mirror of
https://github.com/space-wizards/RobustToolbox.git
synced 2026-09-04 02:57:08 +02:00
fefcc7cba3
* Physics worlds * Paul's a good boy * Build working * Ingame and not lagging to hell * Why didn't you commit ahhhhh * Hard collisions working * Solver parity * Decent broadphase work done * BroadPhase outline done * BroadPhase working * waiting for pvs * Fix static PVS AABB * Stop static bodies from awakening * Optimise a bunch of stuff * Even more broadphase stuff * I'm fucking stupid * Optimise fixture updates * Collision solver start * Building * A is for Argumentative * Fix contact caching island flags * Circle shapes actually workeded * Damping * DS2 consumables only * Slightly more stable * Even slightlier more stablier * VV your heart out * Initial joint support * 90% of joints I just wanted to push as I'd scream if I lost progress * JOINT PURGATORY * Joints barely functional lmao * Okay these joints slightly more functional * Remove station FrictionJoint * Also that * Some Box2D ports * Cleanup mass * Edge shape * Active contacts * Fix active contacts * Optimise active contacts even more * Boxes be stacking * I would die for smug oh my fucking god * In which everything is fixed * Distance joints working LETS GO * Remove frequency on distancejoint * Fix some stuff and break joints * Crashing fixed mehbeh * ICollideSpecial and more resilience * auto-clear * showbb vera * Slap that TODO in there * Fix restartround crash * Random fixes * Fix fixture networking * Add intersection method for broadphase * Fix contacts * Licenses done * Optimisations * Fix wall clips * Config caching for island * allocations optimisations * Optimise casts * Optimise events queue for physics * Contact manager optimisations * Optimise controllers * Sloth joint or something idk * Controller graph * Remove content cvar * Random cleanup * Finally remove VirtualController * Manifold structs again * Optimise this absolute retardation * Optimise * fix license * Cleanup physics interface * AHHHHHHHHHHHHH * Fix collisions again * snivybus * Fix potential nasty manifold bug * Tests go snivy Co-authored-by: Metal Gear Sloth <metalgearsloth@gmail.com>
477 lines
17 KiB
C#
477 lines
17 KiB
C#
using System.IO;
|
||
using System.Reflection;
|
||
using Moq;
|
||
using NUnit.Framework;
|
||
using Robust.Server.GameObjects;
|
||
using Robust.Server.Physics;
|
||
using Robust.Shared.GameObjects;
|
||
using Robust.Shared.IoC;
|
||
using Robust.Shared.Map;
|
||
using Robust.Shared.Maths;
|
||
using Robust.Shared.Physics.Broadphase;
|
||
using Robust.Shared.Prototypes;
|
||
using Robust.Shared.Timing;
|
||
|
||
namespace Robust.UnitTesting.Server.GameObjects.Components
|
||
{
|
||
[TestFixture]
|
||
[TestOf(typeof(TransformComponent))]
|
||
class Transform_Test : RobustUnitTest
|
||
{
|
||
public override UnitTestProject Project => UnitTestProject.Server;
|
||
|
||
private IServerEntityManagerInternal EntityManager = default!;
|
||
private IMapManager MapManager = default!;
|
||
|
||
const string PROTOTYPES = @"
|
||
- type: entity
|
||
name: dummy
|
||
id: dummy
|
||
components:
|
||
- type: Transform
|
||
|
||
- type: entity
|
||
name: dummy
|
||
id: mapDummy
|
||
components:
|
||
- type: Transform
|
||
- type: Map
|
||
index: 123
|
||
";
|
||
|
||
private MapId MapA;
|
||
private IMapGrid GridA = default!;
|
||
private MapId MapB;
|
||
private IMapGrid GridB = default!;
|
||
|
||
