mmo-ref/cyphesis
1
0
Fork 0
mirror of https://github.com/worldforge/cyphesis synced 2026-08-13 12:26:04 -04:00
Code Issues Projects Releases Packages Wiki Activity
cyphesis/tests/PhysicalDomainIntegrationTest.cpp

1956 lines
78 KiB
C++
Raw Permalink Blame History

// Cyphesis Online RPG Server and AI Engine
// Copyright (C) 2017 Erik Ogenvik
//
// This program is free software; you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation; either version 2 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software Foundation,
// Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
#ifdef NDEBUG
#undef NDEBUG
#endif
#ifndef DEBUG
#define DEBUG
#endif
#include "TestBase.h"
#include "TestWorld.h"
#include "server/Ruleset.h"
#include "server/ServerRouting.h"
#include "rulesets/Entity.h"
#include "common/debug.h"
#include <Atlas/Objects/Anonymous.h>
#include <Atlas/Objects/Operation.h>
#include <wfmath/atlasconv.h>
#include <rulesets/PhysicalDomain.h>
#include <common/TypeNode.h>
#include "physics/Convert.h"
#include <rulesets/TerrainProperty.h>
#include <Mercator/BasePoint.h>
#include <Mercator/Terrain.h>
#include <rulesets/PropelProperty.h>
#include <rulesets/AngularFactorProperty.h>
#include <rulesets/VisibilityProperty.h>
#include <rulesets/GeometryProperty.h>
#include "rulesets/PhysicalWorld.h"
#include "rulesets/BBoxProperty.h"
#include <BulletCollision/CollisionShapes/btBoxShape.h>
#include <BulletDynamics/Dynamics/btRigidBody.h>
#include <chrono>
#include <rulesets/TerrainModProperty.h>
#include <rulesets/EntityProperty.h>
using Atlas::Message::Element;
using Atlas::Message::ListType;
using Atlas::Message::MapType;
using Atlas::Objects::Root;
using Atlas::Objects::Entity::Anonymous;
using Atlas::Objects::Entity::RootEntity;
using String::compose;
class TestPhysicalDomain : public PhysicalDomain
{
public:
explicit TestPhysicalDomain(LocatedEntity& entity) :
PhysicalDomain(entity)
{
}
PhysicalWorld* test_getPhysicalWorld() const
{
return m_dynamicsWorld;
}
btRigidBody* test_getRigidBody(long id)
{
return btRigidBody::upcast(m_entries.find(id)->second->collisionObject);
}
void test_childEntityPropertyApplied(const std::string& name, PropertyBase& prop, long id) {
childEntityPropertyApplied(name, prop, m_entries.find(id)->second);
}
};
class PhysicalDomainIntegrationTest : public Cyphesis::TestBase
{
protected:
static long m_id_counter;
public:
PhysicalDomainIntegrationTest();
static long newId();
void setup() override;
void teardown() override;
void test_scaleBbox();
void test_convert();
void test_movePlantedAndResting();
void test_plantedOn();
void test_terrainMods();
void test_lake_rotated();
void test_lake();
void test_ocean();
void test_placement();
void test_fallToBottom();
void test_standOnFixed();
void test_fallToTerrain();
void test_collision();
void test_mode();
void test_static_entities_no_move();
void test_determinism();
void test_zoffset();
void test_zscaledoffset();
void test_visibility();
void test_visibilityPerformance();
void test_stairs();
void test_terrainPrecision();
};
long PhysicalDomainIntegrationTest::m_id_counter = 0L;
PhysicalDomainIntegrationTest::PhysicalDomainIntegrationTest()
{
ADD_TEST(PhysicalDomainIntegrationTest::test_scaleBbox);
ADD_TEST(PhysicalDomainIntegrationTest::test_movePlantedAndResting);
ADD_TEST(PhysicalDomainIntegrationTest::test_plantedOn);
ADD_TEST(PhysicalDomainIntegrationTest::test_terrainMods);
ADD_TEST(PhysicalDomainIntegrationTest::test_lake_rotated);
ADD_TEST(PhysicalDomainIntegrationTest::test_lake);
ADD_TEST(PhysicalDomainIntegrationTest::test_ocean);
ADD_TEST(PhysicalDomainIntegrationTest::test_placement);
ADD_TEST(PhysicalDomainIntegrationTest::test_convert);
ADD_TEST(PhysicalDomainIntegrationTest::test_terrainPrecision);
ADD_TEST(PhysicalDomainIntegrationTest::test_fallToBottom);
ADD_TEST(PhysicalDomainIntegrationTest::test_standOnFixed);
ADD_TEST(PhysicalDomainIntegrationTest::test_fallToTerrain);
ADD_TEST(PhysicalDomainIntegrationTest::test_collision);
ADD_TEST(PhysicalDomainIntegrationTest::test_mode);
ADD_TEST(PhysicalDomainIntegrationTest::test_determinism);
ADD_TEST(PhysicalDomainIntegrationTest::test_zoffset);
ADD_TEST(PhysicalDomainIntegrationTest::test_zscaledoffset);
ADD_TEST(PhysicalDomainIntegrationTest::test_visibility);
ADD_TEST(PhysicalDomainIntegrationTest::test_stairs);
}
long PhysicalDomainIntegrationTest::newId()
{
return ++m_id_counter;
}
void PhysicalDomainIntegrationTest::setup()
{
m_id_counter = 0;
}
void PhysicalDomainIntegrationTest::teardown()
{
}
#define ASSERT_FUZZY_EQUAL_FN(_lval, _rval, _epsilon, _fn) {\
if (this->assertFuzzyEqual(#_lval, _lval, #_rval, _rval, #_epsilon, _epsilon, __PRETTY_FUNCTION__,\
__FILE__, __LINE__) != 0) {_fn(); return;}\
}
void PhysicalDomainIntegrationTest::test_scaleBbox()
{
double tickSize = 1.0 / 15.0;
double time = 0;
OpVector res;
TypeNode* rockType = new TypeNode("rock");
Property<double>* massProp = new Property<double>();
massProp->data() = 10000;
ModeProperty* plantedProperty = new ModeProperty();
plantedProperty->set("planted");
ModeProperty* freeProperty = new ModeProperty();
freeProperty->set("free");
Entity* rootEntity = new Entity("0", newId());
rootEntity->m_location.m_pos = WFMath::Point<3>::ZERO();
rootEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-64, 0, -64), WFMath::Point<3>(64, 64, 64)));
std::unique_ptr<TestPhysicalDomain> domain(new TestPhysicalDomain(*rootEntity));
long id = newId();
Entity* plantedEntity = new Entity(std::to_string(id), id);
plantedEntity->setProperty(ModeProperty::property_name, plantedProperty);
plantedEntity->setType(rockType);
plantedEntity->m_location.m_pos = WFMath::Point<3>(0, 0, 0);
plantedEntity->m_location.m_orientation = WFMath::Quaternion::IDENTITY();
BBoxProperty* bBoxProperty = new BBoxProperty();
bBoxProperty->data() = {{-1, 0, -1},
{1, 1, 1}};
bBoxProperty->install(plantedEntity, "bbox");
bBoxProperty->apply(plantedEntity);
plantedEntity->setProperty("bbox", bBoxProperty);
domain->addEntity(*plantedEntity);
btVector3 from(0, 10, 0);
btVector3 to(0, -10, 0);
btCollisionWorld::ClosestRayResultCallback callback(from, to);
domain->test_getPhysicalWorld()->rayTest(from, to, callback);
domain->tick(1.0f, res);
ASSERT_TRUE(callback.hasHit());
ASSERT_FUZZY_EQUAL(1.0f, callback.m_hitPointWorld.y(), 0.1f);
//Add a box and let it fall on the planted entity
id = newId();
Entity* freeEntity = new Entity(std::to_string(id), id);
freeEntity->setProperty(ModeProperty::property_name, freeProperty);
freeEntity->setType(rockType);
freeEntity->m_location.m_pos = WFMath::Point<3>(0, 10, 0);
freeEntity->m_location.m_orientation = WFMath::Quaternion::IDENTITY();
freeEntity->m_location.setBBox({{-0.5f, 0, -0.5f}, {0.5f, 1, 0.5f}});
freeEntity->setProperty("mass", massProp);
domain->addEntity(*freeEntity);
while (time < 5) {
time += tickSize;
domain->tick(tickSize, res);
}
ASSERT_FUZZY_EQUAL(freeEntity->m_location.m_pos.y(), 1.0f, 0.1f);
domain->removeEntity(*freeEntity);
bBoxProperty->data() = {{-1, 0, -1}, {1, 2, 1}};
bBoxProperty->apply(plantedEntity);
domain->test_childEntityPropertyApplied("bbox", *bBoxProperty, plantedEntity->getIntId());
domain->tick(1.0f, res);
callback = btCollisionWorld::ClosestRayResultCallback(from, to);
domain->test_getPhysicalWorld()->rayTest(from, to, callback);
ASSERT_TRUE(callback.hasHit());
ASSERT_FUZZY_EQUAL(2.0f, callback.m_hitPointWorld.y(), 0.1f);
//Test again with the falling box
freeEntity->m_location.m_pos = WFMath::Point<3>(0, 10, 0);
domain->addEntity(*freeEntity);
time = 0;
while (time < 5) {
time += tickSize;
domain->tick(tickSize, res);
}
ASSERT_FUZZY_EQUAL(freeEntity->m_location.m_pos.y(), 2.0f, 0.1f);
}
void PhysicalDomainIntegrationTest::test_movePlantedAndResting()
{
//Place a box, "planted". On top of that, place another box, also "planted". And on top of that, place a box which is "free".
