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finished physics tests

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This commit is contained in:
Seiji Emery 2015-06-22 16:25:26 -07:00
parent 0d9a661839
commit c61b38f5e6
6 changed files with 170 additions and 192 deletions
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1
tests/physics/src/BulletUtilTests.h
View file

@ -13,7 +13,6 @@
#define hifi_BulletUtilTests_h
#include <QtTest/QtTest>
// Add additional qtest functionality (the include order is important!)
#include "GlmTestUtils.h"
#include "../QTestExtensions.hpp"

52
tests/physics/src/PhysicsTestUtil.h
View file

@ -1,52 +0,0 @@
//
// PhysicsTestUtil.h
// tests/physics/src
//
// Created by Andrew Meadows on 02/21/2014.
// Copyright 2014 High Fidelity, Inc.
//
// Distributed under the Apache License, Version 2.0.
// See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html
//
#ifndef hifi_PhysicsTestUtil_h
#define hifi_PhysicsTestUtil_h
#include <glm/glm.hpp>
#include <glm/gtx/quaternion.hpp>
#include <BulletUtil.h>
#include <qtextstream.h>
#include <CollisionInfo.h>
const glm::vec3 origin(0.0f);
const glm::vec3 xAxis(1.0f, 0.0f, 0.0f);
const glm::vec3 yAxis(0.0f, 1.0f, 0.0f);
const glm::vec3 zAxis(0.0f, 0.0f, 1.0f);
// Implement these functions for whatever data types you need.
//
// fuzzyCompare takes two args of type T (the type you're comparing), and should
// return an error / difference of type V (eg. if T is a vector, V is a scalar).
// For vector types this is just the distance between a and b.
//
// stringify is just a toString() / repr() style function. For PoD types,
// I'd recommend using the c++11 initialization syntax (type { constructor args... }),
// since it's clear and unambiguous.
//
inline float fuzzyCompare (const glm::vec3 & a, const glm::vec3 & b) {
return glm::distance(a, b);
}
inline QTextStream & operator << (QTextStream & stream, const glm::vec3 & v) {
return stream << "glm::vec3 { " << v.x << ", " << v.y << ", " << v.z << " }";
}
inline btScalar fuzzyCompare (btScalar a, btScalar b) {
return a - b;
}
#include "../QTestExtensions.hpp"
#endif // hifi_PhysicsTestUtil_h