private static readonly EntityCoordinates InitialPos = new(new EntityUid(1), (0, 0));
|
||
|
||
protected override void OverrideIoC()
|
||
{
|
||
base.OverrideIoC();
|
||
var mock = new Mock<IEntitySystemManager>();
|
||
var broady = new BroadPhaseSystem();
|
||
var physics = new PhysicsSystem();
|
||
mock.Setup(m => m.GetEntitySystem<SharedBroadPhaseSystem>()).Returns(broady);
|
||
mock.Setup(m => m.GetEntitySystem<SharedPhysicsSystem>()).Returns(physics);
|
||
|
||
IoCManager.RegisterInstance<IEntitySystemManager>(mock.Object, true);
|
||
}
|
||
|
||
[OneTimeSetUp]
|
||
public void Setup()
|
||
{
|
||
var compMan = IoCManager.Resolve<IComponentManager>();
|
||
compMan.Initialize();
|
||
|
||
EntityManager = IoCManager.Resolve<IServerEntityManagerInternal>();
|
||
MapManager = IoCManager.Resolve<IMapManager>();
|
||
MapManager.Initialize();
|
||
MapManager.Startup();
|
||
|
||
MapManager.CreateMap();
|
||
|
||
var manager = IoCManager.Resolve<IPrototypeManager>();
|
||
manager.LoadFromStream(new StringReader(PROTOTYPES));
|
||
manager.Resync();
|
||
|
||
// build the net dream
|
||
MapA = MapManager.CreateMap();
|
||
GridA = MapManager.CreateGrid(MapA);
|
||
|
||
MapB = MapManager.CreateMap();
|
||
GridB = MapManager.CreateGrid(MapB);
|
||
|
||
//NOTE: The grids have not moved, so we can assert worldpos == localpos for the test
|
||
}
|
||
|
||
[SetUp]
|
||
public void ClearSimulation()
|
||
{
|
||
// One of the tests changes this so we use this to ensure it doesn't get passed to other tests.
|
||
IoCManager.Resolve<IGameTiming>().InSimulation = false;
|
||
}
|
||
|
||
[Test]
|
||
public void ParentMapSwitchTest()
|
||
{
|
||
// two entities
|
||
var parent = EntityManager.SpawnEntity("dummy", InitialPos);
|
||
var child = EntityManager.SpawnEntity("dummy", InitialPos);
|
||
|
||
var parentTrans = parent.Transform;
|
||
var childTrans = child.Transform;
|
||
|
||
// that are not on the same map
|
||
parentTrans.Coordinates = new EntityCoordinates(GridA.GridEntityId, (5, 5));
|
||
childTrans.Coordinates = new EntityCoordinates(GridB.GridEntityId, (4, 4));
|
||
|
||
// if they are parented, the child keeps its world position, but moves to the parents map
|
||
childTrans.AttachParent(parentTrans);
|
||
|
||
|
||
Assert.Multiple(() =>
|
||
{
|
||
Assert.That(childTrans.MapID, Is.EqualTo(parentTrans.MapID));
|
||
Assert.That(childTrans.GridID, Is.EqualTo(parentTrans.GridID));
|
||
Assert.That(childTrans.Coordinates, Is.EqualTo(new EntityCoordinates(parentTrans.Owner.Uid, (-1, -1))));
|
||
Assert.That(childTrans.WorldPosition, Is.EqualTo(new Vector2(4, 4)));
|
||
});
|
||
|
||
// move the parent, and the child should move with it
|
||
childTrans.LocalPosition = new Vector2(6, 6);
|
||
parentTrans.WorldPosition = new Vector2(-8, -8);
|
||
|
||
Assert.That(childTrans.WorldPosition, Is.EqualTo(new Vector2(-2, -2)));
|
||
|
||
// if we detach parent, the child should be left where it was, still relative to parents grid
|
||
var oldLpos = new Vector2(-2, -2);
|
||
var oldWpos = childTrans.WorldPosition;
|
||
|
||
childTrans.AttachToGridOrMap();
|
||
|
||
// the gridId won't match, because we just detached from the grid entity
|
||
|
||
Assert.Multiple(() =>
|
||
{
|
||
Assert.That(childTrans.Coordinates.Position, Is.EqualTo(oldLpos));
|
||
Assert.That(childTrans.WorldPosition, Is.EqualTo(oldWpos));
|
||
});
|
||
}
|
||
|
||
/// <summary>
|
||
/// Tests that a child entity does not move when attaching to a parent.