//Then move the first box. The two boxes on top should move along with it.
auto id = newId();
Entity* rootEntity = new Entity(std::to_string(id), id);
rootEntity->m_location.m_pos = WFMath::Point<3>::ZERO();
rootEntity->m_location.setBBox({{-64, 0, -64},
{64, 64, 64}});
std::unique_ptr<TestPhysicalDomain> domain(new TestPhysicalDomain(*rootEntity));
ModeProperty* fixedProperty = new ModeProperty();
fixedProperty->set("fixed");
ModeProperty* plantedProperty = new ModeProperty();
plantedProperty->set("planted");
ModeProperty* freeProperty = new ModeProperty();
freeProperty->set("free");
auto massProp = new Property<double>();
massProp->data() = 10000;
id = newId();
Entity* fixed1 = new Entity(std::to_string(id), id);
fixed1->m_location.m_pos = {0, 0, 0};
fixed1->m_location.setBBox({{-2, -1, -2},
{2, 1, 2}});
fixed1->m_location.m_orientation = WFMath::Quaternion::IDENTITY();
fixed1->setProperty(ModeProperty::property_name, fixedProperty);
domain->addEntity(*fixed1);
OpVector res;
domain->tick(0, res);
ASSERT_EQUAL(0, fixed1->m_location.m_pos.y());
id = newId();
Entity* planted1 = new Entity(std::to_string(id), id);
planted1->m_location.m_pos = {1, 1, 0};
planted1->m_location.m_orientation = WFMath::Quaternion::IDENTITY();
planted1->m_location.setBBox({{-2, -1, -2},
{2, 1, 2}});
planted1->setProperty(ModeProperty::property_name, plantedProperty);
domain->addEntity(*planted1);
domain->tick(0, res);
id = newId();
Entity* planted2 = new Entity(std::to_string(id), id);
planted2->m_location.m_pos = {0, 2, 1};
planted2->m_location.m_orientation = WFMath::Quaternion::IDENTITY();
planted2->m_location.setBBox({{-2, -1, -2},
{2, 1, 2}});
planted2->setProperty(ModeProperty::property_name, plantedProperty);
domain->addEntity(*planted2);
domain->tick(0, res);
ASSERT_FUZZY_EQUAL(2.0f, planted2->m_location.m_pos.y(), 0.1f);
id = newId();
Entity* freeEntity = new Entity(std::to_string(id), id);
freeEntity->m_location.m_pos = {1, 4, 0};
freeEntity->m_location.m_orientation = WFMath::Quaternion::IDENTITY();
freeEntity->setProperty(ModeProperty::property_name, freeProperty);
freeEntity->m_location.setBBox({{-1, -1, -1},
{1, 1, 1}});
freeEntity->setProperty("mass", massProp);
domain->addEntity(*freeEntity);
ASSERT_FUZZY_EQUAL(4.0f, freeEntity->m_location.m_pos.y(), 0.1);
domain->tick(1, res);
ASSERT_FUZZY_EQUAL(4.0f, freeEntity->m_location.m_pos.y(), 0.1);
//Only change position
{
std::set<LocatedEntity*> transformedEntities;
domain->applyTransform(*fixed1, WFMath::Quaternion(), {10, 10, 10}, {}, transformedEntities);
ASSERT_EQUAL(4u, transformedEntities.size());
ASSERT_EQUAL(WFMath::Point<3>(11, 11, 10), planted1->m_location.pos());
ASSERT_EQUAL(WFMath::Point<3>(10, 12, 11), planted2->m_location.pos());
ASSERT_TRUE(WFMath::Equal(WFMath::Point<3>(11, 14, 10), freeEntity->m_location.pos(), 0.1));
}
domain->tick(0, res);
//Only change orientation
{
std::set<LocatedEntity*> transformedEntities;
domain->applyTransform(*fixed1, WFMath::Quaternion(1, WFMath::numeric_constants<float>::pi() / 2), {}, {}, transformedEntities);
ASSERT_EQUAL(4u, transformedEntities.size());
ASSERT_EQUAL(WFMath::Point<3>(10, 11, 9), planted1->m_location.pos());
ASSERT_EQUAL(WFMath::Point<3>(11, 12, 10), planted2->m_location.pos());
ASSERT_TRUE(WFMath::Equal(WFMath::Point<3>(10, 14, 9), freeEntity->m_location.pos(), 0.1));
}
domain->tick(0, res);
//Move it, and at the same time rotate it 90 degrees around the y axis.
{
std::set<LocatedEntity*> transformedEntities;
domain->applyTransform(*fixed1, WFMath::Quaternion(1, WFMath::numeric_constants<float>::pi()), {15, 15, 15}, {}, transformedEntities);
ASSERT_EQUAL(4u, transformedEntities.size());
ASSERT_EQUAL(WFMath::Point<3>(14, 16, 15), planted1->m_location.pos());
ASSERT_EQUAL(WFMath::Point<3>(15, 17, 14), planted2->m_location.pos());
ASSERT_TRUE(WFMath::Equal(WFMath::Point<3>(14, 19, 15), freeEntity->m_location.pos(), 0.1));
}
domain->tick(0, res);
//Move away the first planted entity, which should also move along the second planted and the free entity, and not affect the fixed entity.
{
std::set<LocatedEntity*> transformedEntities;
domain->applyTransform(*planted1, {}, {20, 0, 20}, {}, transformedEntities);
ASSERT_EQUAL(3u, transformedEntities.size());
ASSERT_EQUAL(WFMath::Point<3>(21, 1, 19), planted2->m_location.pos());
ASSERT_TRUE(WFMath::Equal(WFMath::Point<3>(20, 3, 20), freeEntity->m_location.pos(), 0.1));
ASSERT_EQUAL(WFMath::Point<3>(15, 15, 15), fixed1->m_location.pos());
}
{
std::set<LocatedEntity*> transformedEntities;
domain->applyTransform(*fixed1, WFMath::Quaternion(), {5, 20, 5}, {}, transformedEntities);
ASSERT_EQUAL(1u, transformedEntities.size());
}
//Remove the second planted entity, making sure that the first planted doesn't keep a reference
domain->removeEntity(*planted2);
{
std::set<LocatedEntity*> transformedEntities;
domain->applyTransform(*planted1, WFMath::Quaternion(), {15, 0, 20}, {}, transformedEntities);
ASSERT_EQUAL(1u, transformedEntities.size());
}
}
void PhysicalDomainIntegrationTest::test_plantedOn()
{
std::vector<std::string> shapes{"box", "cylinder-x", "cylinder-y", "cylinder-z", "capsule-x", "capsule-y", "capsule-z"};
for (auto plantedShape : shapes) {
for (auto plantedOnTopShape : shapes) {
auto id = newId();
Entity rootEntity{std::to_string(id), id};
TerrainProperty* terrainProperty = new TerrainProperty();
Mercator::Terrain& terrain = terrainProperty->getData();
terrain.setBasePoint(0, 0, Mercator::BasePoint(10));
terrain.setBasePoint(0, 1, Mercator::BasePoint(10));
terrain.setBasePoint(1, 0, Mercator::BasePoint(10));
terrain.setBasePoint(1, 1, Mercator::BasePoint(10));
rootEntity.setProperty("terrain", terrainProperty);
rootEntity.m_location.m_pos = WFMath::Point<3>::ZERO();
rootEntity.m_location.setBBox({{-64, -64, -64},
{64, 64, 64}});
TestPhysicalDomain domain{rootEntity};
id = newId();
std::unique_ptr<Entity> planted1(new Entity(std::to_string(id), id));
planted1->m_location.m_pos = WFMath::Point<3>(0, 10, 0);
planted1->m_location.setBBox({{-1, -1, -1},
{1, 1, 1}});
{
GeometryProperty* plantedGeometryProperty = new GeometryProperty();
plantedGeometryProperty->set(MapType{{"type", plantedShape}});
ModeProperty* modeProperty = new ModeProperty();
modeProperty->set("planted");
planted1->setProperty(ModeProperty::property_name, modeProperty);
planted1->setProperty(GeometryProperty::property_name, plantedGeometryProperty);
}
domain.addEntity(*planted1);
OpVector res;
domain.tick(0, res);
ASSERT_TRUE(planted1->getPropertyClass<EntityProperty>("planted_on"));
ASSERT_TRUE(planted1->getPropertyClass<EntityProperty>("planted_on")->data());
ASSERT_EQUAL(rootEntity.getIntId(), planted1->getPropertyClass<EntityProperty>("planted_on")->data()->getIntId());
ASSERT_FUZZY_EQUAL(10, planted1->m_location.m_pos.y(), 0.1);
{
auto* planted1RigidBody = domain.test_getRigidBody(planted1->getIntId());
btVector3 aabbMin, aabbMax;
planted1RigidBody->getAabb(aabbMin, aabbMax);
ASSERT_FUZZY_EQUAL_FN(aabbMin.y(), 9, 0.1, [&]() { this->addFailure(String::compose("Using shape '%1'.", plantedShape)); });
ASSERT_FUZZY_EQUAL_FN(aabbMax.y(), 11, 0.1, [&]() { this->addFailure(String::compose("Using shape '%1'.", plantedShape)); });
}
id = newId();
std::unique_ptr<Entity> planted2(new Entity(std::to_string(id), id));
planted2->m_location.m_pos = WFMath::Point<3>(0, 15, 0);
planted2->m_location.setBBox({{-1, -1, -1},
{1, 1, 1}});
{
GeometryProperty* plantedGeometryProperty = new GeometryProperty();
plantedGeometryProperty->set(MapType{{"type", plantedShape}});
ModeProperty* modeProperty = new ModeProperty();
modeProperty->set("planted");
planted2->setProperty(ModeProperty::property_name, modeProperty);
planted2->setProperty(GeometryProperty::property_name, plantedGeometryProperty);
}
domain.addEntity(*planted2);
domain.tick(0, res);
ASSERT_TRUE(planted2->getPropertyClass<EntityProperty>("planted_on"));
ASSERT_TRUE(planted2->getPropertyClass<EntityProperty>("planted_on")->data());
ASSERT_EQUAL(planted1->getIntId(), planted2->getPropertyClass<EntityProperty>("planted_on")->data()->getIntId());
ASSERT_FUZZY_EQUAL(11, planted2->m_location.m_pos.y(), 0.1);
{
auto* planted2RigidBody = domain.test_getRigidBody(planted2->getIntId());
btVector3 aabbMin, aabbMax;
planted2RigidBody->getAabb(aabbMin, aabbMax);
ASSERT_FUZZY_EQUAL_FN(aabbMin.y(), 10, 0.1, [&]() { this->addFailure(String::compose("Using shape '%1'.", plantedShape)); });
ASSERT_FUZZY_EQUAL_FN(aabbMax.y(), 12, 0.1, [&]() { this->addFailure(String::compose("Using shape '%1'.", plantedShape)); });
}
id = newId();
std::unique_ptr<Entity> plantedOn(new Entity(std::to_string(id), id));
plantedOn->m_location.m_pos = {0, 15, 0};
{
ModeProperty* modeProperty = new ModeProperty();
modeProperty->set("planted");
plantedOn->setProperty(ModeProperty::property_name, modeProperty);
}
plantedOn->m_location.setBBox({{-1, 0, -1},
{1, 1, 1}});
EntityProperty* plantedOnProperty = new EntityProperty();
plantedOnProperty->data() = EntityRef(planted1.get());
plantedOn->setProperty("planted_on", plantedOnProperty);
GeometryProperty* geometryProperty = new GeometryProperty();
geometryProperty->set(MapType{{"type", plantedOnTopShape}});
plantedOn->setProperty(GeometryProperty::property_name, geometryProperty);
domain.addEntity(*plantedOn);
ASSERT_TRUE(plantedOn->getPropertyClass<EntityProperty>("planted_on"));
ASSERT_TRUE(plantedOn->getPropertyClass<EntityProperty>("planted_on")->data());
ASSERT_EQUAL(planted1->getIntId(), plantedOn->getPropertyClass<EntityProperty>("planted_on")->data()->getIntId());
ASSERT_FUZZY_EQUAL_FN(plantedOn->m_location.m_pos.y(), 11, 0.1, [&]() { this->addFailure(String::compose("Using shape '%1' on top of '%2'.", plantedOnTopShape, plantedShape)); });
