RobustToolbox/Robust.Shared.IntegrationTests/Physics/MapVelocity_Test.cs

using System.Numerics;
using System.Threading.Tasks;
using NUnit.Framework;
using Robust.Shared.GameObjects;
using Robust.Shared.Map;
using Robust.Shared.Physics;
using Robust.Shared.Physics.Components;
using Robust.Shared.Physics.Systems;

namespace Robust.UnitTesting.Shared.Physics
{
    internal sealed class MapVelocity_Test : RobustIntegrationTest
    {
        private const string DummyEntity = "Dummy";

        private static readonly string Prototypes = $@"
- type: entity
  name: {DummyEntity}
  id: {DummyEntity}
  components:
  - type: Physics
    bodyType: Dynamic
  - type: Fixtures
    fixtures:
      fix1:
        shape:
          !type:PhysShapeCircle
          radius: 0.35
";
        [Test]
        public async Task TestMapVelocities()
        {
            var server = StartServer(new ServerIntegrationOptions {ExtraPrototypes = Prototypes});

            await server.WaitIdleAsync();
            var entityManager = server.ResolveDependency<IEntityManager>();
            var mapManager = server.ResolveDependency<IMapManager>();
            var system = entityManager.EntitySysManager;
            var physicsSys = system.GetEntitySystem<SharedPhysicsSystem>();
            var xformSystem = system.GetEntitySystem<SharedTransformSystem>();
            var traversal = entityManager.System<SharedGridTraversalSystem>();
            traversal.Enabled = false;

            await server.WaitAssertion(() =>
            {
                entityManager.System<SharedMapSystem>().CreateMap(out var mapId);
                var grid = mapManager.CreateGridEntity(mapId);
                var grid2 = mapManager.CreateGridEntity(mapId);
                var gridUidA = grid.Owner;

                Assert.That(entityManager.TryGetComponent<PhysicsComponent>(gridUidA, out var gridPhysics));
                physicsSys.SetBodyType(gridUidA, BodyType.Dynamic, body: gridPhysics);

                Vector2 offset = new(3, 4);
                Vector2 expectedFinalVelocity = new Vector2(-4, 3) * 2 + Vector2.One;

                var dummy = entityManager.SpawnEntity(DummyEntity, new EntityCoordinates(grid, offset));
                Assert.That(entityManager.TryGetComponent(dummy, out PhysicsComponent? body));
                Assert.That(entityManager.TryGetComponent(dummy, out TransformComponent? xform));
                xformSystem.SetParent(dummy, xform!, gridUidA);

                // Test Linear Velocities
                physicsSys.SetLinearVelocity(gridUidA, Vector2.One, body: gridPhysics);
                Assert.That(body!.LinearVelocity, Is.Approximately(Vector2.Zero, 1e-6));
                Assert.That(body.AngularVelocity, Is.Approximately(0f, 1e-6));

                var linearVelocity = physicsSys.GetMapLinearVelocity(dummy, body);
                var angularVelocity = physicsSys.GetMapAngularVelocity(dummy, body);
                var velocities = physicsSys.GetMapVelocities(dummy, body);
                Assert.That(linearVelocity, Is.Approximately(Vector2.One, 1e-6));
                Assert.That(angularVelocity, Is.Approximately(0f, 1e-6));
                Assert.That(velocities.Item1, Is.Approximately(linearVelocity, 1e-6));
                Assert.That(velocities.Item2, Is.Approximately(angularVelocity, 1e-6));

                // Add angular velocity
                physicsSys.SetAngularVelocity(gridUidA, 2, body: gridPhysics);
                Assert.That(body.LinearVelocity, Is.EqualTo(Vector2.Zero));
                Assert.That(body.AngularVelocity, Is.EqualTo(0f));

                linearVelocity = physicsSys.GetMapLinearVelocity(dummy, body);
                angularVelocity = physicsSys.GetMapAngularVelocity(dummy, body);
                velocities = physicsSys.GetMapVelocities(dummy, body);
                Assert.That(linearVelocity, Is.Approximately(expectedFinalVelocity, 1e-6));
                Assert.That(angularVelocity, Is.Approximately(2f, 1e-6));
                Assert.That(velocities.Item1, Is.Approximately(linearVelocity, 1e-6));
                Assert.That(velocities.Item2, Is.Approximately(angularVelocity, 1e-6));

                // Check that velocity does not change when changing parent
                xformSystem.SetParent(dummy, xform!, grid2);
                linearVelocity = physicsSys.GetMapLinearVelocity(dummy, body);
                angularVelocity = physicsSys.GetMapAngularVelocity(dummy, body);
                velocities = physicsSys.GetMapVelocities(dummy, body);
                Assert.That(linearVelocity, Is.Approximately(expectedFinalVelocity, 1e-6));
                Assert.That(angularVelocity, Is.Approximately(2f, 1e-6));
                Assert.That(velocities.Item1, Is.Approximately(linearVelocity, 1e-6));
                Assert.That(velocities.Item2, Is.Approximately(angularVelocity, 1e-6));
            });
            traversal.Enabled = true;
        }

