clockwerk-opensim-stable – Blame information for rev 1
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1 | vero | 1 | /* |
2 | * Copyright (c) Contributors, http://opensimulator.org/ |
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3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. |
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4 | * |
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5 | * Redistribution and use in source and binary forms, with or without |
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6 | * modification, are permitted provided that the following conditions are met: |
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7 | * * Redistributions of source code must retain the above copyright |
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8 | * notice, this list of conditions and the following disclaimer. |
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9 | * * Redistributions in binary form must reproduce the above copyright |
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10 | * notice, this list of conditions and the following disclaimer in the |
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11 | * documentation and/or other materials provided with the distribution. |
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12 | * * Neither the name of the OpenSimulator Project nor the |
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13 | * names of its contributors may be used to endorse or promote products |
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14 | * derived from this software without specific prior written permission. |
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15 | * |
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16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY |
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17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED |
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18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
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19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY |
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20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES |
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21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND |
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23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS |
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25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
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26 | */ |
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27 | |||
28 | using System; |
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29 | using System.Collections.Generic; |
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30 | using System.Linq; |
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31 | using System.Text; |
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32 | |||
33 | using NUnit.Framework; |
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34 | using log4net; |
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35 | |||
36 | using OpenSim.Framework; |
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37 | using OpenSim.Region.Physics.BulletSPlugin; |
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38 | using OpenSim.Region.Physics.Manager; |
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39 | using OpenSim.Tests.Common; |
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40 | |||
41 | using OpenMetaverse; |
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42 | |||
43 | namespace OpenSim.Region.Physics.BulletSPlugin.Tests |
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44 | { |
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45 | [TestFixture] |
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46 | public class BasicVehicles : OpenSimTestCase |
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47 | { |
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48 | // Documentation on attributes: http://www.nunit.org/index.php?p=attributes&r=2.6.1 |
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49 | // Documentation on assertions: http://www.nunit.org/index.php?p=assertions&r=2.6.1 |
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50 | |||
51 | BSScene PhysicsScene { get; set; } |
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52 | BSPrim TestVehicle { get; set; } |
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53 | Vector3 TestVehicleInitPosition { get; set; } |
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54 | float simulationTimeStep = 0.089f; |
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55 | |||
56 | [TestFixtureSetUp] |
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57 | public void Init() |
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58 | { |
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59 | Dictionary<string, string> engineParams = new Dictionary<string, string>(); |
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60 | engineParams.Add("VehicleEnableAngularVerticalAttraction", "true"); |
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61 | engineParams.Add("VehicleAngularVerticalAttractionAlgorithm", "1"); |
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62 | PhysicsScene = BulletSimTestsUtil.CreateBasicPhysicsEngine(engineParams); |
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63 | |||
64 | PrimitiveBaseShape pbs = PrimitiveBaseShape.CreateSphere(); |
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65 | Vector3 pos = new Vector3(100.0f, 100.0f, 0f); |
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66 | pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 2f; |
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67 | TestVehicleInitPosition = pos; |
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68 | Vector3 size = new Vector3(1f, 1f, 1f); |
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69 | pbs.Scale = size; |
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70 | Quaternion rot = Quaternion.Identity; |
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71 | bool isPhys = false; |
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72 | uint localID = 123; |
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73 | |||
74 | PhysicsScene.AddPrimShape("testPrim", pbs, pos, size, rot, isPhys, localID); |
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75 | TestVehicle = (BSPrim)PhysicsScene.PhysObjects[localID]; |
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76 | // The actual prim shape creation happens at taint time |
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77 | PhysicsScene.ProcessTaints(); |
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78 | |||
79 | } |
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80 | |||
81 | [TestFixtureTearDown] |