{
auto* plantedOnRigidBody = domain.test_getRigidBody(plantedOn->getIntId());
btVector3 aabbMin, aabbMax;
plantedOnRigidBody->getAabb(aabbMin, aabbMax);
ASSERT_FUZZY_EQUAL_FN(aabbMin.y(), 11, 0.1, [&]() { this->addFailure(String::compose("Using shape '%1' on top of '%2'.", plantedOnTopShape, plantedShape)); });
ASSERT_FUZZY_EQUAL_FN(aabbMax.y(), 12, 0.1, [&]() { this->addFailure(String::compose("Using shape '%1' on top of '%2'.", plantedOnTopShape, plantedShape)); });
}
domain.removeEntity(*planted2);
domain.removeEntity(*planted1);
domain.removeEntity(*plantedOn);
}
}
}
void PhysicalDomainIntegrationTest::test_terrainMods()
{
Entity* rootEntity = new Entity("0", newId());
TerrainProperty* terrainProperty = new TerrainProperty();
Mercator::Terrain& terrain = terrainProperty->getData();
terrain.setBasePoint(0, 0, Mercator::BasePoint(10));
terrain.setBasePoint(0, 1, Mercator::BasePoint(10));
terrain.setBasePoint(1, 0, Mercator::BasePoint(10));
terrain.setBasePoint(1, 1, Mercator::BasePoint(10));
rootEntity->setProperty("terrain", terrainProperty);
rootEntity->m_location.m_pos = WFMath::Point<3>::ZERO();
rootEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-64, -64, -64), WFMath::Point<3>(64, 64, 64)));
std::unique_ptr<TestPhysicalDomain> domain(new TestPhysicalDomain(*rootEntity));
ModeProperty* modeProperty = new ModeProperty();
modeProperty->set("planted");
Entity* terrainModEntity = new Entity("1", newId());
terrainModEntity->m_location.m_pos = WFMath::Point<3>(32, 10, 32);
terrainModEntity->setProperty(ModeProperty::property_name, modeProperty);
TerrainModProperty* terrainModProperty = new TerrainModProperty();
Atlas::Message::MapType modElement{
{"heightoffset", -5.0f},
{"shape", MapType{
{"points", ListType{
ListType{-10.f, -10.f},
ListType{10.f, -10.f},
ListType{10.f, 10.f},
ListType{-10.f, 10.f},
}
},
{"type", "polygon"}
}
},
{"type", "levelmod"}
};
terrainModProperty->set(modElement);
terrainModEntity->setProperty(TerrainModProperty::property_name, terrainModProperty);
terrainModProperty->apply(terrainModEntity);
domain->addEntity(*terrainModEntity);
OpVector res;
std::set<LocatedEntity*> transformedEntities;
domain->tick(0, res);
ASSERT_FUZZY_EQUAL(terrain.get(10, 10), 10.0f, 0.1f);
ASSERT_TRUE(terrain.hasMod(terrainModEntity->getIntId()));
ASSERT_FUZZY_EQUAL(terrain.get(32, 32), 5.0f, 0.1f);
{
btVector3 rayFrom(32, 32, 32);
btVector3 rayTo(32, -32, 32);
btCollisionWorld::ClosestRayResultCallback callback(rayFrom, rayTo);
domain->test_getPhysicalWorld()->rayTest(rayFrom, rayTo, callback);
ASSERT_FUZZY_EQUAL(callback.m_hitPointWorld.y(), 5.0f, 0.1f);
}
domain->applyTransform(*terrainModEntity, WFMath::Quaternion(), WFMath::Point<3>(10, 10, 10), WFMath::Vector<3>(), transformedEntities);
domain->tick(0, res);
ASSERT_FUZZY_EQUAL(terrain.get(10, 10), 5.0f, 0.1f);
ASSERT_TRUE(terrain.hasMod(terrainModEntity->getIntId()));
ASSERT_FUZZY_EQUAL(terrain.get(32, 32), 10.0f, 0.1f);
{
btVector3 rayFrom(32, 32, 32);
btVector3 rayTo(32, -32, 32);
btCollisionWorld::ClosestRayResultCallback callback(rayFrom, rayTo);
domain->test_getPhysicalWorld()->rayTest(rayFrom, rayTo, callback);
ASSERT_FUZZY_EQUAL(callback.m_hitPointWorld.y(), 10.0f, 0.1f);
}
//Now change "mode" to "free", which should remove the mod.
modeProperty->set("free");
modeProperty->apply(terrainModEntity);
terrainModEntity->propertyApplied.emit("mode", *modeProperty);
domain->tick(0, res);
ASSERT_FUZZY_EQUAL(terrain.get(10, 10), 10.0f, 0.1f);
ASSERT_FALSE(terrain.hasMod(terrainModEntity->getIntId()));
ASSERT_FUZZY_EQUAL(terrain.get(32, 32), 10.0f, 0.1f);
//And back to "planted" which should bring it back
modeProperty->set("planted");
modeProperty->apply(terrainModEntity);
terrainModEntity->propertyApplied.emit("mode", *modeProperty);
domain->tick(0, res);
ASSERT_FUZZY_EQUAL(terrain.get(10, 10), 5.0f, 0.1f);
ASSERT_TRUE(terrain.hasMod(terrainModEntity->getIntId()));
ASSERT_FUZZY_EQUAL(terrain.get(32, 32), 10.0f, 0.1f);
}
void PhysicalDomainIntegrationTest::test_lake_rotated()
{
class TestEntity : public Entity
{
public:
explicit TestEntity(const std::string& id, long intId) : Entity(id, intId)
{
}
decltype(LocatedEntity::propertyApplied)& test_propertyApplied()
{
return propertyApplied;
}
};
TypeNode* rockType = new TypeNode("rock");
TypeNode* lakeType = new TypeNode("lake");
auto massProp = new Property<double>();
massProp->data() = 10000;
auto waterBodyProp = new BoolProperty();
waterBodyProp->set(1);
auto modeFreeProperty = new ModeProperty();
modeFreeProperty->set("free");
rockType->injectProperty("mode", modeFreeProperty);
auto modeFixedProperty = new ModeProperty();
modeFixedProperty->set("fixed");
Entity* rootEntity = new Entity("0", newId());
rootEntity->m_location.m_pos = WFMath::Point<3>::ZERO();
rootEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-64, 0, -64), WFMath::Point<3>(64, 64, 64)));
std::unique_ptr<TestPhysicalDomain> domain(new TestPhysicalDomain(*rootEntity));
long id = newId();
TestEntity* lake = new TestEntity(std::to_string(id), id);
lake->setProperty(ModeProperty::property_name, modeFixedProperty);
lake->setType(lakeType);
lake->setProperty("water_body", waterBodyProp);
lake->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(0, -64, 0), WFMath::Point<3>(10, 0, 2)));
lake->m_location.m_pos = WFMath::Point<3>(0, 10, 0);
//rotate 90 degrees
lake->m_location.m_orientation = WFMath::Quaternion(1, -WFMath::numeric_constants<float>::pi() / 2.0f);
domain->addEntity(*lake);
//Should be in water
id = newId();
Entity* freeEntity = new Entity("freeEntity", id);
freeEntity->setProperty("mass", massProp);
freeEntity->setType(rockType);
freeEntity->m_location.m_pos = WFMath::Point<3>(-1, 1, 9);
freeEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-1, -1, -1), WFMath::Point<3>(1, 1, 1)));
domain->addEntity(*freeEntity);
//Should not be in water
id = newId();
Entity* freeEntity2 = new Entity("freeEntity2", id);
freeEntity2->setProperty("mass", massProp);
freeEntity2->setType(rockType);
freeEntity2->m_location.m_pos = WFMath::Point<3>(9, 1, 1);
freeEntity2->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-1, -1, -1), WFMath::Point<3>(1, 1, 1)));
domain->addEntity(*freeEntity2);
id = newId();
ModeProperty* plantedProp = new ModeProperty();
plantedProp->set("planted");
EntityProperty* plantedOnProp = new EntityProperty();
plantedOnProp->data() = EntityRef(lake);
Entity* floatingEntity = new Entity("floatingEntity", id);
floatingEntity->setProperty(ModeProperty::property_name, plantedProp);
floatingEntity->setProperty("planted_on", plantedOnProp);
floatingEntity->setType(rockType);
floatingEntity->m_location.m_pos = WFMath::Point<3>(5, 20, 1);
floatingEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-1, -1, -1), WFMath::Point<3>(1, 1, 1)));
domain->addEntity(*floatingEntity);
OpVector res;
domain->tick(0, res);
ASSERT_TRUE(freeEntity->getPropertyClassFixed<ModeProperty>()->getMode() == ModeProperty::Mode::Submerged);
ASSERT_TRUE(freeEntity2->getPropertyClassFixed<ModeProperty>()->getMode() == ModeProperty::Mode::Free);
ASSERT_TRUE(floatingEntity->getPropertyClassFixed<ModeProperty>()->getMode() == ModeProperty::Mode::Planted);
ASSERT_EQUAL(WFMath::Point<3>(5, 10, 1), floatingEntity->m_location.pos());
}
void PhysicalDomainIntegrationTest::test_lake()
{
class TestEntity : public Entity
{
public:
explicit TestEntity(const std::string& id, long intId) : Entity(id, intId)
{
}
decltype(LocatedEntity::propertyApplied)& test_propertyApplied()
{
return propertyApplied;
}
};
double tickSize = 1.0 / 15.0;
double time = 0;
TypeNode* rockType = new TypeNode("rock");
TypeNode* lakeType = new TypeNode("lake");
auto massProp = new Property<double>();
massProp->data() = 10000;
auto waterBodyProp = new BoolProperty();
waterBodyProp->set(1);
auto modeFreeProperty = new ModeProperty();
modeFreeProperty->set("free");
rockType->injectProperty("mode", modeFreeProperty);
auto modeFixedProperty = new ModeProperty();
modeFixedProperty->set("fixed");
Entity* rootEntity = new Entity("0", newId());
rootEntity->m_location.m_pos = WFMath::Point<3>::ZERO();
rootEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-64, -64, -64), WFMath::Point<3>(64, 64, 64)));
std::unique_ptr<TestPhysicalDomain> domain(new TestPhysicalDomain(*rootEntity));
long id = newId();
TestEntity* lake = new TestEntity(std::to_string(id), id);
lake->setProperty(ModeProperty::property_name, modeFixedProperty);
lake->setType(lakeType);
lake->setProperty("water_body", waterBodyProp);
lake->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-5, -64, -5), WFMath::Point<3>(5, 0, 5)));
lake->m_location.m_pos = WFMath::Point<3>(20, 0, 0);
lake->m_location.m_orientation = WFMath::Quaternion::IDENTITY();
domain->addEntity(*lake);
id = newId();
Entity* freeEntity = new Entity(std::to_string(id), id);
freeEntity->setProperty("mass", massProp);
freeEntity->setType(rockType);
freeEntity->m_location.m_pos = WFMath::Point<3>(20, 2, 0);
freeEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-1, 0, -1), WFMath::Point<3>(1, 1, 1)));
domain->addEntity(*freeEntity);
//The second entity is placed in water, and should be submerged from the start
id = newId();
Entity* freeEntity2 = new Entity(std::to_string(id), id);
freeEntity2->setProperty("mass", massProp);
freeEntity2->setType(rockType);
freeEntity2->m_location.m_pos = WFMath::Point<3>(20, -2, 2);
freeEntity2->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-1, 0, -1), WFMath::Point<3>(1, 1, 1)));
domain->addEntity(*freeEntity2);
//The third entity is placed outside of the lake, and should never be submerged.
