def test_computeAABBS_StaticPlane(self):
"""
Static planes are permissible collision shapes for a body if
that is indeed the only collision shape for that body.
Conversely, it is not allowed for a body to have multiple
collision shapes if one of them is a StaticPlane.
"""
computeAABBs = azrael.leo_api.computeAABBs
# One or more spheres are permissible.
cs = {'cssphere': getCSSphere()}
assert computeAABBs(cs).ok
# A single plane is permissible.
cs = {'csplane': getCSPlane()}
assert computeAABBs(cs).ok
# A plane in conjunction with any other object is not allowed...
cs = {'csplane': getCSPlane(), 'cssphere': getCSSphere()}
assert not computeAABBs(cs).ok
# not even with another plane.
cs = {'csplane': getCSPlane(), 'cssphere': getCSSphere()}
assert not computeAABBs(cs).ok
# The position and rotation of a plane is defined via the normal
# vector and its offset. The position/rotation fields in the
# CollShapeMeta structure are thus redundant and *must* be set to
# defaults to avoid unintended side effects.
cs = {'csplane': getCSPlane(pos=(0, 1, 2))}
assert not computeAABBs(cs).ok
cs = {'csplane': getCSPlane(rot=(1, 0, 0, 0))}
assert not computeAABBs(cs).ok
def test_computeAABBS_StaticPlane(self):
"""
Static planes are permissible collision shapes for a body if
that is indeed the only collision shape for that body.
Conversely, it is not allowed for a body to have multiple
collision shapes if one of them is a StaticPlane.
"""
computeAABBs = azrael.leo_api.computeAABBs
# One or more spheres are permissible.
cs = {'cssphere': getCSSphere()}
assert computeAABBs(cs).ok
# A single plane is permissible.
cs = {'csplane': getCSPlane()}
assert computeAABBs(cs).ok
# A plane in conjunction with any other object is not allowed...
cs = {'csplane': getCSPlane(), 'cssphere': getCSSphere()}
assert not computeAABBs(cs).ok
# not even with another plane.
cs = {'csplane': getCSPlane(), 'cssphere': getCSSphere()}
assert not computeAABBs(cs).ok
# The position and rotation of a plane is defined via the normal
# vector and its offset. The position/rotation fields in the
# CollShapeMeta structure are thus redundant and *must* be set to
# defaults to avoid unintended side effects.
cs = {'csplane': getCSPlane(pos=(0, 1, 2))}
assert not computeAABBs(cs).ok
cs = {'csplane': getCSPlane(rot=(1, 0, 0, 0))}
assert not computeAABBs(cs).ok
def test_cshape_with_offset(self):
"""
Same as above except that the collision shape has a different position
relative to the rigid body.
This test is to establish that the relative positions of the collision
shapes are correctly passed to Bullet and taken into account in a
simulation.
Setup: place a box above a plane and verify that after a long time the
box will have come to rest on the infinitely large plane.
"""
aid_1, aid_2 = '1', '2'
# Instantiate Bullet engine and activate gravity.
sim = azrael.bullet_api.PyBulletDynamicsWorld(1)
sim.setGravity((0, 0, -10))
# Create a box above a static plane. The ground plane is at z=-1. The
# rigid body for the box is initially at z = 5, however, the collision
# shape for that rigid body is actually z = 5 + ofs_z.
ofs_z = 10
cs_plane = getCSPlane(normal=(0, 0, 1), ofs=-1)
cs_box = getCSBox(pos=(0, 0, ofs_z))
b_plane = getRigidBody(imass=0, cshapes={'csplane': cs_plane})
b_box = getRigidBody(position=(0, 0, 5), cshapes={'csbox': cs_box})
assert b_box is not None
assert b_plane is not None
# Add the objects to the simulation and verify their positions.
sim.setRigidBodyData(aid_1, b_plane)
sim.setRigidBodyData(aid_2, b_box)
ret_plane = sim.getRigidBodyData(aid_1)
ret_box = sim.getRigidBodyData(aid_2)
assert (ret_plane.ok is True) and (ret_box.ok is True)
assert ret_plane.data.position[2] == 0
assert ret_box.data.position[2] == 5
# Step the simulation often enough for the box to fall down and come to
# rest on the surface.
dt, maxsteps = 1.0, 60
for ii in range(10):
sim.compute([aid_1, aid_2], dt, maxsteps)
# Verify that the plane has not moved (because it is static). If the
# position of the box' collision shape were at the origin of the body,
# then the body's position should be approximately zero. However, since
# the collisions shape is at 'ofs_z' higher, the final resting position
# of the body must be 'ofs_z' lower, ie rb_position + ofs_z must now be
# approximately zero.
ret_plane = sim.getRigidBodyData(aid_1)
ret_box = sim.getRigidBodyData(aid_2)
assert (ret_plane.ok is True) and (ret_box.ok is True)
assert ret_plane.data.position[2] == 0
assert abs(ret_box.data.position[2] + ofs_z) < 1E-3
def test_cshape_with_offset(self):
"""
Same as above except that the collision shape has a different position
relative to the rigid body.
This test is to establish that the relative positions of the collision
shapes are correctly passed to Bullet and taken into account in a
simulation.
Setup: place a box above a plane and verify that after a long time the
box will have come to rest on the infinitely large plane.
