bc6a93fa02
* Add pyramid physics testbed From Box2D (licence is already on the file). Useful for testing solver performance for large islands. * nulls Co-authored-by: Metal Gear Sloth <metalgearsloth@gmail.com>
269 lines
9.9 KiB
C#
269 lines
9.9 KiB
C#
/*
|
|
MIT License
|
|
|
|
Copyright (c) 2019 Erin Catto
|
|
|
|
Permission is hereby granted, free of charge, to any person obtaining a copy
|
|
of this software and associated documentation files (the "Software"), to deal
|
|
in the Software without restriction, including without limitation the rights
|
|
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
|
copies of the Software, and to permit persons to whom the Software is
|
|
furnished to do so, subject to the following conditions:
|
|
|
|
The above copyright notice and this permission notice shall be included in all
|
|
copies or substantial portions of the Software.
|
|
|
|
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
|
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
|
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
|
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
|
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
|
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
|
SOFTWARE.
|
|
|
|
These tests are derived from box2d's testbed tests but done in a way as to be automated and useful for CI.
|
|
*/
|
|
|
|
using System.Collections.Generic;
|
|
using System.Threading.Tasks;
|
|
using NUnit.Framework;
|
|
using Robust.Shared.GameObjects;
|
|
using Robust.Shared.IoC;
|
|
using Robust.Shared.Map;
|
|
using Robust.Shared.Maths;
|
|
using Robust.Shared.Physics;
|
|
using Robust.Shared.Physics.Dynamics;
|
|
using Robust.Shared.Physics.Dynamics.Shapes;
|
|
using Robust.UnitTesting;
|
|
|
|
namespace Content.IntegrationTests.Tests.Physics
|
|
{
|
|
[TestFixture]
|
|
public class PhysicsTestBedTest : ContentIntegrationTest
|
|
{
|
|
[Test]
|
|
public async Task TestBoxStack()
|
|
{
|
|
var server = StartServer();
|
|
await server.WaitIdleAsync();
|
|
|
|
var mapManager = server.ResolveDependency<IMapManager>();
|
|
var entitySystemManager = server.ResolveDependency<IEntitySystemManager>();
|
|
var physicsSystem = entitySystemManager.GetEntitySystem<SharedPhysicsSystem>();
|
|
MapId mapId;
|
|
|
|
var columnCount = 1;
|
|
var rowCount = 15;
|
|
PhysicsComponent[] bodies = new PhysicsComponent[columnCount * rowCount];
|
|
Vector2 firstPos = Vector2.Zero;
|
|
|
|
await server.WaitPost(() =>
|
|
{
|
|
mapId = mapManager.CreateMap();
|
|
physicsSystem.Maps[mapId].Gravity = new Vector2(0, -9.8f);
|
|
|
|
var entityManager = IoCManager.Resolve<IEntityManager>();
|
|
|
|
var ground = entityManager.SpawnEntity(null, new MapCoordinates(0, 0, mapId)).AddComponent<PhysicsComponent>();
|
|
|
|
var horizontal = new EdgeShape(new Vector2(-20, 0), new Vector2(20, 0));
|
|
var horizontalFixture = new Fixture(ground, horizontal)
|
|
{
|
|
CollisionLayer = 1,
|
|
CollisionMask = 1,
|
|
Hard = true
|
|
};
|
|
ground.AddFixture(horizontalFixture);
|
|
|
|
var vertical = new EdgeShape(new Vector2(10, 0), new Vector2(10, 10));
|
|
var verticalFixture = new Fixture(ground, vertical)
|
|
{
|
|
CollisionLayer = 1,
|
|
CollisionMask = 1,
|
|
Hard = true
|
|
};
|
|
ground.AddFixture(verticalFixture);
|
|
|
|
var xs = new[]
|
|
{
|
|
0.0f, -10.0f, -5.0f, 5.0f, 10.0f
|
|
};
|
|
|
|
PolygonShape shape;
|
|
|
|
for (var j = 0; j < columnCount; j++)
|
|
{
|
|
for (var i = 0; i < rowCount; i++)
|
|
{
|
|
var x = 0.0f;
|
|
|
|
var box = entityManager.SpawnEntity(null,
|
|
new MapCoordinates(new Vector2(xs[j] + x, 0.55f + 2.1f * i), mapId)).AddComponent<PhysicsComponent>();
|
|
|
|
box.BodyType = BodyType.Dynamic;
|
|
box.SleepingAllowed = false;
|
|
shape = new PolygonShape(0.001f) {Vertices = new List<Vector2>()
|
|
{
|
|
new(0.5f, -0.5f),
|
|
new(0.5f, 0.5f),
|
|
new(-0.5f, 0.5f),
|
|
new(-0.5f, -0.5f),
|
|
}};
|
|
box.FixedRotation = true;
|
|
// TODO: Need to detect shape and work out if we need to use fixedrotation
|
|
|
|
var fixture = new Fixture(box, shape)
|
|
{
|
|
CollisionMask = 1,
|
|
CollisionLayer = 1,
|
|
Hard = true,
|
|
};
|
|
box.AddFixture(fixture);
|
|
|
|
bodies[j * rowCount + i] = box;
|
|
}
|
|
}
|
|
|
|
firstPos = bodies[0].Owner.Transform.WorldPosition;
|
|
});
|
|
|
|
await server.WaitRunTicks(1);
|
|
|
|
// Check that gravity workin
|
|
await server.WaitAssertion(() =>
|
|
{
|
|
Assert.That(firstPos != bodies[0].Owner.Transform.WorldPosition);
|
|
});
|
|
|
|
// Assert
|
|
|
|
await server.WaitRunTicks(150);
|
|
|
|
// Assert settled, none below 0, etc.
