opensim/OpenSim/Region/PhysicsModules/BulletS/Tests/BasicVehicles.cs

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using System.Collections.Generic;

using NUnit.Framework;

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 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>();
            engineParams.Add("VehicleEnableAngularVerticalAttraction", "true");
            engineParams.Add("VehicleAngularVerticalAttractionAlgorithm", "1");
            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.
            BSDynamics vehicleActor = TestVehicle.GetVehicleActor(true /* createIfNone */);
            if (vehicleActor != null)
            {
                vehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency);
                vehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, timeScale);
                // 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++)
                {
                    vehicleActor.ForgetKnownVehicleProperties();
                    vehicleActor.ComputeAngularVerticalAttraction();
                    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));
        }
    }
}