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BulletSim: first version of raycast. Only single contact point and no

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Robert Adams
2017-09-03 17:15:27 -07:00
parent 6c5cfbafba
commit f348f7fa90
8 changed files with 140 additions and 131 deletions
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53
OpenSim/Region/PhysicsModules/BulletS/Tests/Raycast.cs
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@@ -48,67 +48,76 @@ namespace OpenSim.Region.PhysicsModule.BulletS.Tests
// 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 TargetSphere { get; set; }
Vector3 TargetSpherePosition { get; set; }
float simulationTimeStep = 0.089f;
BSScene _physicsScene { get; set; }
BSPrim _targetSphere { get; set; }
Vector3 _targetSpherePosition { get; set; }
float _simulationTimeStep = 0.089f;
uint _targetLocalID = 123;
[TestFixtureSetUp]
public void Init()
{
Dictionary<string, string> engineParams = new Dictionary<string, string>();
engineParams.Add("UseBulletRaycast", "true");
PhysicsScene = BulletSimTestsUtil.CreateBasicPhysicsEngine(engineParams);
_physicsScene = BulletSimTestsUtil.CreateBasicPhysicsEngine(engineParams);
PrimitiveBaseShape pbs = PrimitiveBaseShape.CreateSphere();
Vector3 pos = new Vector3(100.0f, 100.0f, 50f);
pos.Z = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 2f;
TargetSpherePosition = pos;
_targetSpherePosition = pos;
Vector3 size = new Vector3(10f, 10f, 10f);
pbs.Scale = size;
Quaternion rot = Quaternion.Identity;
bool isPhys = false;
uint localID = 123;
PhysicsScene.AddPrimShape("TargetSphere", pbs, pos, size, rot, isPhys, localID);
TargetSphere = (BSPrim)PhysicsScene.PhysObjects[localID];
_physicsScene.AddPrimShape("TargetSphere", pbs, pos, size, rot, isPhys, _targetLocalID);
_targetSphere = (BSPrim)_physicsScene.PhysObjects[_targetLocalID];
// The actual prim shape creation happens at taint time
PhysicsScene.ProcessTaints();
_physicsScene.ProcessTaints();
}
[TestFixtureTearDown]
public void TearDown()
{
if (PhysicsScene != null)
if (_physicsScene != null)
{
// The Dispose() will also free any physical objects in the scene
PhysicsScene.Dispose();
PhysicsScene = null;
_physicsScene.Dispose();
_physicsScene = null;
}
}
// There is a 10x10x10 sphere at <100,100,50>
// Shoot rays around the sphere and verify it hits and doesn't hit
// TestCase parameters are <x,y,z> of start and <x,y,z> of end and expected result
[TestCase(20f, 20f, 50f, 50f, 50f, 50f, true)] // in front to sphere
[TestCase(20f, 20f, 100f, 50f, 50f, 50f, true)] // from above to sphere
[TestCase(50f, 50f, 50f, 150f, 150f, 50f, true)] // through sphere
[TestCase(50f, 50f, 65f, 150f, 150f, 65f, false)] // pass over sphere
public void RaycastAroundObject(float fromX, float fromY, float fromZ, float toX, float toY, float toZ, bool expected) {
[TestCase(100f, 50f, 50f, 100f, 150f, 50f, true, "Pass through sphere from front")]
[TestCase(50f, 100f, 50f, 150f, 100f, 50f, true, "Pass through sphere from side")]
[TestCase(50f, 50f, 50f, 150f, 150f, 50f, true, "Pass through sphere diaginally")]
[TestCase(100f, 100f, 100f, 100f, 100f, 20f, true, "Pass through sphere from above")]
[TestCase(20f, 20f, 50f, 80f, 80f, 50f, false, "Not reach sphere")]
[TestCase(50f, 50f, 65f, 150f, 150f, 65f, false, "Passed over sphere")]
public void RaycastAroundObject(float fromX, float fromY, float fromZ, float toX, float toY, float toZ, bool expected, string msg) {
Vector3 fromPos = new Vector3(fromX, fromY, fromZ);
Vector3 toPos = new Vector3(toX, toY, toZ);
Vector3 direction = toPos - fromPos;
float len = Vector3.Distance(fromPos, toPos);
List<ContactResult> results = PhysicsScene.RaycastWorld(fromPos, direction, len, 1);
List<ContactResult> results = _physicsScene.RaycastWorld(fromPos, direction, len, 1);
if (expected) {
Assert.True(results.Count > 0);
// The test coordinates should generate a hit
Assert.True(results.Count != 0, msg + ": Did not return a hit but expected to.");
Assert.True(results.Count == 1, msg + ": Raycast returned not just one hit result.");
Assert.True(results[0].ConsumerID == _targetLocalID, msg + ": Raycast returned a collision object other than the target");
}
else
{
Assert.False(results.Count > 0);
// The test coordinates should not generate a hit
if (results.Count > 0)
{
Assert.False(results.Count > 0, msg + ": Returned a hit at " + results[0].Pos.ToString());
}
}
}
}