86
tests/physics/src/ShapeInfoTests.cpp
View file

@ -24,6 +24,7 @@
QTEST_MAIN(ShapeInfoTests)
void ShapeInfoTests::testHashFunctions() {
#if MANUAL_TEST
int maxTests = 10000000;
ShapeInfo info;
btHashMap<btHashInt, uint32_t> hashes;
@ -41,6 +42,7 @@ void ShapeInfoTests::testHashFunctions() {
int testCount = 0;
int numCollisions = 0;
btClock timer;
for (int x = 1; x < numSteps && testCount < maxTests; ++x) {
float radiusX = (float)x * deltaLength;
@ -136,6 +138,8 @@ void ShapeInfoTests::testHashFunctions() {
for (int i = 0; i < 32; ++i) {
std::cout << "bit 0x" << std::hex << masks[i] << std::dec << " = " << bits[i] << std::endl;
}
QCOMPARE(numCollisions, 0);
#endif // MANUAL_TEST
}
void ShapeInfoTests::testBoxShape() {
@ -145,21 +149,24 @@ void ShapeInfoTests::testBoxShape() {
DoubleHashKey key = info.getHash();
btCollisionShape* shape = ShapeFactory::createShapeFromInfo(info);
if (!shape) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: NULL Box shape" << std::endl;
}
QCOMPARE(shape != nullptr, true);
// if (!shape) {
// std::cout << __FILE__ << ":" << __LINE__ << " ERROR: NULL Box shape" << std::endl;
// }
ShapeInfo otherInfo = info;
DoubleHashKey otherKey = otherInfo.getHash();
if (key.getHash() != otherKey.getHash()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected Box shape hash = " << key.getHash() << " but found hash = " << otherKey.getHash() << std::endl;
}
QCOMPARE(key.getHash(), otherKey.getHash());
// if (key.getHash() != otherKey.getHash()) {
// std::cout << __FILE__ << ":" << __LINE__
// << " ERROR: expected Box shape hash = " << key.getHash() << " but found hash = " << otherKey.getHash() << std::endl;
// }
if (key.getHash2() != otherKey.getHash2()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected Box shape hash2 = " << key.getHash2() << " but found hash2 = " << otherKey.getHash2() << std::endl;
}
QCOMPARE(key.getHash2(), otherKey.getHash2());
// if (key.getHash2() != otherKey.getHash2()) {
// std::cout << __FILE__ << ":" << __LINE__
// << " ERROR: expected Box shape hash2 = " << key.getHash2() << " but found hash2 = " << otherKey.getHash2() << std::endl;
// }
delete shape;
}
@ -171,17 +178,20 @@ void ShapeInfoTests::testSphereShape() {
DoubleHashKey key = info.getHash();
btCollisionShape* shape = ShapeFactory::createShapeFromInfo(info);
QCOMPARE(shape != nullptr, true);
ShapeInfo otherInfo = info;
DoubleHashKey otherKey = otherInfo.getHash();
if (key.getHash() != otherKey.getHash()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected Sphere shape hash = " << key.getHash() << " but found hash = " << otherKey.getHash() << std::endl;
}
if (key.getHash2() != otherKey.getHash2()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected Sphere shape hash2 = " << key.getHash2() << " but found hash2 = " << otherKey.getHash2() << std::endl;
}
QCOMPARE(key.getHash(), otherKey.getHash());
// if (key.getHash() != otherKey.getHash()) {
// std::cout << __FILE__ << ":" << __LINE__
// << " ERROR: expected Sphere shape hash = " << key.getHash() << " but found hash = " << otherKey.getHash() << std::endl;
// }
QCOMPARE(key.getHash2(), otherKey.getHash2());
// if (key.getHash2() != otherKey.getHash2()) {
// std::cout << __FILE__ << ":" << __LINE__
// << " ERROR: expected Sphere shape hash2 = " << key.getHash2() << " but found hash2 = " << otherKey.getHash2() << std::endl;
// }
delete shape;
}
@ -195,17 +205,20 @@ void ShapeInfoTests::testCylinderShape() {
DoubleHashKey key = info.getHash();
btCollisionShape* shape = ShapeFactory::createShapeFromInfo(info);
QCOMPARE(shape != nullptr, true);
ShapeInfo otherInfo = info;
DoubleHashKey otherKey = otherInfo.getHash();
if (key.getHash() != otherKey.getHash()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected Cylinder shape hash = " << key.getHash() << " but found hash = " << otherKey.getHash() << std::endl;
}
if (key.getHash2() != otherKey.getHash2()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected Cylinder shape hash2 = " << key.getHash2() << " but found hash2 = " << otherKey.getHash2() << std::endl;
}
QCOMPARE(key.getHash(), otherKey.getHash());
// if (key.getHash() != otherKey.getHash()) {
// std::cout << __FILE__ << ":" << __LINE__
// << " ERROR: expected Cylinder shape hash = " << key.getHash() << " but found hash = " << otherKey.getHash() << std::endl;
// }
QCOMPARE(key.getHash2(), otherKey.getHash2());
// if (key.getHash2() != otherKey.getHash2()) {
// std::cout << __FILE__ << ":" << __LINE__
// << " ERROR: expected Cylinder shape hash2 = " << key.getHash2() << " but found hash2 = " << otherKey.getHash2() << std::endl;
// }
delete shape;
*/
@ -220,17 +233,20 @@ void ShapeInfoTests::testCapsuleShape() {
DoubleHashKey key = info.getHash();
btCollisionShape* shape = ShapeFactory::createShapeFromInfo(info);
QCOMPARE(shape != nullptr, true);
ShapeInfo otherInfo = info;
DoubleHashKey otherKey = otherInfo.getHash();
if (key.getHash() != otherKey.getHash()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected Capsule shape hash = " << key.getHash() << " but found hash = " << otherKey.getHash() << std::endl;
}
if (key.getHash2() != otherKey.getHash2()) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected Capsule shape hash2 = " << key.getHash2() << " but found hash2 = " << otherKey.getHash2() << std::endl;
}
QCOMPARE(key.getHash(), otherKey.getHash());
// if (key.getHash() != otherKey.getHash()) {
// std::cout << __FILE__ << ":" << __LINE__
// << " ERROR: expected Capsule shape hash = " << key.getHash() << " but found hash = " << otherKey.getHash() << std::endl;
// }
QCOMPARE(key.getHash2(), otherKey.getHash2());
// if (key.getHash2() != otherKey.getHash2()) {
// std::cout << __FILE__ << ":" << __LINE__
// << " ERROR: expected Capsule shape hash2 = " << key.getHash2() << " but found hash2 = " << otherKey.getHash2() << std::endl;
// }
delete shape;
*/