|
||
/// </summary>
|
||
[Test]
|
||
public void ParentAttachMoveTest()
|
||
{
|
||
// Arrange
|
||
var parent = EntityManager.SpawnEntity("dummy", InitialPos);
|
||
var child = EntityManager.SpawnEntity("dummy", InitialPos);
|
||
var parentTrans = parent.Transform;
|
||
var childTrans = child.Transform;
|
||
parentTrans.WorldPosition = new Vector2(5, 5);
|
||
childTrans.WorldPosition = new Vector2(6, 6);
|
||
|
||
// Act
|
||
var oldWpos = childTrans.WorldPosition;
|
||
childTrans.AttachParent(parentTrans);
|
||
var newWpos = childTrans.WorldPosition;
|
||
|
||
// Assert
|
||
Assert.That(oldWpos == newWpos);
|
||
}
|
||
|
||
/// <summary>
|
||
/// Tests that the entity orbits properly when the parent rotates.
|
||
/// </summary>
|
||
[Test]
|
||
public void ParentRotateTest()
|
||
{
|
||
// Arrange
|
||
var parent = EntityManager.SpawnEntity("dummy", InitialPos);
|
||
var child = EntityManager.SpawnEntity("dummy", InitialPos);
|
||
var parentTrans = parent.Transform;
|
||
var childTrans = child.Transform;
|
||
parentTrans.WorldPosition = new Vector2(0, 0);
|
||
childTrans.WorldPosition = new Vector2(2, 0);
|
||
childTrans.AttachParent(parentTrans);
|
||
|
||
//Act
|
||
parentTrans.LocalRotation = new Angle(MathHelper.Pi / 2);
|
||
|
||
//Assert
|
||
var result = childTrans.WorldPosition;
|
||
Assert.Multiple(() =>
|
||
{
|
||
Assert.That(MathHelper.CloseTo(result.X, 0));
|
||
Assert.That(MathHelper.CloseTo(result.Y, 2));
|
||
});
|
||
}
|
||
|
||
/// <summary>
|
||
/// Tests that the entity orbits properly when the parent rotates and is not at the origin.
|
||
/// </summary>
|
||
[Test]
|
||
public void ParentTransRotateTest()
|
||
{
|
||
// Arrange
|
||
var parent = EntityManager.SpawnEntity("dummy", InitialPos);
|
||
var child = EntityManager.SpawnEntity("dummy", InitialPos);
|
||
var parentTrans = parent.Transform;
|
||
var childTrans = child.Transform;
|
||
parentTrans.WorldPosition = new Vector2(1, 1);
|
||
childTrans.WorldPosition = new Vector2(2, 1);
|
||
childTrans.AttachParent(parentTrans);
|
||
|
||
//Act
|
||
parentTrans.LocalRotation = new Angle(MathHelper.Pi / 2);
|
||
|
||
//Assert
|
||
var result = childTrans.WorldPosition;
|
||
Assert.Multiple(() =>
|
||
{
|
||
Assert.That(MathHelper.CloseTo(result.X, 1));
|
||
Assert.That(MathHelper.CloseTo(result.Y, 2));
|
||
});
|
||
}
|
||
|
||
/// <summary>
|
||
/// Tests to see if parenting multiple entities with WorldPosition places the leaf properly.
