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));
}