12
tests/physics/src/ShapeInfoTests.h
View file

@ -14,9 +14,13 @@
#include <QtTest/QtTest>
// Add additional qtest functionality (the include order is important!)
#include "BulletTestUtils.h"
#include "../QTestExtensions.hpp"
//// Add additional qtest functionality (the include order is important!)
//#include "BulletTestUtils.h"
//#include "../QTestExtensions.hpp"
// Enable this to manually run testHashCollisions
// (NOT a regular unit test; takes ~17 secs to run on an i7)
#define MANUAL_TEST false
class ShapeInfoTests : public QObject {
Q_OBJECT
@ -28,6 +32,4 @@ private slots:
void testCapsuleShape();
};
#include "../QTestExtensions.hpp"
#endif // hifi_ShapeInfoTests_h

210
tests/physics/src/ShapeManagerTests.cpp
View file

@ -23,37 +23,42 @@ void ShapeManagerTests::testShapeAccounting() {
info.setBox(glm::vec3(1.0f, 1.0f, 1.0f));
int numReferences = shapeManager.getNumReferences(info);
if (numReferences != 0) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected ignorant ShapeManager after initialization" << std::endl;
}
QCOMPARE(numReferences, 0);
// if (numReferences != 0) {
// std::cout << __FILE__ << ":" << __LINE__
// << " ERROR: expected ignorant ShapeManager after initialization" << std::endl;
// }
// create one shape and verify we get a valid pointer
btCollisionShape* shape = shapeManager.getShape(info);
if (!shape) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected shape creation for default parameters" << std::endl;
}
QCOMPARE(shape != nullptr, true);
// if (!shape) {
// std::cout << __FILE__ << ":" << __LINE__
// << " ERROR: expected shape creation for default parameters" << std::endl;
// }
// verify number of shapes
if (shapeManager.getNumShapes() != 1) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: expected one shape" << std::endl;
}
QCOMPARE(shapeManager.getNumShapes(), 1);
// if (shapeManager.getNumShapes() != 1) {
// std::cout << __FILE__ << ":" << __LINE__ << " ERROR: expected one shape" << std::endl;
// }
// reference the shape again and verify that we get the same pointer
btCollisionShape* otherShape = shapeManager.getShape(info);
if (otherShape != shape) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: expected shape* " << (void*)(shape)
<< " but found shape* " << (void*)(otherShape) << std::endl;
}
QCOMPARE(otherShape, shape);
// if (otherShape != shape) {
// std::cout << __FILE__ << ":" << __LINE__ << " ERROR: expected shape* " << (void*)(shape)
// << " but found shape* " << (void*)(otherShape) << std::endl;
// }
// verify number of references
numReferences = shapeManager.getNumReferences(info);
int expectedNumReferences = 2;
if (numReferences != expectedNumReferences) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: expected " << expectedNumReferences
<< " references but found " << numReferences << std::endl;
}
QCOMPARE(numReferences, expectedNumReferences);
// if (numReferences != expectedNumReferences) {
// std::cout << __FILE__ << ":" << __LINE__ << " ERROR: expected " << expectedNumReferences
// << " references but found " << numReferences << std::endl;
// }
// release all references
bool released = shapeManager.releaseShape(info);
@ -62,59 +67,68 @@ void ShapeManagerTests::testShapeAccounting() {
released = shapeManager.releaseShape(info) && released;
numReferences--;
}
if (!released) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: expected shape released" << std::endl;
}
QCOMPARE(released, true);
// if (!released) {
// std::cout << __FILE__ << ":" << __LINE__ << " ERROR: expected shape released" << std::endl;
// }
// verify shape still exists (not yet garbage collected)
if (shapeManager.getNumShapes() != 1) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: expected one shape after release but before garbage collection" << std::endl;
}
QCOMPARE(shapeManager.getNumShapes(), 1);
// if (shapeManager.getNumShapes() != 1) {
// std::cout << __FILE__ << ":" << __LINE__ << " ERROR: expected one shape after release but before garbage collection" << std::endl;
// }
// verify shape's refcount is zero
numReferences = shapeManager.getNumReferences(info);