|
|
await server.WaitAssertion(() =>
|
|
{
|
|
for (var j = 0; j < columnCount; j++)
|
|
{
|
|
for (var i = 0; i < bodies.Length; i++)
|
|
{
|
|
var body = bodies[j * columnCount + i];
|
|
var worldPos = body.Owner.Transform.WorldPosition;
|
|
|
|
// TODO: Multi-column support but I cbf right now
|
|
// Can't be more exact as some level of sinking is allowed.
|
|
Assert.That(worldPos.EqualsApprox(new Vector2(0.0f, i + 0.5f), 0.1f), $"Expected y-value of {i + 0.5f} but found {worldPos.Y}");
|
|
}
|
|
}
|
|
});
|
|
}
|
|
|
|
[Test]
|
|
public async Task TestCircleStack()
|
|
{
|
|
var server = StartServer();
|
|
await server.WaitIdleAsync();
|
|
|
|
var mapManager = server.ResolveDependency<IMapManager>();
|
|
var entitySystemManager = server.ResolveDependency<IEntitySystemManager>();
|
|
var physicsSystem = entitySystemManager.GetEntitySystem<SharedPhysicsSystem>();
|
|
MapId mapId;
|
|
|
|
var columnCount = 1;
|
|
var rowCount = 15;
|
|
PhysicsComponent[] bodies = new PhysicsComponent[columnCount * rowCount];
|
|
Vector2 firstPos = Vector2.Zero;
|
|
|
|
await server.WaitPost(() =>
|
|
{
|
|
mapId = mapManager.CreateMap();
|
|
physicsSystem.Maps[mapId].Gravity = new Vector2(0, -9.8f);
|
|
|
|
var entityManager = IoCManager.Resolve<IEntityManager>();
|
|
|
|
var ground = entityManager.SpawnEntity(null, new MapCoordinates(0, 0, mapId)).AddComponent<PhysicsComponent>();
|
|
|
|
var horizontal = new EdgeShape(new Vector2(-20, 0), new Vector2(20, 0));
|
|
var horizontalFixture = new Fixture(ground, horizontal)
|
|
{
|
|
CollisionLayer = 1,
|
|
CollisionMask = 1,
|
|
Hard = true
|
|
};
|
|
ground.AddFixture(horizontalFixture);
|
|
|
|
var vertical = new EdgeShape(new Vector2(10, 0), new Vector2(10, 10));
|
|
var verticalFixture = new Fixture(ground, vertical)
|
|
{
|
|
CollisionLayer = 1,
|
|
CollisionMask = 1,
|
|
Hard = true
|
|
};
|
|
ground.AddFixture(verticalFixture);
|
|
|
|
var xs = new[]
|
|
{
|
|
0.0f, -10.0f, -5.0f, 5.0f, 10.0f
|
|
};
|
|
|
|
PhysShapeCircle shape;
|
|
|
|
for (var j = 0; j < columnCount; j++)
|
|
{
|
|
for (var i = 0; i < rowCount; i++)
|
|
{
|
|
var x = 0.0f;
|
|
|
|
var circle = entityManager.SpawnEntity(null,
|
|
new MapCoordinates(new Vector2(xs[j] + x, 0.55f + 2.1f * i), mapId)).AddComponent<PhysicsComponent>();
|
|
|
|
circle.BodyType = BodyType.Dynamic;
|
|
circle.SleepingAllowed = false;
|
|
shape = new PhysShapeCircle {Radius = 0.5f};
|
|
|
|
var fixture = new Fixture(circle, shape)
|
|
{
|
|
CollisionMask = 1,
|
|
CollisionLayer = 1,
|
|
Hard = true,
|
|
};
|
|
circle.AddFixture(fixture);
|
|
|
|
bodies[j * rowCount + i] = circle;
|
|
}
|
|
}
|
|
|
|
firstPos = bodies[0].Owner.Transform.WorldPosition;
|
|
});
|
|
|
|
await server.WaitRunTicks(1);
|
|
|
|
// Check that gravity workin
|
|
await server.WaitAssertion(() =>
|
|
{
|
|
Assert.That(firstPos != bodies[0].Owner.Transform.WorldPosition);
|
|
});
|
|
|
|
// Assert
|
|
|
|
await server.WaitRunTicks(150);
|
|
|
|
// Assert settled, none below 0, etc.
|
|
await server.WaitAssertion(() =>
|
|
{
|
|
for (var j = 0; j < columnCount; j++)
|
|
{
|
|
for (var i = 0; i < bodies.Length; i++)
|
|
{
|
|
var body = bodies[j * columnCount + i];
|
|
var worldPos = body.Owner.Transform.WorldPosition;
|
|
|
|
// TODO: Multi-column support but I cbf right now
|
|
// Can't be more exact as some level of sinking is allowed.
|
|
Assert.That(worldPos.EqualsApprox(new Vector2(0.0f, i + 0.5f), 0.1f), $"Expected y-value of {i + 0.5f} but found {worldPos.Y}");
|
|
}
|
|
}
|
|
});
|
|
}
|
|
}
|
|
}
|