id = newId();
Entity* freeEntity3 = new Entity(std::to_string(id), id);
freeEntity3->setProperty("mass", massProp);
freeEntity3->setType(rockType);
freeEntity3->m_location.m_pos = WFMath::Point<3>(-20, 2, 0);
freeEntity3->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-1, 0, -1), WFMath::Point<3>(1, 1, 1)));
domain->addEntity(*freeEntity3);
OpVector res;
std::set<LocatedEntity*> transformedEntities;
domain->tick(0, res);
while (time < 5) {
time += tickSize;
domain->tick(tickSize, res);
}
ASSERT_TRUE(freeEntity->m_location.pos().y() < 0);
ASSERT_TRUE(freeEntity->getPropertyClassFixed<ModeProperty>()->getMode() == ModeProperty::Mode::Submerged);
ASSERT_TRUE(freeEntity2->m_location.pos().y() < 0);
ASSERT_TRUE(freeEntity2->getPropertyClassFixed<ModeProperty>()->getMode() == ModeProperty::Mode::Submerged);
ASSERT_TRUE(freeEntity3->m_location.pos().y() < 0);
ASSERT_TRUE(freeEntity3->getPropertyClassFixed<ModeProperty>()->getMode() == ModeProperty::Mode::Free);
//Move outside
domain->applyTransform(*freeEntity, WFMath::Quaternion::IDENTITY(), WFMath::Point<3>(20, 60, 0), WFMath::Vector<3>(), transformedEntities);
domain->tick(0, res);
ASSERT_TRUE(freeEntity->m_location.pos().y() > 0);
ASSERT_TRUE(freeEntity->getPropertyClassFixed<ModeProperty>()->getMode() == ModeProperty::Mode::Free);
//Move back in.
domain->applyTransform(*freeEntity, WFMath::Quaternion::IDENTITY(), WFMath::Point<3>(20, -10, 0), WFMath::Vector<3>(), transformedEntities);
domain->tick(0, res);
ASSERT_TRUE(freeEntity->m_location.pos().y() < 0);
ASSERT_TRUE(freeEntity->getPropertyClassFixed<ModeProperty>()->getMode() == ModeProperty::Mode::Submerged);
ASSERT_TRUE(freeEntity3->getPropertyClassFixed<ModeProperty>()->getMode() == ModeProperty::Mode::Free);
//Move the lake to where freeEntity3 is
domain->applyTransform(*lake, WFMath::Quaternion(), freeEntity3->m_location.m_pos + WFMath::Vector<3>(0, 5, 0), WFMath::Vector<3>(), transformedEntities);
domain->tick(0, res);
ASSERT_TRUE(freeEntity3->getPropertyClassFixed<ModeProperty>()->getMode() == ModeProperty::Mode::Submerged);
ASSERT_TRUE(freeEntity->getPropertyClassFixed<ModeProperty>()->getMode() == ModeProperty::Mode::Free);
//Update the bbox of the lake so that it's outside of freeEntity3.
//To emulate the propertyApplied signal being called in this test we need to do it ourselves.
auto newBbox = lake->m_location.bBox();
newBbox.highCorner().x() = 1;
newBbox.highCorner().y() = 1;
newBbox.highCorner().z() = 1;
newBbox.lowCorner().x() = -1;
newBbox.lowCorner().y() = -1;
newBbox.lowCorner().z() = -1;
BBoxProperty* bBoxProperty = new BBoxProperty();
bBoxProperty->set(newBbox.toAtlas());
lake->setProperty("bbox", bBoxProperty);
bBoxProperty->apply(lake);
lake->test_propertyApplied().emit("bbox", *bBoxProperty);
domain->tick(0, res);
ASSERT_TRUE(freeEntity3->getPropertyClassFixed<ModeProperty>()->getMode() == ModeProperty::Mode::Free);
ASSERT_TRUE(freeEntity->getPropertyClassFixed<ModeProperty>()->getMode() == ModeProperty::Mode::Free);
domain->removeEntity(*lake);
domain->tick(0, res);
ASSERT_TRUE(freeEntity->getPropertyClassFixed<ModeProperty>()->getMode() == ModeProperty::Mode::Free);
ASSERT_TRUE(freeEntity2->getPropertyClassFixed<ModeProperty>()->getMode() == ModeProperty::Mode::Free);
ASSERT_TRUE(freeEntity3->getPropertyClassFixed<ModeProperty>()->getMode() == ModeProperty::Mode::Free);
}
void PhysicalDomainIntegrationTest::test_ocean()
{
double tickSize = 1.0 / 15.0;
double time = 0;
TypeNode* rockType = new TypeNode("rock");
TypeNode* oceanType = new TypeNode("ocean");
auto massProp = new Property<double>();
massProp->data() = 10000;
auto waterBodyProp = new BoolProperty();
waterBodyProp->set(1);
auto modeFreeProperty = new ModeProperty();
modeFreeProperty->set("free");
auto modeFixedProperty = new ModeProperty();
modeFixedProperty->set("fixed");
rockType->injectProperty("mode", modeFreeProperty);
Entity* rootEntity = new Entity("0", newId());
rootEntity->m_location.m_pos = WFMath::Point<3>::ZERO();
rootEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-64, -64, -64), WFMath::Point<3>(64, 64, 64)));
std::unique_ptr<TestPhysicalDomain> domain(new TestPhysicalDomain(*rootEntity));
long id = newId();
Entity* ocean = new Entity(std::to_string(id), id);
ocean->setProperty(ModeProperty::property_name, modeFixedProperty);
ocean->setType(oceanType);
ocean->setProperty("water_body", waterBodyProp);
ocean->m_location.m_pos = WFMath::Point<3>(0, 0, 0);
ocean->m_location.m_orientation = WFMath::Quaternion::IDENTITY();
domain->addEntity(*ocean);
id = newId();
Entity* freeEntity = new Entity(std::to_string(id), id);
freeEntity->setProperty("mass", massProp);
freeEntity->setType(rockType);
freeEntity->m_location.m_pos = WFMath::Point<3>(0, 2, 0);
freeEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-1, 0, -1), WFMath::Point<3>(1, 1, 1)));
domain->addEntity(*freeEntity);
//The second entity is placed in water, and should be submerged from the start
id = newId();
Entity* freeEntity2 = new Entity(std::to_string(id), id);
freeEntity2->setProperty("mass", massProp);
freeEntity2->setType(rockType);
freeEntity2->m_location.m_pos = WFMath::Point<3>(10, -10, 0);
freeEntity2->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-1, 0, -1), WFMath::Point<3>(1, 1, 1)));
domain->addEntity(*freeEntity2);
OpVector res;
std::set<LocatedEntity*> transformedEntities;
domain->tick(0, res);
while (time < 5) {
time += tickSize;
domain->tick(tickSize, res);
}
ASSERT_TRUE(freeEntity->m_location.pos().y() < 0);
ASSERT_TRUE(freeEntity->getPropertyClassFixed<ModeProperty>()->getMode() == ModeProperty::Mode::Submerged);
ASSERT_TRUE(freeEntity2->m_location.pos().y() < 0);
ASSERT_TRUE(freeEntity2->getPropertyClassFixed<ModeProperty>()->getMode() == ModeProperty::Mode::Submerged);
//Move outside
domain->applyTransform(*freeEntity, WFMath::Quaternion::IDENTITY(), WFMath::Point<3>(0, 60, 0), WFMath::Vector<3>(), transformedEntities);
domain->tick(0, res);
ASSERT_TRUE(freeEntity->m_location.pos().y() > 0);
ASSERT_TRUE(freeEntity->getPropertyClassFixed<ModeProperty>()->getMode() == ModeProperty::Mode::Free);
//Move back in.