|
||
/// </summary>
|
||
[Test]
|
||
public void PositionCompositionTest()
|
||
{
|
||
// Arrange
|
||
var node1 = EntityManager.SpawnEntity("dummy", InitialPos);
|
||
var node2 = EntityManager.SpawnEntity("dummy", InitialPos);
|
||
var node3 = EntityManager.SpawnEntity("dummy", InitialPos);
|
||
var node4 = EntityManager.SpawnEntity("dummy", InitialPos);
|
||
|
||
var node1Trans = node1.Transform;
|
||
var node2Trans = node2.Transform;
|
||
var node3Trans = node3.Transform;
|
||
var node4Trans = node4.Transform;
|
||
|
||
node1Trans.WorldPosition = new Vector2(0, 0);
|
||
node2Trans.WorldPosition = new Vector2(1, 1);
|
||
node3Trans.WorldPosition = new Vector2(2, 2);
|
||
node4Trans.WorldPosition = new Vector2(0, 2);
|
||
|
||
node2Trans.AttachParent(node1Trans);
|
||
node3Trans.AttachParent(node2Trans);
|
||
node4Trans.AttachParent(node3Trans);
|
||
|
||
//Act
|
||
node1Trans.LocalRotation = new Angle(MathHelper.Pi / 2);
|
||
|
||
//Assert
|
||
var result = node4Trans.WorldPosition;
|
||
|
||
Assert.Multiple(() =>
|
||
{
|
||
Assert.That(result.X, new ApproxEqualityConstraint(-2f));
|
||
Assert.That(result.Y, new ApproxEqualityConstraint(0f));
|
||
});
|
||
}
|
||
|
||
/// <summary>
|
||
/// Tests to see if setting the world position of a child causes position rounding errors.
|
||
/// </summary>
|
||
[Test]
|
||
public void ParentLocalPositionRoundingErrorTest()
|
||
{
|
||
// Arrange
|
||
var node1 = EntityManager.SpawnEntity("dummy", InitialPos);
|
||
var node2 = EntityManager.SpawnEntity("dummy", InitialPos);
|
||
var node3 = EntityManager.SpawnEntity("dummy", InitialPos);
|
||
|
||
var node1Trans = node1.Transform;
|
||
var node2Trans = node2.Transform;
|
||
var node3Trans = node3.Transform;
|
||
|
||
node1Trans.WorldPosition = new Vector2(0, 0);
|
||
node2Trans.WorldPosition = new Vector2(1, 1);
|
||
node3Trans.WorldPosition = new Vector2(2, 2);
|
||
|
||
node2Trans.AttachParent(node1Trans);
|
||
node3Trans.AttachParent(node2Trans);
|
||
|
||
// Act
|
||
var oldWpos = node3Trans.WorldPosition;
|
||
|
||
for (var i = 0; i < 10000; i++)
|
||
{
|
||
var dx = i % 2 == 0 ? 5 : -5;
|
||
node1Trans.LocalPosition += new Vector2(dx, dx);
|
||
node2Trans.LocalPosition += new Vector2(dx, dx);
|
||
node3Trans.LocalPosition += new Vector2(dx, dx);
|
||
}
|
||
|
||
var newWpos = node3Trans.WorldPosition;
|
||
|
||
// Assert
|
||
Assert.Multiple(() =>
|
||
{
|
||
Assert.That(MathHelper.CloseTo(oldWpos.X, newWpos.Y), $"{oldWpos.X} should be {newWpos.Y}");
|
||
Assert.That(MathHelper.CloseTo(oldWpos.Y, newWpos.Y), newWpos.ToString);
|
||
});
|
||
}
|
||
|
||
/// <summary>
|
||
/// Tests to see if rotating a parent causes major child position rounding errors.