"""
aid_1, aid_2 = '1', '2'
# Instantiate Bullet engine and activate gravity.
sim = azrael.bullet_api.PyBulletDynamicsWorld(1)
sim.setGravity((0, 0, -10))
# Create a box above a static plane. The ground plane is at z=-1. The
# rigid body for the box is initially at z = 5, however, the collision
# shape for that rigid body is actually z = 5 + ofs_z.
ofs_z = 10
cs_plane = getCSPlane(normal=(0, 0, 1), ofs=-1)
cs_box = getCSBox(pos=(0, 0, ofs_z))
b_plane = getRigidBody(imass=0, cshapes={'csplane': cs_plane})
b_box = getRigidBody(position=(0, 0, 5), cshapes={'csbox': cs_box})
assert b_box is not None
assert b_plane is not None
# Add the objects to the simulation and verify their positions.
sim.setRigidBodyData(aid_1, b_plane)
sim.setRigidBodyData(aid_2, b_box)
ret_plane = sim.getRigidBodyData(aid_1)
ret_box = sim.getRigidBodyData(aid_2)
assert (ret_plane.ok is True) and (ret_box.ok is True)
assert ret_plane.data.position[2] == 0
assert ret_box.data.position[2] == 5
# Step the simulation often enough for the box to fall down and come to
# rest on the surface.
dt, maxsteps = 1.0, 60
for ii in range(10):
sim.compute([aid_1, aid_2], dt, maxsteps)
# Verify that the plane has not moved (because it is static). If the
# position of the box' collision shape were at the origin of the body,
# then the body's position should be approximately zero. However, since
# the collisions shape is at 'ofs_z' higher, the final resting position
# of the body must be 'ofs_z' lower, ie rb_position + ofs_z must now be
# approximately zero.
ret_plane = sim.getRigidBodyData(aid_1)
ret_box = sim.getRigidBodyData(aid_2)
assert (ret_plane.ok is True) and (ret_box.ok is True)
assert ret_plane.data.position[2] == 0
assert abs(ret_box.data.position[2] + ofs_z) < 1E-3
def test_box_on_plane(self):
"""
Create a simulation with gravity. Place a box above a plane and verify
that after a long time the box will have come to rest on the infinitely
large plane.
"""
aid_1, aid_2 = '1', '2'
# Instantiate Bullet engine and activate gravity.
sim = azrael.bullet_api.PyBulletDynamicsWorld(1)
sim.setGravity((0, 0, -10))
# Create a box above a static plane. The ground plane is at z=-1.
cs_plane = getCSPlane(normal=(0, 0, 1), ofs=-1)
cs_box = getCSBox()
b_plane = getRigidBody(imass=0, cshapes={'csplane': cs_plane})
b_box = getRigidBody(position=(0, 0, 5), cshapes={'csbox': cs_box})
assert b_box is not None
assert b_plane is not None
# Add the objects to the simulation and verify their positions.
sim.setRigidBodyData(aid_1, b_plane)
sim.setRigidBodyData(aid_2, b_box)
ret_plane = sim.getRigidBodyData(aid_1)
ret_box = sim.getRigidBodyData(aid_2)
assert (ret_plane.ok is True) and (ret_box.ok is True)
assert ret_plane.data.position[2] == 0
assert ret_box.data.position[2] == 5
# Step the simulation often enough for the box to fall down and come to
# rest on the surface.
dt, maxsteps = 1.0, 60
for ii in range(10):
sim.compute([aid_1, aid_2], dt, maxsteps)
# Verify that the plane has not moved (because it is static) and that
# the box has come to rest atop. The position of the box rigid body
# must be approximately zero, because the plane is at position z=-1,
# and the half length of the box is 1 Meters.
ret_plane = sim.getRigidBodyData(aid_1)
ret_box = sim.getRigidBodyData(aid_2)
assert (ret_plane.ok is True) and (ret_box.ok is True)
assert ret_plane.data.position[2] == 0
assert abs(ret_box.data.position[2]) < 1E-5
def test_box_on_plane(self):
"""
Create a simulation with gravity. Place a box above a plane and verify
that after a long time the box will have come to rest on the infinitely
large plane.
"""
aid_1, aid_2 = '1', '2'
# Instantiate Bullet engine and activate gravity.
sim = azrael.bullet_api.PyBulletDynamicsWorld(1)
sim.setGravity((0, 0, -10))
# Create a box above a static plane. The ground plane is at z=-1.
cs_plane = getCSPlane(normal=(0, 0, 1), ofs=-1)
cs_box = getCSBox()
b_plane = getRigidBody(imass=0, cshapes={'csplane': cs_plane})
b_box = getRigidBody(position=(0, 0, 5), cshapes={'csbox': cs_box})
assert b_box is not None
assert b_plane is not None
# Add the objects to the simulation and verify their positions.
sim.setRigidBodyData(aid_1, b_plane)
sim.setRigidBodyData(aid_2, b_box)
ret_plane = sim.getRigidBodyData(aid_1)
ret_box = sim.getRigidBodyData(aid_2)
assert (ret_plane.ok is True) and (ret_box.ok is True)
assert ret_plane.data.position[2] == 0
assert ret_box.data.position[2] == 5
# Step the simulation often enough for the box to fall down and come to
# rest on the surface.
dt, maxsteps = 1.0, 60
for ii in range(10):
sim.compute([aid_1, aid_2], dt, maxsteps)
# Verify that the plane has not moved (because it is static) and that
# the box has come to rest atop. The position of the box rigid body
# must be approximately zero, because the plane is at position z=-1,
# and the half length of the box is 1 Meters.
ret_plane = sim.getRigidBodyData(aid_1)
ret_box = sim.getRigidBodyData(aid_2)
assert (ret_plane.ok is True) and (ret_box.ok is True)
assert ret_plane.data.position[2] == 0
assert abs(ret_box.data.position[2]) < 1E-5