domain->applyTransform(*freeEntity, WFMath::Quaternion::IDENTITY(), WFMath::Point<3>(0, -10, 0), WFMath::Vector<3>(), transformedEntities);
domain->tick(0, res);
ASSERT_TRUE(freeEntity->m_location.pos().y() < 0);
ASSERT_TRUE(freeEntity->getPropertyClassFixed<ModeProperty>()->getMode() == ModeProperty::Mode::Submerged);
domain->removeEntity(*ocean);
domain->tick(0, res);
ASSERT_TRUE(freeEntity->getPropertyClassFixed<ModeProperty>()->getMode() == ModeProperty::Mode::Free);
ASSERT_TRUE(freeEntity2->getPropertyClassFixed<ModeProperty>()->getMode() == ModeProperty::Mode::Free);
}
void PhysicalDomainIntegrationTest::test_placement()
{
TypeNode* rockType = new TypeNode("rock");
Property<double>* massProp = new Property<double>();
massProp->data() = 10000;
ModeProperty* modeProperty = new ModeProperty();
modeProperty->set("fixed");
Entity* rootEntity = new Entity("0", newId());
rootEntity->m_location.m_pos = WFMath::Point<3>::ZERO();
rootEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-64, -64, -64), WFMath::Point<3>(64, 64, 64)));
std::unique_ptr<TestPhysicalDomain> domain(new TestPhysicalDomain(*rootEntity));
// btDiscreteDynamicsWorld* bulletWorld = domain->test_getBulletWorld();
auto verifyBboxes = [&](Entity* entity) {
btRigidBody* rigidBody = domain->test_getRigidBody(entity->getIntId());
btVector3 aabbMin, aabbMax;
rigidBody->getAabb(aabbMin, aabbMax);
//Get the final positions of the entity's bbox
btVector3 expectedBtAabbMax(std::numeric_limits<float>::lowest(), std::numeric_limits<float>::lowest(), std::numeric_limits<float>::lowest());
btVector3 expectedBtAabbMin(std::numeric_limits<float>::max(), std::numeric_limits<float>::max(), std::numeric_limits<float>::max());
for (size_t i = 0; i < entity->m_location.bBox().numCorners(); ++i) {
WFMath::Point<3> point = entity->m_location.bBox().getCorner(i);
point.rotate(entity->m_location.orientation(), WFMath::Point<3>::ZERO());
point += WFMath::Vector<3>(entity->m_location.pos());
btVector3 btPoint = Convert::toBullet(point);
expectedBtAabbMax.setX(std::max(expectedBtAabbMax.x(), btPoint.x()));
expectedBtAabbMax.setY(std::max(expectedBtAabbMax.y(), btPoint.y()));
expectedBtAabbMax.setZ(std::max(expectedBtAabbMax.z(), btPoint.z()));
expectedBtAabbMin.setX(std::min(expectedBtAabbMin.x(), btPoint.x()));
expectedBtAabbMin.setY(std::min(expectedBtAabbMin.y(), btPoint.y()));
expectedBtAabbMin.setZ(std::min(expectedBtAabbMin.z(), btPoint.z()));
}
ASSERT_FUZZY_EQUAL(expectedBtAabbMax.x(), aabbMax.x(), 0.001);
ASSERT_FUZZY_EQUAL(expectedBtAabbMax.y(), aabbMax.y(), 0.001);
ASSERT_FUZZY_EQUAL(expectedBtAabbMax.z(), aabbMax.z(), 0.001);
ASSERT_FUZZY_EQUAL(expectedBtAabbMin.x(), aabbMin.x(), 0.001);
ASSERT_FUZZY_EQUAL(expectedBtAabbMin.y(), aabbMin.y(), 0.001);
ASSERT_FUZZY_EQUAL(expectedBtAabbMin.z(), aabbMin.z(), 0.001);
};
auto performPlacementTests = [&](Entity* entity) {
verifyBboxes(entity);
std::set<LocatedEntity*> transformedEntities;
//Change pos only
domain->applyTransform(*entity, WFMath::Quaternion(), WFMath::Point<3>(20, 30, 1), WFMath::Vector<3>(), transformedEntities);
verifyBboxes(entity);
//Change orientation only
domain->applyTransform(*entity, WFMath::Quaternion(1, WFMath::numeric_constants<float>::pi() / 3.0f), WFMath::Point<3>(), WFMath::Vector<3>(), transformedEntities);
verifyBboxes(entity);
//Change pos and orientation
domain->applyTransform(*entity, WFMath::Quaternion(1, WFMath::numeric_constants<float>::pi() / 5.0f), WFMath::Point<3>(10, -25, 6), WFMath::Vector<3>(), transformedEntities);
verifyBboxes(entity);
//Change velocity (should not change pos and orientation)
domain->applyTransform(*entity, WFMath::Quaternion(), WFMath::Point<3>(), WFMath::Vector<3>(4, 4, 4), transformedEntities);
verifyBboxes(entity);
};
//Start with a box centered at origo, with no orientation
{
long id = newId();
Entity* entity = new Entity(std::to_string(id), id);
entity->setProperty(ModeProperty::property_name, modeProperty);
entity->setType(rockType);
entity->m_location.m_pos = WFMath::Point<3>(10, -20, 1);
entity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-6, -1, -2), WFMath::Point<3>(6, 1, 2)));
entity->m_location.m_orientation = WFMath::Quaternion::IDENTITY();
domain->addEntity(*entity);
performPlacementTests(entity);
}
//Start with a box centered at origo, with 45 degrees orientation
{
long id = newId();
Entity* entity = new Entity(std::to_string(id), id);
entity->setProperty(ModeProperty::property_name, modeProperty);
entity->setType(rockType);
entity->m_location.m_pos = WFMath::Point<3>(10, -20, 1);
entity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-6, -1, -2), WFMath::Point<3>(6, 1, 2)));
WFMath::Quaternion wfQuat;
wfQuat.rotation(1, -WFMath::numeric_constants<float>::pi() / 4.0f);
entity->m_location.m_orientation = wfQuat;
domain->addEntity(*entity);
performPlacementTests(entity);
}
//A box not centered at origo, with no orientation
{
long id = newId();
Entity* entity = new Entity(std::to_string(id), id);
entity->setProperty(ModeProperty::property_name, modeProperty);
entity->setType(rockType);
entity->m_location.m_pos = WFMath::Point<3>(10, -20, 1);
entity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(0, 0, 0), WFMath::Point<3>(6, 1, 2)));
entity->m_location.m_orientation = WFMath::Quaternion::IDENTITY();
domain->addEntity(*entity);
performPlacementTests(entity);
}
//A box not centered at origo, with 45 degrees orientation
{
long id = newId();
Entity* entity = new Entity(std::to_string(id), id);
entity->setProperty(ModeProperty::property_name, modeProperty);
entity->setType(rockType);
entity->m_location.m_pos = WFMath::Point<3>(10, -20, 1);
entity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(2, 0, 1), WFMath::Point<3>(6, 1, 2)));
WFMath::Quaternion wfQuat;
wfQuat.rotation(1, -WFMath::numeric_constants<float>::pi() / 4.0f);
entity->m_location.m_orientation = wfQuat;
domain->addEntity(*entity);
performPlacementTests(entity);
}
}
void PhysicalDomainIntegrationTest::test_convert()
{
WFMath::AxisBox<3> wfBox(WFMath::Point<3>(-1, -3, -5), WFMath::Point<3>(1, 3, 5));
auto wfSize = wfBox.highCorner() - wfBox.lowCorner();
btVector3 btSize = Convert::toBullet(wfSize);
ASSERT_EQUAL(btSize.x(), wfSize.x());
ASSERT_EQUAL(btSize.y(), wfSize.y());
ASSERT_EQUAL(btSize.z(), wfSize.z());
WFMath::Quaternion wfQuat;
wfQuat.rotation(1, -WFMath::numeric_constants<float>::pi() / 2.0f);
btQuaternion btQuat = Convert::toBullet(wfQuat);
ASSERT_EQUAL(wfQuat.scalar(), btQuat.getW());
ASSERT_EQUAL(wfQuat.vector().x(), btQuat.getX());
ASSERT_EQUAL(wfQuat.vector().y(), btQuat.getY());
ASSERT_EQUAL(wfQuat.vector().z(), btQuat.getZ());
//Now create a box, rotate it and see that the values match.
btBoxShape btBox(btSize / 2);
auto wfHighCorner = wfBox.highCorner();
wfHighCorner.rotate(wfQuat, WFMath::Point<3>::ZERO());
auto wfLowCorner = wfBox.lowCorner();
wfLowCorner.rotate(wfQuat, WFMath::Point<3>::ZERO());
btTransform transform(btQuat);
btVector3 minAabb, maxAabb;
btBox.getAabb(transform, minAabb, maxAabb);
wfBox.highCorner().x() = std::max(wfHighCorner.x(), wfLowCorner.x());
wfBox.highCorner().y() = std::max(wfHighCorner.y(), wfLowCorner.y());
wfBox.highCorner().z() = std::max(wfHighCorner.z(), wfLowCorner.z());
wfBox.lowCorner().x() = std::min(wfHighCorner.x(), wfLowCorner.x());
wfBox.lowCorner().y() = std::min(wfHighCorner.y(), wfLowCorner.y());
wfBox.lowCorner().z() = std::min(wfHighCorner.z(), wfLowCorner.z());
ASSERT_FUZZY_EQUAL(wfBox.highCorner().x(), maxAabb.x(), 0.01);
ASSERT_FUZZY_EQUAL(wfBox.highCorner().y(), maxAabb.y(), 0.01);
ASSERT_FUZZY_EQUAL(wfBox.highCorner().z(), maxAabb.z(), 0.01);
ASSERT_FUZZY_EQUAL(wfBox.lowCorner().x(), minAabb.x(), 0.01);
ASSERT_FUZZY_EQUAL(wfBox.lowCorner().y(), minAabb.y(), 0.01);
ASSERT_FUZZY_EQUAL(wfBox.lowCorner().z(), minAabb.z(), 0.01);
}
void PhysicalDomainIntegrationTest::test_fallToBottom()
{
double tickSize = 1.0 / 15.0;
double time = 0;
Entity* rootEntity = new Entity("0", newId());
rootEntity->m_location.m_pos = WFMath::Point<3>::ZERO();
rootEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-64, -64, -64), WFMath::Point<3>(64, 64, 64)));
std::unique_ptr<TestPhysicalDomain> domain(new TestPhysicalDomain(*rootEntity));
Property<double>* massProp = new Property<double>();
massProp->data() = 10000;
TypeNode* rockType = new TypeNode("rock");
Entity* freeEntity = new Entity("1", newId());
freeEntity->setProperty("mass", massProp);
freeEntity->setType(rockType);
freeEntity->m_location.m_pos = WFMath::Point<3>::ZERO();
freeEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-1, 0, -1), WFMath::Point<3>(1, 1, 1)));
domain->addEntity(*freeEntity);
Entity* fixedEntity = new Entity("2", newId());
fixedEntity->setProperty("mass", massProp);
ModeProperty* modeProperty = new ModeProperty();
modeProperty->set("fixed");
fixedEntity->setProperty(ModeProperty::property_name, modeProperty);
fixedEntity->setType(rockType);
fixedEntity->m_location.m_pos = WFMath::Point<3>(10, 0, 10);
fixedEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-1, 0, -1), WFMath::Point<3>(1, 1, 1)));
domain->addEntity(*fixedEntity);
OpVector res;
//First tick should not update anything
domain->tick(0, res);
ASSERT_EQUAL(freeEntity->m_location.m_pos, WFMath::Point<3>::ZERO());
ASSERT_EQUAL(fixedEntity->m_location.m_pos, WFMath::Point<3>(10, 0, 10));
//Inject enough ticks to move rock to bottom
while (time < 5) {
time += tickSize;
domain->tick(tickSize, res);
}
ASSERT_FUZZY_EQUAL(freeEntity->m_location.m_pos.y(), -64, 0.1);
//Fixed entity should not move
ASSERT_EQUAL(fixedEntity->m_location.m_pos, WFMath::Point<3>(10, 0, 10));
}
void PhysicalDomainIntegrationTest::test_standOnFixed()
{
double tickSize = 1.0 / 15.0;
double time = 0;
Entity* rootEntity = new Entity("0", newId());
rootEntity->m_location.m_pos = WFMath::Point<3>::ZERO();
rootEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-64, -64, -64), WFMath::Point<3>(64, 64, 64)));
std::unique_ptr<TestPhysicalDomain> domain(new TestPhysicalDomain(*rootEntity));
Property<double>* massProp = new Property<double>();
massProp->data() = 10000;
TypeNode* rockType = new TypeNode("rock");
Entity* freeEntity = new Entity("1", newId());
freeEntity->setProperty("mass", massProp);
freeEntity->setType(rockType);
freeEntity->m_location.m_pos = WFMath::Point<3>(0, 1, 0);
freeEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-1, 0, -1), WFMath::Point<3>(1, 1, 1)));
domain->addEntity(*freeEntity);
Entity* fixedEntity = new Entity("2", newId());
fixedEntity->setProperty("mass", massProp);
ModeProperty* modeProperty = new ModeProperty();
modeProperty->set("fixed");
fixedEntity->setProperty(ModeProperty::property_name, modeProperty);
fixedEntity->setType(rockType);
fixedEntity->m_location.m_pos = WFMath::Point<3>::ZERO();
fixedEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-1, 0, -1), WFMath::Point<3>(1, 1, 1)));
domain->addEntity(*fixedEntity);
OpVector res;
//Inject enough ticks to move rock to bottom
while (time < 5) {
time += tickSize;
domain->tick(tickSize, res);
}
ASSERT_EQUAL(freeEntity->m_location.m_pos, WFMath::Point<3>(0, 1, 0));
}
void PhysicalDomainIntegrationTest::test_fallToTerrain()
{
double tickSize = 1.0 / 15.0;
double time = 0;
Entity* rootEntity = new Entity("0", newId());
TerrainProperty* terrainProperty = new TerrainProperty();
Mercator::Terrain& terrain = terrainProperty->getData();
terrain.setBasePoint(0, 0, Mercator::BasePoint(10));
terrain.setBasePoint(0, 1, Mercator::BasePoint(10));
terrain.setBasePoint(1, 0, Mercator::BasePoint(10));
terrain.setBasePoint(1, 1, Mercator::BasePoint(10));
rootEntity->setProperty("terrain", terrainProperty);
rootEntity->m_location.m_pos = WFMath::Point<3>::ZERO();
rootEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-64, -64, -64), WFMath::Point<3>(64, 64, 64)));
std::unique_ptr<TestPhysicalDomain> domain(new TestPhysicalDomain(*rootEntity));
Property<double>* massProp = new Property<double>();
massProp->data() = 10000;
TypeNode* rockType = new TypeNode("rock");
Entity* freeEntity = new Entity("1", newId());
freeEntity->setProperty("mass", massProp);
freeEntity->setType(rockType);
freeEntity->m_location.m_pos = WFMath::Point<3>(10, 20, 10);
freeEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-1, 0, -1), WFMath::Point<3>(1, 1, 1)));
domain->addEntity(*freeEntity);
Entity* plantedEntity = new Entity("2", newId());
plantedEntity->setProperty("mass", massProp);
ModeProperty* modeProperty = new ModeProperty();
modeProperty->set("planted");
plantedEntity->setProperty(ModeProperty::property_name, modeProperty);
plantedEntity->setType(rockType);
plantedEntity->m_location.m_pos = WFMath::Point<3>(20, 20, 20);
plantedEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-1, 0, -1), WFMath::Point<3>(1, 1, 1)));
domain->addEntity(*plantedEntity);
ASSERT_EQUAL(freeEntity->m_location.m_pos.y(), 20);
//Planted entity should be placed on the terrain when added to the domain.