if (numReferences != 0) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected refcount = 0 for shape but found refcount = " << numReferences << std::endl;
}
QCOMPARE(numReferences, 0);
// if (numReferences != 0) {
// std::cout << __FILE__ << ":" << __LINE__
// << " ERROR: expected refcount = 0 for shape but found refcount = " << numReferences << std::endl;
// }
// reference the shape again and verify refcount is updated
otherShape = shapeManager.getShape(info);
numReferences = shapeManager.getNumReferences(info);
if (numReferences != 1) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected refcount = 1 for shape but found refcount = " << numReferences << std::endl;
}
QCOMPARE(numReferences, 1);
// if (numReferences != 1) {
// std::cout << __FILE__ << ":" << __LINE__
// << " ERROR: expected refcount = 1 for shape but found refcount = " << numReferences << std::endl;
// }
// verify that shape is not collected as garbage
shapeManager.collectGarbage();
if (shapeManager.getNumShapes() != 1) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: expected one shape after release" << std::endl;
}
QCOMPARE(shapeManager.getNumShapes(), 1);
// if (shapeManager.getNumShapes() != 1) {
// std::cout << __FILE__ << ":" << __LINE__ << " ERROR: expected one shape after release" << std::endl;
// }
numReferences = shapeManager.getNumReferences(info);
if (numReferences != 1) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected refcount = 1 for shape but found refcount = " << numReferences << std::endl;
}
QCOMPARE(numReferences, 1);
// if (numReferences != 1) {
// std::cout << __FILE__ << ":" << __LINE__
// << " ERROR: expected refcount = 1 for shape but found refcount = " << numReferences << std::endl;
// }
// release reference and verify that it is collected as garbage
released = shapeManager.releaseShape(info);
shapeManager.collectGarbage();
if (shapeManager.getNumShapes() != 0) {
std::cout << __FILE__ << ":" << __LINE__ << " ERROR: expected zero shapes after release" << std::endl;
}
if (shapeManager.hasShape(shape)) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected ignorant ShapeManager after garbage collection" << std::endl;
}
QCOMPARE(shapeManager.getNumShapes(), 0);
// if (shapeManager.getNumShapes() != 0) {
// std::cout << __FILE__ << ":" << __LINE__ << " ERROR: expected zero shapes after release" << std::endl;
// }
QCOMPARE(shapeManager.hasShape(shape), false);
// if (shapeManager.hasShape(shape)) {
// std::cout << __FILE__ << ":" << __LINE__
// << " ERROR: expected ignorant ShapeManager after garbage collection" << std::endl;
// }
// add the shape again and verify that it gets added again
otherShape = shapeManager.getShape(info);
numReferences = shapeManager.getNumReferences(info);
if (numReferences != 1) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected refcount = 1 for shape but found refcount = " << numReferences << std::endl;
}
QCOMPARE(numReferences, 1);
// if (numReferences != 1) {
// std::cout << __FILE__ << ":" << __LINE__
// << " ERROR: expected refcount = 1 for shape but found refcount = " << numReferences << std::endl;
// }
}
void ShapeManagerTests::addManyShapes() {
@ -134,49 +148,54 @@ void ShapeManagerTests::addManyShapes() {
info.setBox(0.5f * scale);
btCollisionShape* shape = shapeManager.getShape(info);
shapes.push_back(shape);
if (!shape) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: i = " << i << " null box shape for scale = " << scale << std::endl;
}
QCOMPARE(shape != nullptr, true);
// if (!shape) {
// std::cout << __FILE__ << ":" << __LINE__
// << " ERROR: i = " << i << " null box shape for scale = " << scale << std::endl;
// }
// make a box
float radius = 0.5f * s;
info.setSphere(radius);
shape = shapeManager.getShape(info);
shapes.push_back(shape);
if (!shape) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: i = " << i << " null sphere shape for radius = " << radius << std::endl;
}
QCOMPARE(shape != nullptr, true);
// if (!shape) {
// std::cout << __FILE__ << ":" << __LINE__
// << " ERROR: i = " << i << " null sphere shape for radius = " << radius << std::endl;
