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(); }
// [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)); }