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82 | public void TearDown() |
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83 | { |
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84 | if (PhysicsScene != null) |
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85 | { |
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86 | // The Dispose() will also free any physical objects in the scene |
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87 | PhysicsScene.Dispose(); |
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88 | PhysicsScene = null; |
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89 | } |
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90 | } |
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91 | |||
92 | [TestCase(2f, 0.2f, 0.25f, 0.25f, 0.25f)] |
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93 | [TestCase(2f, 0.2f, -0.25f, 0.25f, 0.25f)] |
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94 | [TestCase(2f, 0.2f, 0.25f, -0.25f, 0.25f)] |
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95 | [TestCase(2f, 0.2f, -0.25f, -0.25f, 0.25f)] |
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96 | // [TestCase(2f, 0.2f, 0.785f, 0.0f, 0.25f) /*, "Leaning 45 degrees to the side" */] |
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97 | // [TestCase(2f, 0.2f, 1.650f, 0.0f, 0.25f) /*, "Leaning more than 90 degrees to the side" */] |
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98 | // [TestCase(2f, 0.2f, 2.750f, 0.0f, 0.25f) /*, "Almost upside down, tipped right" */] |
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99 | // [TestCase(2f, 0.2f,-2.750f, 0.0f, 0.25f) /*, "Almost upside down, tipped left" */] |
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100 | // [TestCase(2f, 0.2f, 0.0f, 0.785f, 0.25f) /*, "Tipped back 45 degrees" */] |
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101 | // [TestCase(2f, 0.2f, 0.0f, 1.650f, 0.25f) /*, "Tipped back more than 90 degrees" */] |
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102 | // [TestCase(2f, 0.2f, 0.0f, 2.750f, 0.25f) /*, "Almost upside down, tipped back" */] |
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103 | // [TestCase(2f, 0.2f, 0.0f,-2.750f, 0.25f) /*, "Almost upside down, tipped forward" */] |
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104 | public void AngularVerticalAttraction(float timeScale, float efficiency, float initRoll, float initPitch, float initYaw) |
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105 | { |
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106 | // Enough simulation steps to cover the timescale the operation should take |
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107 | int simSteps = (int)(timeScale / simulationTimeStep) + 1; |
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108 | |||
109 | // Tip the vehicle |
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110 | Quaternion initOrientation = Quaternion.CreateFromEulers(initRoll, initPitch, initYaw); |
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111 | TestVehicle.Orientation = initOrientation; |
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112 | |||
113 | TestVehicle.Position = TestVehicleInitPosition; |
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114 | |||
115 | // The vehicle controller is not enabled directly (by setting a vehicle type). |
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116 | // Instead the appropriate values are set and calls are made just the parts of the |
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117 | // controller we want to exercise. Stepping the physics engine then applies |
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118 | // the actions of that one feature. |
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119 | BSDynamics vehicleActor = TestVehicle.GetVehicleActor(true /* createIfNone */); |
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120 | if (vehicleActor != null) |
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121 | { |
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122 | vehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency); |
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123 | vehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, timeScale); |
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124 | // vehicleActor.enableAngularVerticalAttraction = true; |
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125 | |||
126 | TestVehicle.IsPhysical = true; |
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127 | PhysicsScene.ProcessTaints(); |
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128 | |||
129 | // Step the simulator a bunch of times and vertical attraction should orient the vehicle up |
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130 | for (int ii = 0; ii < simSteps; ii++) |
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131 | { |
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132 | vehicleActor.ForgetKnownVehicleProperties(); |
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133 | vehicleActor.ComputeAngularVerticalAttraction(); |
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134 | vehicleActor.PushKnownChanged(); |
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135 | |||
136 | PhysicsScene.Simulate(simulationTimeStep); |
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137 | } |
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138 | } |
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139 | |||
140 | TestVehicle.IsPhysical = false; |
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141 | PhysicsScene.ProcessTaints(); |
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142 | |||
143 | // After these steps, the vehicle should be upright |
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144 | /* |
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145 | float finalRoll, finalPitch, finalYaw; |
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146 | TestVehicle.Orientation.GetEulerAngles(out finalRoll, out finalPitch, out finalYaw); |
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147 | Assert.That(finalRoll, Is.InRange(-0.01f, 0.01f)); |
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148 | Assert.That(finalPitch, Is.InRange(-0.01f, 0.01f)); |
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149 | Assert.That(finalYaw, Is.InRange(initYaw - 0.1f, initYaw + 0.1f)); |
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150 | */ |
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151 | |||
152 | Vector3 upPointer = Vector3.UnitZ * TestVehicle.Orientation; |
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153 | Assert.That(upPointer.Z, Is.GreaterThan(0.99f)); |
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154 | } |
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155 | } |
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156 | } |