// }
}
// verify shape count
int numShapes = shapeManager.getNumShapes();
if (numShapes != 2 * numSizes) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected numShapes = " << numSizes << " but found numShapes = " << numShapes << std::endl;
}
QCOMPARE(numShapes, 2 * numSizes);
// if (numShapes != 2 * numSizes) {
// std::cout << __FILE__ << ":" << __LINE__
// << " ERROR: expected numShapes = " << numSizes << " but found numShapes = " << numShapes << std::endl;
// }
// release each shape by pointer
for (int i = 0; i < numShapes; ++i) {
btCollisionShape* shape = shapes[i];
bool success = shapeManager.releaseShape(shape);
if (!success) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: failed to release shape index " << i << std::endl;
break;
}
QCOMPARE(success, true);
// if (!success) {
// std::cout << __FILE__ << ":" << __LINE__
// << " ERROR: failed to release shape index " << i << std::endl;
// break;
// }
}
// verify zero references
for (int i = 0; i < numShapes; ++i) {
btCollisionShape* shape = shapes[i];
int numReferences = shapeManager.getNumReferences(shape);
if (numReferences != 0) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: expected zero references for shape " << i
<< " but refCount = " << numReferences << std::endl;
}
QCOMPARE(numReferences, 0);
// if (numReferences != 0) {
// std::cout << __FILE__ << ":" << __LINE__
// << " ERROR: expected zero references for shape " << i
// << " but refCount = " << numReferences << std::endl;
// }
}
}
@ -190,10 +209,11 @@ void ShapeManagerTests::addBoxShape() {
ShapeInfo otherInfo = info;
btCollisionShape* otherShape = shapeManager.getShape(otherInfo);
if (shape != otherShape) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: Box ShapeInfo --> shape --> ShapeInfo --> shape did not work" << std::endl;
}
QCOMPARE(shape, otherShape);
// if (shape != otherShape) {
// std::cout << __FILE__ << ":" << __LINE__
// << " ERROR: Box ShapeInfo --> shape --> ShapeInfo --> shape did not work" << std::endl;
// }
}
void ShapeManagerTests::addSphereShape() {
@ -206,10 +226,11 @@ void ShapeManagerTests::addSphereShape() {
ShapeInfo otherInfo = info;
btCollisionShape* otherShape = shapeManager.getShape(otherInfo);
if (shape != otherShape) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: Sphere ShapeInfo --> shape --> ShapeInfo --> shape did not work" << std::endl;
}
QCOMPARE(shape, otherShape);
// if (shape != otherShape) {
// std::cout << __FILE__ << ":" << __LINE__
// << " ERROR: Sphere ShapeInfo --> shape --> ShapeInfo --> shape did not work" << std::endl;
// }
}
void ShapeManagerTests::addCylinderShape() {
@ -224,10 +245,11 @@ void ShapeManagerTests::addCylinderShape() {
ShapeInfo otherInfo = info;
btCollisionShape* otherShape = shapeManager.getShape(otherInfo);
if (shape != otherShape) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: Cylinder ShapeInfo --> shape --> ShapeInfo --> shape did not work" << std::endl;
}
QCOMPARE(shape, otherShape);
// if (shape != otherShape) {
// std::cout << __FILE__ << ":" << __LINE__
// << " ERROR: Cylinder ShapeInfo --> shape --> ShapeInfo --> shape did not work" << std::endl;
// }
*/
}
@ -243,18 +265,10 @@ void ShapeManagerTests::addCapsuleShape() {
ShapeInfo otherInfo = info;
btCollisionShape* otherShape = shapeManager.getShape(otherInfo);
if (shape != otherShape) {
std::cout << __FILE__ << ":" << __LINE__
<< " ERROR: Capsule ShapeInfo --> shape --> ShapeInfo --> shape did not work" << std::endl;
}
QCOMPARE(shape, otherShape);
// if (shape != otherShape) {
// std::cout << __FILE__ << ":" << __LINE__
// << " ERROR: Capsule ShapeInfo --> shape --> ShapeInfo --> shape did not work" << std::endl;
// }
*/
}
//void ShapeManagerTests::runAllTests() {
// testShapeAccounting();
// addManyShapes();
// addBoxShape();
// addSphereShape();
// addCylinderShape();
// addCapsuleShape();
//}

1
tests/physics/src/ShapeManagerTests.h
View file

@ -24,7 +24,6 @@ private slots:
void addSphereShape();
void addCylinderShape();
void addCapsuleShape();
// void runAllTests();
};
#endif // hifi_ShapeManagerTests_h