|
||
/// </summary>
|
||
[Test]
|
||
public void ParentRotationRoundingErrorTest()
|
||
{
|
||
IoCManager.Resolve<IGameTiming>().InSimulation = true;
|
||
|
||
// Arrange
|
||
var node1 = EntityManager.SpawnEntity("dummy", InitialPos);
|
||
var node2 = EntityManager.SpawnEntity("dummy", InitialPos);
|
||
var node3 = EntityManager.SpawnEntity("dummy", InitialPos);
|
||
|
||
var node1Trans = node1.Transform;
|
||
var node2Trans = node2.Transform;
|
||
var node3Trans = node3.Transform;
|
||
|
||
node1Trans.WorldPosition = new Vector2(0, 0);
|
||
node2Trans.WorldPosition = new Vector2(1, 1);
|
||
node3Trans.WorldPosition = new Vector2(2, 2);
|
||
|
||
node2Trans.AttachParent(node1Trans);
|
||
node3Trans.AttachParent(node2Trans);
|
||
|
||
// Act
|
||
var oldWpos = node3Trans.WorldPosition;
|
||
|
||
for (var i = 0; i < 100; i++)
|
||
{
|
||
node1Trans.LocalRotation += new Angle(MathHelper.Pi);
|
||
node2Trans.LocalRotation += new Angle(MathHelper.Pi);
|
||
node3Trans.LocalRotation += new Angle(MathHelper.Pi);
|
||
}
|
||
|
||
var newWpos = node3Trans.WorldPosition;
|
||
|
||
//NOTE: Yes, this does cause a non-zero error
|
||
|
||
// Assert
|
||
|
||
Assert.Multiple(() =>
|
||
{
|
||
Assert.That(MathHelper.CloseTo(oldWpos.X, newWpos.Y));
|
||
Assert.That(MathHelper.CloseTo(oldWpos.Y, newWpos.Y));
|
||
});
|
||
}
|
||
|
||
/// <summary>
|
||
/// Tests that the world and inverse world transforms are built properly.
|
||
/// </summary>
|
||
[Test]
|
||
public void TreeComposeWorldMatricesTest()
|
||
{
|
||
// Arrange
|
||
var control = Matrix3.Identity;
|
||
|
||
var node1 = EntityManager.SpawnEntity("dummy", InitialPos);
|
||
var node2 = EntityManager.SpawnEntity("dummy", InitialPos);
|
||
var node3 = EntityManager.SpawnEntity("dummy", InitialPos);
|
||
var node4 = EntityManager.SpawnEntity("dummy", InitialPos);
|
||
|
||
var node1Trans = node1.Transform;
|
||
var node2Trans = node2.Transform;
|
||
var node3Trans = node3.Transform;
|
||
var node4Trans = node4.Transform;
|
||
|
||
node1Trans.WorldPosition = new Vector2(0, 0);
|
||
node2Trans.WorldPosition = new Vector2(1, 1);
|
||
node3Trans.WorldPosition = new Vector2(2, 2);
|
||
node4Trans.WorldPosition = new Vector2(0, 2);
|
||
|
||
node2Trans.AttachParent(node1Trans);
|
||
node3Trans.AttachParent(node2Trans);
|
||
node4Trans.AttachParent(node3Trans);
|
||
|
||
//Act
|
||
node1Trans.LocalRotation = new Angle(MathHelper.Pi / 6.37);
|
||
node1Trans.WorldPosition = new Vector2(1, 1);
|
||
|
||
var worldMat = node4Trans.WorldMatrix;
|
||
var invWorldMat = node4Trans.InvWorldMatrix;
|
||
|
||
Matrix3.Multiply(ref worldMat, ref invWorldMat, out var leftVerifyMatrix);
|
||
Matrix3.Multiply(ref invWorldMat, ref worldMat, out var rightVerifyMatrix);
|
||
|
||
//Assert
|
||
|
||
Assert.Multiple(() =>
|
||
{
|
||
// these should be the same (A × A-1 = A-1 × A = I)
|
||
Assert.That(leftVerifyMatrix, new ApproxEqualityConstraint(rightVerifyMatrix));
|
||
|
||
// verify matrix == identity matrix (or very close to because float precision)
|
||
Assert.That(leftVerifyMatrix, new ApproxEqualityConstraint(control));