ASSERT_EQUAL(plantedEntity->m_location.m_pos, WFMath::Point<3>(20, 10.0058, 20));
OpVector res;
//Inject enough ticks to move rock to bottom
while (time < 5) {
time += tickSize;
domain->tick(tickSize, res);
}
ASSERT_FUZZY_EQUAL(freeEntity->m_location.m_pos.y(), 10.0087f, 0.01f);
//Planted entity should not move
ASSERT_EQUAL(plantedEntity->m_location.m_pos, WFMath::Point<3>(20, 10.0058, 20));
}
void PhysicalDomainIntegrationTest::test_collision()
{
double tickSize = 1.0 / 15.0;
Property<double>* zeroFrictionProperty = new Property<double>();
zeroFrictionProperty->data() = 0;
auto speedGroundProperty = new Property<double>();
speedGroundProperty->data() = 5.0;
Entity* rootEntity = new Entity("0", newId());
TerrainProperty* terrainProperty = new TerrainProperty();
Mercator::Terrain& terrain = terrainProperty->getData();
terrain.setBasePoint(0, 0, Mercator::BasePoint(10));
terrain.setBasePoint(0, 1, Mercator::BasePoint(10));
terrain.setBasePoint(1, 0, Mercator::BasePoint(10));
terrain.setBasePoint(1, 1, Mercator::BasePoint(10));
rootEntity->setProperty("terrain", terrainProperty);
rootEntity->setProperty("friction", zeroFrictionProperty);
rootEntity->m_location.m_pos = WFMath::Point<3>::ZERO();
rootEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-64, -64, -64), WFMath::Point<3>(64, 64, 64)));
std::unique_ptr<TestPhysicalDomain> domain(new TestPhysicalDomain(*rootEntity));
Property<double>* massProp = new Property<double>();
massProp->data() = 100;
TypeNode* rockType = new TypeNode("rock");
PropelProperty* propelProperty = new PropelProperty();
//Move y axis 2 meter per second.
propelProperty->data() = WFMath::Vector<3>(0, 0, 2.0 / speedGroundProperty->data());
AngularFactorProperty angularZeroFactorProperty;
angularZeroFactorProperty.data() = WFMath::Vector<3>::ZERO();
Entity* freeEntity = new Entity("1", newId());
freeEntity->setProperty(PropelProperty::property_name, propelProperty);
freeEntity->setProperty("mass", massProp);
freeEntity->setProperty("friction", zeroFrictionProperty);
freeEntity->setProperty("speed-ground", speedGroundProperty);
freeEntity->setProperty(AngularFactorProperty::property_name, &angularZeroFactorProperty);
freeEntity->setType(rockType);
freeEntity->m_location.m_pos = WFMath::Point<3>(10, 10, 10);
freeEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-1, 0, -1), WFMath::Point<3>(1, 1, 1)));
domain->addEntity(*freeEntity);
Entity* plantedEntity = new Entity("2", newId());
plantedEntity->setProperty("mass", massProp);
ModeProperty* modeProperty = new ModeProperty();
modeProperty->set("planted");
plantedEntity->setProperty(ModeProperty::property_name, modeProperty);
plantedEntity->setType(rockType);
plantedEntity->m_location.m_pos = WFMath::Point<3>(10, 10, 15);
plantedEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-1, 0, -1), WFMath::Point<3>(1, 1, 1)));
domain->addEntity(*plantedEntity);
const WFMath::Point<3> plantedPos = plantedEntity->m_location.m_pos;
OpVector res;
domain->tick(tickSize, res);
//Should have moved 2/15 meters
ASSERT_FUZZY_EQUAL(freeEntity->m_location.m_pos.z(), 10 + (2.0 / 15.0), 0.1f);
//Inject ticks for one second
domain->tick(14.0 / 15.0, res);
//Should have moved 2 meters in y axis
ASSERT_FUZZY_EQUAL(freeEntity->m_location.m_pos.z(), 12, 0.1f);
//Inject ticks for three seconds
for (int i = 0; i < (3 * 15); ++i) {
domain->tick(tickSize, res);
}
//Should have stopped at planted entity
ASSERT_FUZZY_EQUAL(freeEntity->m_location.m_pos.z(), 13, 0.1f);
ASSERT_EQUAL(plantedEntity->m_location.m_pos, plantedPos);
domain->removeEntity(*plantedEntity);
domain->tick(1.0, res);
//Should have moved two more meters as planted entity was removed.
ASSERT_FUZZY_EQUAL(freeEntity->m_location.m_pos.z(), 15, 0.1f);
}
void PhysicalDomainIntegrationTest::test_mode()
{
double tickSize = 1.0 / 15.0;
ModeProperty* modePlantedProperty = new ModeProperty();
modePlantedProperty->set("planted");
ModeProperty* modeFixedProperty = new ModeProperty();
modeFixedProperty->set("fixed");
ModeProperty* modeFreeProperty = new ModeProperty();
modeFreeProperty->set("");
TypeNode* rockType = new TypeNode("rock");
Entity* rootEntity = new Entity("0", newId());
TerrainProperty* terrainProperty = new TerrainProperty();
Mercator::Terrain& terrain = terrainProperty->getData();
terrain.setBasePoint(0, 0, Mercator::BasePoint(40));
terrain.setBasePoint(0, 1, Mercator::BasePoint(40));
terrain.setBasePoint(1, 0, Mercator::BasePoint(10));
terrain.setBasePoint(1, 1, Mercator::BasePoint(10));
rootEntity->setProperty("terrain", terrainProperty);
rootEntity->m_location.m_pos = WFMath::Point<3>::ZERO();
rootEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-64, -64, -64), WFMath::Point<3>(64, 64, 64)));
std::unique_ptr<TestPhysicalDomain> domain(new TestPhysicalDomain(*rootEntity));
Property<double>* massProp = new Property<double>();
massProp->data() = 100;
Entity* freeEntity1 = new Entity("free1", newId());
freeEntity1->setProperty("mass", massProp);
freeEntity1->setType(rockType);
freeEntity1->m_location.m_pos = WFMath::Point<3>(10, 30, 10);
freeEntity1->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-1, 0, -1), WFMath::Point<3>(1, 1, 1)));
domain->addEntity(*freeEntity1);
ASSERT_EQUAL(freeEntity1->m_location.m_pos, WFMath::Point<3>(10, 30, 10));
//The other free entity is placed below the terrain; it's expected to then be clamped to the terrain
Entity* freeEntity2 = new Entity("free2", newId());
freeEntity2->setProperty("mass", massProp);
freeEntity2->setType(rockType);
freeEntity2->m_location.m_pos = WFMath::Point<3>(20, -10, 20);
freeEntity2->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-1, 0, -1), WFMath::Point<3>(1, 1, 1)));
domain->addEntity(*freeEntity2);
ASSERT_EQUAL(freeEntity2->m_location.m_pos, WFMath::Point<3>(20, 22.6006, 20));
Entity* plantedEntity = new Entity("planted", newId());
plantedEntity->setProperty("mass", massProp);
plantedEntity->setProperty(ModeProperty::property_name, modePlantedProperty);
plantedEntity->setType(rockType);
plantedEntity->m_location.m_pos = WFMath::Point<3>(30, 10, 30);
plantedEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-1, 0, -1), WFMath::Point<3>(1, 1, 1)));
domain->addEntity(*plantedEntity);
ASSERT_EQUAL(plantedEntity->m_location.m_pos, WFMath::Point<3>(30, 18.4325, 30));
Entity* fixedEntity = new Entity("fixed", newId());
fixedEntity->setProperty("mass", massProp);
fixedEntity->setProperty(ModeProperty::property_name, modeFixedProperty);
fixedEntity->setType(rockType);
fixedEntity->m_location.m_pos = WFMath::Point<3>(40, 50, 40);
fixedEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-1, 0, -1), WFMath::Point<3>(1, 1, 1)));
domain->addEntity(*fixedEntity);
ASSERT_EQUAL(fixedEntity->m_location.m_pos, WFMath::Point<3>(40, 50, 40));
OpVector res;
//Inject ticks for two seconds
for (int i = 0; i < 30; ++i) {
domain->tick(tickSize, res);
}
ASSERT_NOT_EQUAL(freeEntity1->m_location.m_pos, WFMath::Point<3>(10, 30, 10));
ASSERT_NOT_EQUAL(freeEntity2->m_location.m_pos, WFMath::Point<3>(20, 22.6006, 20));
ASSERT_EQUAL(plantedEntity->m_location.m_pos, WFMath::Point<3>(30, 18.4325, 30));
ASSERT_EQUAL(fixedEntity->m_location.m_pos, WFMath::Point<3>(40, 50, 40));
}
void PhysicalDomainIntegrationTest::test_determinism()
{
double tickSize = 1.0 / 15.0;
TypeNode* rockType = new TypeNode("rock");
Entity* rootEntity = new Entity("0", newId());
TerrainProperty* terrainProperty = new TerrainProperty();
Mercator::Terrain& terrain = terrainProperty->getData();
terrain.setBasePoint(0, 0, Mercator::BasePoint(40));
terrain.setBasePoint(0, 1, Mercator::BasePoint(40));
terrain.setBasePoint(1, 0, Mercator::BasePoint(10));
terrain.setBasePoint(1, 1, Mercator::BasePoint(10));
rootEntity->setProperty("terrain", terrainProperty);
rootEntity->m_location.m_pos = WFMath::Point<3>::ZERO();
rootEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(0, 0, -64), WFMath::Point<3>(64, 64, 64)));
std::unique_ptr<TestPhysicalDomain> domain(new TestPhysicalDomain(*rootEntity));
Property<double>* massProp = new Property<double>();
massProp->data() = 100;
std::vector<Entity*> entities;
for (size_t i = 0; i < 10; ++i) {
for (size_t j = 0; j < 10; ++j) {
long id = newId();
std::stringstream ss;
ss << "free" << id;
Entity* freeEntity = new Entity(ss.str(), id);
freeEntity->setProperty("mass", massProp);
freeEntity->setType(rockType);
freeEntity->m_location.m_pos = WFMath::Point<3>(i, j, i + j);
freeEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-0.25f, 0, -0.25f), WFMath::Point<3>(-0.25f, 0.5f, -0.25f)));
domain->addEntity(*freeEntity);
entities.push_back(freeEntity);
}
}
OpVector res;
//First tick is setup, so we'll exclude that from time measurement
domain->tick(tickSize, res);
//Inject ticks for two seconds
for (int i = 0; i < 29; ++i) {
domain->tick(tickSize, res);
}
//Sample a couple of selected entities
//Note: this perhaps differs depending on version of Bullet and machine setup?
