set("PhysicsLoggingDir","./physlogs");
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bulletSimConfig.Set("PhysicsLoggingEnabled","True");
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bulletSimConfig.Set("PhysicsLoggingDoFlush","True");
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bulletSimConfig.Set("VehicleLoggingEnabled","True");
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}
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BSPlugin bsPlugin = new BSPlugin();
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BSScene bsScene = (BSScene)bsPlugin.GetScene("BSTestRegion");
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// Since the asset requestor is not initialized, any mesh or sculptie will be a cube.
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// In the future, add a fake asset fetcher to get meshes and sculpts.
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// bsScene.RequestAssetMethod = ???;
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Meshing.Meshmerizer mesher = new Meshmerizer(openSimINI);
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bsScene.Initialise(mesher, openSimINI);
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return bsScene;
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}
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}
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}
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