        // Check that if something has more than one parent, the velocities are properly added
        [Test]
        public async Task TestNestedParentVelocities()
        {
            var server = StartServer(new ServerIntegrationOptions { ExtraPrototypes = Prototypes });

            await server.WaitIdleAsync();
            var entityManager = server.ResolveDependency<IEntityManager>();
            var mapManager = server.ResolveDependency<IMapManager>();
            var system = entityManager.EntitySysManager;
            var physicsSys = system.GetEntitySystem<SharedPhysicsSystem>();
            var xformSystem = system.GetEntitySystem<SharedTransformSystem>();
            var traversal = entityManager.System<SharedGridTraversalSystem>();
            traversal.Enabled = false;

            await server.WaitAssertion(() =>
            {
                entityManager.System<SharedMapSystem>().CreateMap(out var mapId);
                var grid = mapManager.CreateGridEntity(mapId);
                var gridUid = grid.Owner;

                Assert.That(entityManager.TryGetComponent<PhysicsComponent>(gridUid, out var gridPhysics));
                physicsSys.SetBodyType(gridUid, BodyType.Dynamic, body: gridPhysics);

                Vector2 offset1 = new(2, 0);
                var dummy1 = entityManager.SpawnEntity(DummyEntity, new EntityCoordinates(gridUid, offset1));
                Assert.That(entityManager.TryGetComponent(dummy1, out PhysicsComponent? body1));
                Assert.That(entityManager.TryGetComponent(dummy1, out TransformComponent? xform1));
                xformSystem.SetParent(dummy1, xform1!, gridUid);

                // create another entity attached to the dummy1
                Vector2 offset2 = new(-1, 0);
                var dummy2 = entityManager.SpawnEntity(DummyEntity, new EntityCoordinates(dummy1, offset2));
                Assert.That(entityManager.TryGetComponent(dummy2, out PhysicsComponent? body2));
                Assert.That(entityManager.TryGetComponent(dummy2, out TransformComponent? xform2));
                xformSystem.SetParent(dummy2, xform2!, dummy1);

                Assert.That(xformSystem.GetWorldPosition(xform2!), Is.Approximately(new Vector2(1, 0), 1e-6));

                physicsSys.SetLinearVelocity(gridUid, new Vector2(1, 0), body: gridPhysics);
                physicsSys.SetAngularVelocity(gridUid, 1, body: gridPhysics);

                // check that dummy2 properly gets the velocities from its grand-parent
                var linearVelocity = physicsSys.GetMapLinearVelocity(dummy2, body2);
                var angularVelocity = physicsSys.GetMapAngularVelocity(dummy2, body2);
                var velocities = physicsSys.GetMapVelocities(dummy2, body2);
                Assert.That(linearVelocity, Is.Approximately(Vector2.One, 1e-6));
                Assert.That(angularVelocity, Is.Approximately(1f, 1e-6));
                Assert.That(velocities.Item1, Is.Approximately(linearVelocity, 1e-6));
                Assert.That(velocities.Item2, Is.Approximately(angularVelocity, 1e-6));

                // check that if we make move in the opposite direction, but spin in the same direction, then dummy2 is
                // (for this moment in time) stationary, but still rotating.
                physicsSys.SetLinearVelocity(dummy1, -gridPhysics!.LinearVelocity, body: body1);
                physicsSys.SetAngularVelocity(dummy1, gridPhysics.AngularVelocity, body: body1);
                linearVelocity = physicsSys.GetMapLinearVelocity(dummy2, body2);
                angularVelocity = physicsSys.GetMapAngularVelocity(dummy2, body2);
                velocities = physicsSys.GetMapVelocities(dummy2, body2);
                Assert.That(linearVelocity, Is.Approximately(Vector2.Zero, 1e-6));
                Assert.That(angularVelocity, Is.Approximately(2f, 1e-6));
                Assert.That(velocities.Item1, Is.Approximately(linearVelocity, 1e-6));
                Assert.That(velocities.Item2, Is.Approximately(angularVelocity, 1e-6));

                // but not if we update the local position:
                xformSystem.SetWorldPosition((dummy2, xform2!), Vector2.Zero);
                linearVelocity = physicsSys.GetMapLinearVelocity(dummy2, body2);
                angularVelocity = physicsSys.GetMapAngularVelocity(dummy2, body2);
                velocities = physicsSys.GetMapVelocities(dummy2, body2);
                Assert.That(linearVelocity, Is.Approximately(new Vector2(0, -2), 1e-6));
                Assert.That(angularVelocity, Is.Approximately(2f, 1e-6));
                Assert.That(velocities.Item1, Is.Approximately(linearVelocity, 1e-6));
                Assert.That(velocities.Item2, Is.Approximately(angularVelocity, 1e-6));
            });
        traversal.Enabled = true;
        }
    }
}