// ASSERT_EQUAL(entities[0]->m_location.m_pos, WFMath::Point<3>(0.495543, -0, 19.949));
// ASSERT_EQUAL(entities[10]->m_location.m_pos, WFMath::Point<3>(1, -0, 18.0217));
// ASSERT_EQUAL(entities[15]->m_location.m_pos, WFMath::Point<3>(2.61429, 0.0884429, 26.4489));
// ASSERT_EQUAL(entities[16]->m_location.m_pos, WFMath::Point<3>(0.948305, 0.105805, 18.7352));
// ASSERT_EQUAL(entities[55]->m_location.m_pos, WFMath::Point<3>(6.30361, -1.19749f, 28.0569));
}
void PhysicalDomainIntegrationTest::test_zoffset()
{
TypeNode* rockType = new TypeNode("rock");
ModeProperty* modePlantedProperty = new ModeProperty();
modePlantedProperty->set("planted");
Property<double>* plantedOffset = new Property<double>();
plantedOffset->data() = -2;
Entity* rootEntity = new Entity("0", newId());
TerrainProperty* terrainProperty = new TerrainProperty();
Mercator::Terrain& terrain = terrainProperty->getData();
terrain.setBasePoint(0, 0, Mercator::BasePoint(10));
terrain.setBasePoint(0, 1, Mercator::BasePoint(10));
terrain.setBasePoint(1, 0, Mercator::BasePoint(10));
terrain.setBasePoint(1, 1, Mercator::BasePoint(10));
rootEntity->setProperty("terrain", terrainProperty);
rootEntity->m_location.m_pos = WFMath::Point<3>::ZERO();
rootEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(0, -64, 0), WFMath::Point<3>(64, 64, 64)));
std::unique_ptr<TestPhysicalDomain> domain(new TestPhysicalDomain(*rootEntity));
TestWorld testWorld(*rootEntity);
Entity* plantedEntity = new Entity("planted", newId());
plantedEntity->setProperty(ModeProperty::property_name, modePlantedProperty);
plantedEntity->setType(rockType);
plantedEntity->m_location.m_pos = WFMath::Point<3>(30, 10, 30);
plantedEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-1, 0, -1), WFMath::Point<3>(1, 10, 1)));
plantedEntity->setProperty("planted-offset", plantedOffset);
domain->addEntity(*plantedEntity);
ASSERT_EQUAL(plantedEntity->m_location.m_pos, WFMath::Point<3>(30, 8.01695, 30));
plantedOffset->data() = -3;
plantedOffset->apply(plantedEntity);
plantedEntity->propertyApplied.emit("planted-offset", *plantedOffset);
ASSERT_EQUAL(plantedEntity->m_location.m_pos, WFMath::Point<3>(30, 7.01695, 30));
}
void PhysicalDomainIntegrationTest::test_zscaledoffset()
{
TypeNode* rockType = new TypeNode("rock");
ModeProperty* modePlantedProperty = new ModeProperty();
modePlantedProperty->set("planted");
Property<double>* plantedScaledOffset = new Property<double>();
plantedScaledOffset->data() = -0.2;
Entity* rootEntity = new Entity("0", newId());
TerrainProperty* terrainProperty = new TerrainProperty();
Mercator::Terrain& terrain = terrainProperty->getData();
terrain.setBasePoint(0, 0, Mercator::BasePoint(10));
terrain.setBasePoint(0, 1, Mercator::BasePoint(10));
terrain.setBasePoint(1, 0, Mercator::BasePoint(10));
terrain.setBasePoint(1, 1, Mercator::BasePoint(10));
rootEntity->setProperty("terrain", terrainProperty);
rootEntity->m_location.m_pos = WFMath::Point<3>::ZERO();
rootEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(0, -64, 0), WFMath::Point<3>(64, 64, 64)));
std::unique_ptr<TestPhysicalDomain> domain(new TestPhysicalDomain(*rootEntity));
TestWorld testWorld(*rootEntity);
Entity* plantedEntity = new Entity("planted", newId());
plantedEntity->setProperty(ModeProperty::property_name, modePlantedProperty);
plantedEntity->setType(rockType);
plantedEntity->m_location.m_pos = WFMath::Point<3>(30, 10, 30);
plantedEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-1, 0, -1), WFMath::Point<3>(1, 10, 10)));
plantedEntity->setProperty("planted-scaled-offset", plantedScaledOffset);
domain->addEntity(*plantedEntity);
ASSERT_EQUAL(plantedEntity->m_location.m_pos, WFMath::Point<3>(30, 8.01695, 30));
plantedScaledOffset->data() = -0.3;
plantedScaledOffset->apply(plantedEntity);
plantedEntity->propertyApplied.emit("planted-offset", *plantedScaledOffset);
ASSERT_EQUAL(plantedEntity->m_location.m_pos, WFMath::Point<3>(30, 7.01695, 30));
}
void PhysicalDomainIntegrationTest::test_visibility()
{
TypeNode* rockType = new TypeNode("rock");
TypeNode* humanType = new TypeNode("human");
ModeProperty* modePlantedProperty = new ModeProperty();
modePlantedProperty->set("planted");
VisibilityProperty* visibilityProperty = new VisibilityProperty();
visibilityProperty->set(1000.f);
Entity* rootEntity = new Entity("0", newId());
rootEntity->m_location.m_pos = WFMath::Point<3>::ZERO();
rootEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-64, 0, -64), WFMath::Point<3>(64, 64, 64)));
std::unique_ptr<TestPhysicalDomain> domain(new TestPhysicalDomain(*rootEntity));
TestWorld testWorld(*rootEntity);
Entity* smallEntity1 = new Entity("small1", newId());
smallEntity1->setProperty(ModeProperty::property_name, modePlantedProperty);
smallEntity1->setType(rockType);
smallEntity1->m_location.m_pos = WFMath::Point<3>(30, 0, 30);
smallEntity1->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-0.2f, 0, -0.2f), WFMath::Point<3>(0.2, 0.4, 0.2)));
domain->addEntity(*smallEntity1);
Entity* smallEntity2 = new Entity("small2", newId());
smallEntity2->setProperty(ModeProperty::property_name, modePlantedProperty);
smallEntity2->setType(rockType);
smallEntity2->m_location.m_pos = WFMath::Point<3>(-31, 0, -31);
smallEntity2->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-0.2f, 0, -0.2f), WFMath::Point<3>(0.2, 0.4, 0.2)));
domain->addEntity(*smallEntity2);
//This entity should always be seen, as "visibility" is specified.
