////  dynamicsTests.js//  scripts/developer/tests/dynamics/////  Created by Seth Alves 2017-4-30//  Copyright 2017 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// "use strict"; /* global Entities, Script, Tablet, MyAvatar, Vec3 */ (function() { // BEGIN LOCAL_SCOPE     var DYNAMICS_TESTS_URL = Script.resolvePath("dynamics-tests.html");    var DEFAULT_LIFETIME = 120; // seconds     var tablet = Tablet.getTablet("com.highfidelity.interface.tablet.system");     var button = tablet.addButton({        icon: Script.resolvePath("dynamicsTests.svg"),        text: "Dynamics"    });       function coneTwistAndTractorLeverTest(params) {        var pos = Vec3.sum(MyAvatar.position, Vec3.multiplyQbyV(MyAvatar.orientation, {x: 0, y: -0.5, z: -2}));        var lifetime = params.lifetime;         var baseID = Entities.addEntity({            name: "cone-twist test -- base",            type: "Box",            color: { blue: 128, green: 100, red: 20 },            dimensions: { x: 0.5, y: 0.2, z: 0.5 },            position: Vec3.sum(pos, { x: 0, y: 0, z:0 }),            dynamic: true,            collisionless: false,            gravity: { x: 0, y: 0, z: 0 },            lifetime: lifetime,            userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"        });         var leverID = Entities.addEntity({            name: "cone-twist test -- lever",            type: "Box",            color: { blue: 128, green: 100, red: 200 },            dimensions: { x: 0.05, y: 1, z: 0.05 },            position: Vec3.sum(pos, { x: 0, y: 0.7, z:0 }),            dynamic: true,            collisionless: false,            gravity: { x: 0, y: 0, z: 0 },            lifetime: lifetime,            userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"        });         Entities.addEntity({            name: "cone-twist test -- handle",            type: "Box",            color: { blue: 30, green: 100, red: 200 },            dimensions: { x: 0.1, y: 0.08, z: 0.08 },            position: Vec3.sum(pos, { x: 0, y: 0.7 + 0.5, z:0 }),            dynamic: false,            collisionless: true,            gravity: { x: 0, y: 0, z: 0 },            lifetime: lifetime,            parentID: leverID,            userData: "{ \"grabbableKey\": { \"grabbable\": false } }"        });         Entities.addAction("cone-twist", baseID, {            pivot: { x: 0, y: 0.2, z: 0 },            axis: { x: 0, y: 1, z: 0 },            otherEntityID: leverID,            otherPivot: { x: 0, y: -0.55, z: 0 },            otherAxis: { x: 0, y: 1, z: 0 },            swingSpan1: Math.PI / 4,            swingSpan2: Math.PI / 4,            twistSpan: Math.PI / 2,            tag: "cone-twist test"        });         Entities.addAction("tractor", leverID, {            targetRotation: { x: 0, y: 0, z: 0, w: 1 },            angularTimeScale: 0.2,            tag: "cone-twist test tractor"        });          Entities.editEntity(baseID, { gravity: { x: 0, y: -5, z: 0 } });    }     function doorVSWorldTest(params) {        var pos = Vec3.sum(MyAvatar.position, Vec3.multiplyQbyV(MyAvatar.orientation, {x: 0, y: 0.1, z: -2}));        var lifetime = params.lifetime;         var doorID = Entities.addEntity({            name: "door test",            type: "Box",            color: { blue: 128, green: 20, red: 20 },            dimensions: { x: 1.0, y: 2, z: 0.1 },            position: pos,            dynamic: true,            collisionless: false,            lifetime: lifetime,            gravity: { x: 0, y: 0, z: 0 },            userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"        });         Entities.addAction("hinge", doorID, {            pivot: { x: -0.5, y: 0, z: 0 },            axis: { x: 0, y: 1, z: 0 },            low: 0,            high: Math.PI,            tag: "door hinge test"        });    }     function hingeChainTest(params) {        var pos = Vec3.sum(MyAvatar.position, Vec3.multiplyQbyV(MyAvatar.orientation, {x: 0, y: 0.1, z: -2}));        var lifetime = params.lifetime;         var offset = 0.28;        var prevEntityID = null;        for (var i = 0; i < 5; i++) {            var newID = Entities.addEntity({                name: "hinge test " + i,                type: "Box",                color: { blue: 128, green: 40 * i, red: 20 },                dimensions: { x: 0.2, y: 0.2, z: 0.1 },                position: Vec3.sum(pos, {x: 0, y: offset * i, z:0}),                dynamic: true,                collisionless: false,                lifetime: lifetime,                gravity: { x: 0, y: 0, z: 0 },                userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"            });            if (prevEntityID) {                Entities.addAction("hinge", prevEntityID, {                    pivot: { x: 0, y: offset / 2, z: 0 },                    axis: { x: 1, y: 0, z: 0 },                    otherEntityID: newID,                    otherPivot: { x: 0, y: -offset / 2, z: 0 },                    otherAxis: { x: 1, y: 0, z: 0 },                    tag: "A/B hinge test " + i                });            }            prevEntityID = newID;        }    }     function sliderVSWorldTest(params) {        var pos = Vec3.sum(MyAvatar.position, Vec3.multiplyQbyV(MyAvatar.orientation, {x: 0, y: 0.1, z: -2}));        var lifetime = params.lifetime;         var sliderEntityID = Entities.addEntity({            name: "slider test",            type: "Box",            color: { blue: 128, green: 20, red: 20 },            dimensions: { x: 0.2, y: 0.2, z: 0.2 },            position: pos,            dynamic: true,            collisionless: false,            gravity: { x: 0, y: 0, z: 0 },            lifetime: lifetime,            userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"        });         Entities.addAction("slider", sliderEntityID, {            point: { x: -0.5, y: 0, z: 0 },            axis: { x: 0, y: 1, z: 0 },            linearLow: 0,            linearHigh: 0.6,            tag: "slider test"        });    }     function sliderChainTest(params) {        var pos = Vec3.sum(MyAvatar.position, Vec3.multiplyQbyV(MyAvatar.orientation, {x: 0, y: 0.1, z: -2}));        var lifetime = params.lifetime;         var offset = 0.28;        var prevEntityID = null;        for (var i = 0; i < 7; i++) {            var newID = Entities.addEntity({                name: "slider test " + i,                type: "Box",                color: { blue: 128, green: 40 * i, red: 20 },                dimensions: { x: 0.2, y: 0.1, z: 0.2 },                position: Vec3.sum(pos, {x: 0, y: offset * i, z:0}),                dynamic: true,                collisionless: false,                gravity: { x: 0, y: 0, z: 0 },                lifetime: lifetime,                userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"            });            if (prevEntityID) {                Entities.addAction("slider", prevEntityID, {                    point: { x: 0, y: 0, z: 0 },                    axis: { x: 0, y: 1, z: 0 },                    otherEntityID: newID,                    otherPoint: { x: 0, y: -offset / 2, z: 0 },                    otherAxis: { x: 0, y: 1, z: 0 },                    linearLow: 0,                    linearHigh: 0.6,                    tag: "A/B slider test " + i                });            }            prevEntityID = newID;        }    }     function ballSocketBetweenTest(params) {        var pos = Vec3.sum(MyAvatar.position, Vec3.multiplyQbyV(MyAvatar.orientation, {x: 0, y: 0.1, z: -2}));        var lifetime = params.lifetime;         var offset = 0.2;        var diameter = offset - 0.01;        var prevEntityID = null;        for (var i = 0; i < 7; i++) {            var newID = Entities.addEntity({                name: "ball and socket test " + i,                type: "Sphere",                color: { blue: 128, green: 40 * i, red: 20 },                dimensions: { x: diameter, y: diameter, z: diameter },                position: Vec3.sum(pos, {x: 0, y: offset * i, z:0}),                dynamic: true,                collisionless: false,                lifetime: lifetime,                gravity: { x: 0, y: 0, z: 0 },                userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"            });            if (prevEntityID) {                Entities.addAction("ball-socket", prevEntityID, {                    pivot: { x: 0, y: offset / 2, z: 0 },                    otherEntityID: newID,                    otherPivot: { x: 0, y: -offset / 2, z: 0 },                    tag: "A/B ball-and-socket test " + i                });            }            prevEntityID = newID;        }    }     function ballSocketCoincidentTest(params) {        var pos = Vec3.sum(MyAvatar.position, Vec3.multiplyQbyV(MyAvatar.orientation, {x: 0, y: 0.1, z: -2}));        var lifetime = params.lifetime;         var offset = 0.2;        var diameter = offset - 0.01;        var prevEntityID = null;        for (var i = 0; i < 7; i++) {            var newID = Entities.addEntity({                name: "ball and socket test " + i,                type: "Sphere",                color: { blue: 128, green: 40 * i, red: 20 },                dimensions: { x: diameter, y: diameter, z: diameter },                position: Vec3.sum(pos, {x: 0, y: offset * i, z:0}),                dynamic: true,                collisionless: false,                lifetime: lifetime,                gravity: { x: 0, y: 0, z: 0 },                userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"            });            if (prevEntityID) {                Entities.addAction("ball-socket", prevEntityID, {                    pivot: { x: 0, y: 0, z: 0 },                    otherEntityID: newID,                    otherPivot: { x: 0, y: offset, z: 0 },                    tag: "A/B ball-and-socket test " + i                });            }            prevEntityID = newID;        }    }     function ragdollTest(params) {        var scale = 1.6;        var lifetime = params.lifetime;        var pos = Vec3.sum(MyAvatar.position, Vec3.multiplyQbyV(MyAvatar.orientation, {x: 0, y: 1.0, z: -2}));         var neckLength = scale * 0.05;        var shoulderGap = scale * 0.1;        var elbowGap = scale * 0.06;        var hipGap = scale * 0.07;        var kneeGap = scale * 0.08;        var ankleGap = scale * 0.06;        var ankleMin = 0;        var ankleMax = Math.PI / 4;         var headSize = scale * 0.2;         var bodyHeight = scale * 0.4;        var bodyWidth = scale * 0.3;        var bodyDepth = scale * 0.2;         var upperArmThickness = scale * 0.05;        var upperArmLength = scale * 0.2;         var lowerArmThickness = scale * 0.05;        var lowerArmLength = scale * 0.2;         var legLength = scale * 0.3;        var legThickness = scale * 0.08;         var shinLength = scale * 0.2;        var shinThickness = scale * 0.06;         var footLength = scale * 0.2;        var footThickness = scale * 0.03;        var footWidth = scale * 0.08;          //        // body        //         var bodyID = Entities.addEntity({            name: "ragdoll body",            type: "Box",            color: { blue: 128, green: 100, red: 20 },            dimensions: { x: bodyDepth, y: bodyHeight, z: bodyWidth },            position: Vec3.sum(pos, { x: 0, y: scale * 0.0, z:0 }),            dynamic: true,            collisionless: false,            gravity: { x: 0, y: 0, z: 0 },            lifetime: lifetime,            userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"        });         //        // head        //         var headID = Entities.addEntity({            name: "ragdoll head",            type: "Box",            color: { blue: 128, green: 100, red: 20 },            dimensions: { x: headSize, y: headSize, z: headSize },            position: Vec3.sum(pos, { x: 0, y: bodyHeight / 2 + headSize / 2 + neckLength, z:0 }),            dynamic: true,            collisionless: false,            gravity: { x: 0, y: 0.5, z: 0 },            lifetime: lifetime,            userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"        });         Entities.addAction("tractor", headID, {            targetRotation: { x: 0, y: 0, z: 0, w: 1 },            angularTimeScale: 2.0,            otherID: bodyID,            tag: "cone-twist test tractor"        });          var noseID = Entities.addEntity({            name: "ragdoll nose",            type: "Box",            color: { blue: 128, green: 100, red: 100 },            dimensions: { x: headSize / 5, y: headSize / 5, z: headSize / 5 },            localPosition: { x: headSize / 2 + headSize / 10, y: 0, z: 0 },            dynamic: false,            collisionless: true,            lifetime: lifetime,            parentID: headID,            userData: "{ \"grabbableKey\": { \"grabbable\": false } }"        });         Entities.addAction("cone-twist", headID, {            pivot: { x: 0, y: -headSize / 2 - neckLength / 2, z: 0 },            axis: { x: 0, y: 1, z: 0 },            otherEntityID: bodyID,            otherPivot: { x: 0, y: bodyHeight / 2 + neckLength / 2, z: 0 },            otherAxis: { x: 0, y: 1, z: 0 },            swingSpan1: Math.PI / 4,            swingSpan2: Math.PI / 4,            twistSpan: Math.PI / 2,            tag: "ragdoll neck joint"        });         //        // right upper arm        //         var rightUpperArmID = Entities.addEntity({            name: "ragdoll right arm",            type: "Box",            color: { blue: 128, green: 100, red: 20 },            dimensions: { x: upperArmThickness, y: upperArmThickness, z: upperArmLength },            position: Vec3.sum(pos, { x: 0,                                      y: bodyHeight / 2 + upperArmThickness / 2,                                      z: bodyWidth / 2 + shoulderGap + upperArmLength / 2                                    }),            dynamic: true,            collisionless: false,            gravity: { x: 0, y: 0, z: 0 },            lifetime: lifetime,            userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"        });         Entities.addAction("cone-twist", bodyID, {            pivot: { x: 0, y: bodyHeight / 2 + upperArmThickness / 2, z: bodyWidth / 2 + shoulderGap / 2 },            axis: { x: 0, y: 0, z: 1 },            otherEntityID: rightUpperArmID,            otherPivot: { x: 0, y: 0, z: -upperArmLength / 2 - shoulderGap / 2 },            otherAxis: { x: 0, y: 0, z: 1 },            swingSpan1: Math.PI / 2,            swingSpan2: Math.PI / 2,            twistSpan: 0,            tag: "ragdoll right shoulder joint"        });         //        // left upper arm        //         var leftUpperArmID = Entities.addEntity({            name: "ragdoll left arm",            type: "Box",            color: { blue: 128, green: 100, red: 20 },            dimensions: { x: upperArmThickness, y: upperArmThickness, z: upperArmLength },            position: Vec3.sum(pos, { x: 0,                                      y: bodyHeight / 2 + upperArmThickness / 2,                                      z: -bodyWidth / 2 - shoulderGap - upperArmLength / 2                                    }),            dynamic: true,            collisionless: false,            gravity: { x: 0, y: 0, z: 0 },            lifetime: lifetime,            userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"        });         Entities.addAction("cone-twist", bodyID, {            pivot: { x: 0, y: bodyHeight / 2 + upperArmThickness / 2, z: -bodyWidth / 2 - shoulderGap / 2 },            axis: { x: 0, y: 0, z: -1 },            otherEntityID: leftUpperArmID,            otherPivot: { x: 0, y: 0, z: upperArmLength / 2 + shoulderGap / 2 },            otherAxis: { x: 0, y: 0, z: -1 },            swingSpan1: Math.PI / 2,            swingSpan2: Math.PI / 2,            twistSpan: 0,            tag: "ragdoll left shoulder joint"        });         //        // right lower arm        //         var rightLowerArmID = Entities.addEntity({            name: "ragdoll right lower arm",            type: "Box",            color: { blue: 128, green: 100, red: 20 },            dimensions: { x: lowerArmThickness, y: lowerArmThickness, z: lowerArmLength },            position: Vec3.sum(pos, { x: 0,                                      y: bodyHeight / 2 - upperArmThickness / 2,                                      z: bodyWidth / 2 + shoulderGap + upperArmLength + elbowGap + lowerArmLength / 2                                    }),            dynamic: true,            collisionless: false,            gravity: { x: 0, y: -1, z: 0 },            lifetime: lifetime,            userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"        });         Entities.addAction("hinge", rightLowerArmID, {            pivot: { x: 0, y: 0, z: -lowerArmLength / 2 - elbowGap / 2 },            axis: { x: 0, y: 1, z: 0 },            otherEntityID: rightUpperArmID,            otherPivot: { x: 0, y: 0, z: upperArmLength / 2 + elbowGap / 2 },            otherAxis: { x: 0, y: 1, z: 0 },            low: Math.PI / -2,            high: 0,            tag: "ragdoll right elbow joint"        });         //        // left lower arm        //         var leftLowerArmID = Entities.addEntity({            name: "ragdoll left lower arm",            type: "Box",            color: { blue: 128, green: 100, red: 20 },            dimensions: { x: lowerArmThickness, y: lowerArmThickness, z: lowerArmLength },            position: Vec3.sum(pos, { x: 0,                                      y: bodyHeight / 2 - upperArmThickness / 2,                                      z: -bodyWidth / 2 - shoulderGap - upperArmLength - elbowGap - lowerArmLength / 2                                    }),            dynamic: true,            collisionless: false,            gravity: { x: 0, y: -1, z: 0 },            lifetime: lifetime,            userData: "{ \"grabbableKey\": { \"grabbable\": true, \"kinematic\": false } }"        });         Entities.addAction("hinge", leftLowerArmID, {            pivot: { x: 0, y: 0, z: lowerArmLength / 2 + elbowGap / 2 },

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