|
||
});
|
||
}
|
||
|
||
/// <summary>
|
||
/// Tests that world rotation is built properly
|
||
/// </summary>
|
||
[Test]
|
||
public void WorldRotationTest()
|
||
{
|
||
// Arrange
|
||
var node1 = EntityManager.SpawnEntity("dummy", InitialPos);
|
||
var node2 = EntityManager.SpawnEntity("dummy", InitialPos);
|
||
var node3 = EntityManager.SpawnEntity("dummy", InitialPos);
|
||
|
||
var node1Trans = node1.Transform;
|
||
var node2Trans = node2.Transform;
|
||
var node3Trans = node3.Transform;
|
||
|
||
node2Trans.AttachParent(node1Trans);
|
||
node3Trans.AttachParent(node2Trans);
|
||
|
||
node1Trans.LocalRotation = Angle.FromDegrees(0);
|
||
node2Trans.LocalRotation = Angle.FromDegrees(45);
|
||
node3Trans.LocalRotation = Angle.FromDegrees(45);
|
||
|
||
// Act
|
||
node1Trans.LocalRotation = Angle.FromDegrees(135);
|
||
|
||
// Assert (135 + 45 + 45 = 225)
|
||
var result = node3Trans.WorldRotation;
|
||
Assert.That(result, new ApproxEqualityConstraint(Angle.FromDegrees(225)));
|
||
}
|
||
|
||
/// <summary>
|
||
/// Test that, in a chain A -> B -> C, if A is moved C's world position correctly updates.
|
||
/// </summary>
|
||
[Test]
|
||
public void MatrixUpdateTest()
|
||
{
|
||
var node1 = EntityManager.SpawnEntity("dummy", InitialPos);
|
||
var node2 = EntityManager.SpawnEntity("dummy", InitialPos);
|
||
var node3 = EntityManager.SpawnEntity("dummy", InitialPos);
|
||
|
||
var node1Trans = node1.Transform;
|
||
var node2Trans = node2.Transform;
|
||
var node3Trans = node3.Transform;
|
||
|
||
node2Trans.AttachParent(node1Trans);
|
||
node3Trans.AttachParent(node2Trans);
|
||
|
||
node3Trans.LocalPosition = new Vector2(5, 5);
|
||
node2Trans.LocalPosition = new Vector2(5, 5);
|
||
node1Trans.LocalPosition = new Vector2(5, 5);
|
||
|
||
Assert.That(node3Trans.WorldPosition, new ApproxEqualityConstraint(new Vector2(15, 15)));
|
||
}
|
||
|
||
[Test]
|
||
public void TestMapIdInitOrder()
|
||
{
|
||
// Tests that if a child initializes before its parent, MapID still gets initialized correctly.
|
||
|
||
// Set private _parent field via reflection here.
|
||
// This basically simulates the field getting set in ExposeData(), with way less test boilerplate.
|
||
var field = typeof(TransformComponent).GetField("_parent", BindingFlags.NonPublic | BindingFlags.Instance)!;
|
||
var parent = EntityManager.CreateEntityUninitialized("mapDummy");
|
||
var child1 = EntityManager.CreateEntityUninitialized("dummy");
|
||
var child2 = EntityManager.CreateEntityUninitialized("dummy");
|
||
|
||
field.SetValue(child1.Transform, parent.Uid);
|
||
field.SetValue(child2.Transform, child1.Uid);
|
||
|
||
EntityManager.FinishEntityInitialization(child2);
|
||
EntityManager.FinishEntityInitialization(child1);
|
||
EntityManager.FinishEntityInitialization(parent);
|
||
|
||
Assert.That(child2.Transform.MapID, Is.EqualTo(new MapId(123)));
|
||
Assert.That(child1.Transform.MapID, Is.EqualTo(new MapId(123)));
|
||
Assert.That(parent.Transform.MapID, Is.EqualTo(new MapId(123)));
|
||
}
|
||
}
|
||
}
|