Entity* smallVisibleEntity = new Entity("smallVisible", newId());
smallVisibleEntity->setProperty(ModeProperty::property_name, modePlantedProperty);
smallVisibleEntity->setType(rockType);
smallVisibleEntity->m_location.m_pos = WFMath::Point<3>(-63, 0, -63);
smallVisibleEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-0.2f, 0, -0.2f), WFMath::Point<3>(0.2, 0.4, 0.2)));
smallVisibleEntity->setProperty("visibility", visibilityProperty);
domain->addEntity(*smallVisibleEntity);
Entity* largeEntity1 = new Entity("large1", newId());
largeEntity1->setProperty(ModeProperty::property_name, modePlantedProperty);
largeEntity1->setType(rockType);
largeEntity1->m_location.m_pos = WFMath::Point<3>(0, 0, 0);
largeEntity1->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-10.f, 0, -10.f), WFMath::Point<3>(10, 20, 10)));
domain->addEntity(*largeEntity1);
Entity* observerEntity = new Entity("observer", newId());
observerEntity->setType(humanType);
observerEntity->m_location.m_pos = WFMath::Point<3>(-30, 0, -30);
observerEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-0.2f, 0, -0.2f), WFMath::Point<3>(0.2, 2, 0.2)));
observerEntity->addFlags(entity_perceptive);
domain->addEntity(*observerEntity);
OpVector res;
std::set<LocatedEntity*> transformedEntities;
domain->tick(0.1, res);
ASSERT_TRUE(domain->isEntityVisibleFor(*observerEntity, *observerEntity));
{
ASSERT_TRUE(domain->isEntityVisibleFor(*observerEntity, *smallVisibleEntity));
ASSERT_TRUE(domain->isEntityVisibleFor(*observerEntity, *smallEntity2));
ASSERT_TRUE(domain->isEntityVisibleFor(*observerEntity, *largeEntity1));
ASSERT_FALSE(domain->isEntityVisibleFor(*observerEntity, *smallEntity1));
std::list<LocatedEntity*> observedList;
domain->getVisibleEntitiesFor(*observerEntity, observedList);
ASSERT_EQUAL(4u, observedList.size());
ASSERT_TRUE(std::find_if(observedList.begin(), observedList.end(), [](const LocatedEntity* entity) { return entity->getId() == "small2"; }) != observedList.end());
ASSERT_TRUE(std::find_if(observedList.begin(), observedList.end(), [](const LocatedEntity* entity) { return entity->getId() == "smallVisible"; }) != observedList.end());
ASSERT_TRUE(std::find_if(observedList.begin(), observedList.end(), [](const LocatedEntity* entity) { return entity->getId() == "large1"; }) != observedList.end());
ASSERT_TRUE(std::find_if(observedList.begin(), observedList.end(), [](const LocatedEntity* entity) { return entity->getId() == "observer"; }) != observedList.end());
}
//Now move the observer to "small1"
domain->applyTransform(*observerEntity, WFMath::Quaternion(), WFMath::Point<3>(30, 0, 30), WFMath::Vector<3>(), transformedEntities);
//Force visibility updates
domain->tick(2, res);
{
ASSERT_TRUE(domain->isEntityVisibleFor(*observerEntity, *smallVisibleEntity));
ASSERT_TRUE(domain->isEntityVisibleFor(*observerEntity, *smallEntity1));
ASSERT_TRUE(domain->isEntityVisibleFor(*observerEntity, *largeEntity1));
ASSERT_FALSE(domain->isEntityVisibleFor(*observerEntity, *smallEntity2));
std::list<LocatedEntity*> observedList;
domain->getVisibleEntitiesFor(*observerEntity, observedList);
ASSERT_EQUAL(4u, observedList.size());
ASSERT_TRUE(std::find_if(observedList.begin(), observedList.end(), [](const LocatedEntity* entity) { return entity->getId() == "small1"; }) != observedList.end());
ASSERT_TRUE(std::find_if(observedList.begin(), observedList.end(), [](const LocatedEntity* entity) { return entity->getId() == "smallVisible"; }) != observedList.end());
ASSERT_TRUE(std::find_if(observedList.begin(), observedList.end(), [](const LocatedEntity* entity) { return entity->getId() == "large1"; }) != observedList.end());
ASSERT_TRUE(std::find_if(observedList.begin(), observedList.end(), [](const LocatedEntity* entity) { return entity->getId() == "observer"; }) != observedList.end());
}
}
void PhysicalDomainIntegrationTest::test_stairs()
{
TypeNode* rockType = new TypeNode("rock");
TypeNode* humanType = new TypeNode("human");
ModeProperty* modePlantedProperty = new ModeProperty();
modePlantedProperty->set("planted");
Property<double>* massProp = new Property<double>();
massProp->data() = 100;
auto speedGroundProperty = new Property<double>();
speedGroundProperty->data() = 5.0;
PropelProperty* propelProperty = new PropelProperty();
propelProperty->data() = WFMath::Vector<3>(0, 0, 1.0 / speedGroundProperty->data());
AngularFactorProperty angularZeroFactorProperty;
angularZeroFactorProperty.data() = WFMath::Vector<3>::ZERO();
GeometryProperty capsuleProperty;
capsuleProperty.set(Atlas::Message::MapType({{"type", "capsule-y"}}));
// Property<double>* stepFactorProp = new Property<double>();
// stepFactorProp->data() = 0.3;
humanType->injectProperty("speed-ground", speedGroundProperty);
Entity* rootEntity = new Entity("0", newId());
rootEntity->m_location.m_pos = WFMath::Point<3>::ZERO();
rootEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-64, 0, -64), WFMath::Point<3>(64, 64, 64)));
std::unique_ptr<TestPhysicalDomain> domain(new TestPhysicalDomain(*rootEntity));
TestWorld testWorld(*rootEntity);
//Create 10 entities at increasing height, forming a stair.
for (int i = 0; i < 10; ++i) {
std::stringstream ss;
long id = newId();
ss << "step" << id;
Entity* stepElement = new Entity(ss.str(), id);
stepElement->setProperty(ModeProperty::property_name, modePlantedProperty);
float height = 0.1f + (i * 0.1f);
float zPos = i * 0.2f;
WFMath::Point<3> pos(0, 0, zPos);
WFMath::AxisBox<3> bbox(WFMath::Point<3>(-0.4f, 0, -0.1f), WFMath::Point<3>(0.4f, height, 0.1f));
stepElement->m_location.setBBox(bbox);
stepElement->m_location.m_pos = pos;
stepElement->setType(rockType);
domain->addEntity(*stepElement);
}
//First with an entity which doesn't step; it should collide and be kept in place
{
Entity* human = new Entity("human", newId());
human->setProperty(AngularFactorProperty::property_name, &angularZeroFactorProperty);
human->setProperty("mass", massProp);
human->setProperty(PropelProperty::property_name, propelProperty);
human->setType(humanType);
human->m_location.m_pos = WFMath::Point<3>(0, 0, -1);
human->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-0.4f, 0, -0.4f), WFMath::Point<3>(0.4, 1.8, 0.4)));
domain->addEntity(*human);
OpVector res;
domain->tick(2, res);
ASSERT_FUZZY_EQUAL(-0.5f, human->m_location.m_pos.z(), 0.1f);
domain->removeEntity(*human);
}
//Then with an entity with a capsule geometry, it should step
{
Entity* human = new Entity("human", newId());
//human->setProperty("step_factor", stepFactorProp);
human->setProperty(AngularFactorProperty::property_name, &angularZeroFactorProperty);
human->setProperty("mass", massProp);
human->setProperty(PropelProperty::property_name, propelProperty);
human->setProperty(GeometryProperty::property_name, &capsuleProperty);
human->setType(humanType);
human->m_location.m_pos = WFMath::Point<3>(0, 0, -1);
human->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-0.4f, 0, -0.4f), WFMath::Point<3>(0.4, 1.8, 0.4)));
domain->addEntity(*human);
OpVector res;
domain->tick(2, res);
ASSERT_FUZZY_EQUAL(0.5, human->m_location.m_pos.z(), 0.3f);
domain->removeEntity(*human);
}
//Also place a tilted square entity, which is too tilted to allow for stepping on
//The human entity shouldn't step up on the tilted entity
{
long id = newId();
Entity* stepElement = new Entity("tilted", id);
stepElement->setProperty(ModeProperty::property_name, modePlantedProperty);
WFMath::Point<3> pos(20, 0, 0);
WFMath::AxisBox<3> bbox(WFMath::Point<3>(-0.4f, 0.f, 0), WFMath::Point<3>(0.4f, 1, 0.4f));
stepElement->m_location.m_orientation.rotate(WFMath::Quaternion(0, WFMath::numeric_constants<float>::pi() * 0.2f));
stepElement->m_location.setBBox(bbox);
stepElement->m_location.m_pos = pos;
stepElement->setType(rockType);
domain->addEntity(*stepElement);
Entity* human = new Entity("human", newId());
//human->setProperty("step_factor", stepFactorProp);
human->setProperty(AngularFactorProperty::property_name, &angularZeroFactorProperty);
human->setProperty("mass", massProp);
human->setProperty(PropelProperty::property_name, propelProperty);
human->setProperty(GeometryProperty::property_name, &capsuleProperty);
human->setType(humanType);
human->m_location.m_pos = WFMath::Point<3>(20, 0, -1);
human->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-0.4f, 0, -0.4f), WFMath::Point<3>(0.4, 1.8, 0.4)));
domain->addEntity(*human);
OpVector res;
domain->tick(2, res);
ASSERT_FUZZY_EQUAL(0, human->m_location.m_pos.y(), 0.01f);
ASSERT_FUZZY_EQUAL(-0.4f, human->m_location.m_pos.z(), 0.1f);
}
}
void PhysicalDomainIntegrationTest::test_terrainPrecision()
{
Entity* rootEntity = new Entity("0", newId());
TerrainProperty* terrainProperty = new TerrainProperty();
Mercator::Terrain& terrain = terrainProperty->getData();
terrain.setBasePoint(0, 0, Mercator::BasePoint(10));
terrain.setBasePoint(0, 1, Mercator::BasePoint(15));
terrain.setBasePoint(0, -1, Mercator::BasePoint(15));
terrain.setBasePoint(1, 0, Mercator::BasePoint(20));
terrain.setBasePoint(1, 1, Mercator::BasePoint(25));
terrain.setBasePoint(1, -1, Mercator::BasePoint(30));
terrain.setBasePoint(-1, 0, Mercator::BasePoint(35));
terrain.setBasePoint(-1, 1, Mercator::BasePoint(40));
terrain.setBasePoint(-1, -1, Mercator::BasePoint(45));
rootEntity->setProperty("terrain", terrainProperty);
rootEntity->m_location.m_pos = WFMath::Point<3>::ZERO();
rootEntity->m_location.setBBox(WFMath::AxisBox<3>(WFMath::Point<3>(-64, -64, -64), WFMath::Point<3>(64, 64, 64)));
std::unique_ptr<TestPhysicalDomain> domain(new TestPhysicalDomain(*rootEntity));
auto checkHeightFunc = [&](float x, float z) {
PhysicalWorld* physicalWorld = domain->test_getPhysicalWorld();
float mercatorHeight;
WFMath::Vector<3> normal;
terrain.getHeightAndNormal(x, z, mercatorHeight, normal);
btVector3 from(x, 63, z);
btVector3 to(x, -63, z);
btCollisionWorld::ClosestRayResultCallback callback(from, to);
physicalWorld->rayTest(from, to, callback);
ASSERT_FUZZY_EQUAL(mercatorHeight, callback.m_hitPointWorld.y(), 0.1);
/*
ASSERT_FUZZY_EQUAL(normal.x(), callback.m_hitNormalWorld.x(), 0.1);
ASSERT_FUZZY_EQUAL(normal.y(), callback.m_hitNormalWorld.y(), 0.1);
ASSERT_FUZZY_EQUAL(normal.z(), callback.m_hitNormalWorld.z(), 0.1);
*/
};
checkHeightFunc(1, 1);
checkHeightFunc(10, 10);
checkHeightFunc(15, 15);
checkHeightFunc(-15, 15);
checkHeightFunc(-15, -15);
checkHeightFunc(15, -15);
}
void TestWorld::message(const Operation& op, LocatedEntity& ent)
{
}
LocatedEntity* TestWorld::addNewEntity(const std::string&,
const Atlas::Objects::Entity::RootEntity&)
{
return 0;
}
int main()
{
PhysicalDomainIntegrationTest t;
return t.run();
}
Reference in a new issue View git blame Copy permalink