def test_addCollisionObject(self):
world = CollisionWorld()
obj = CollisionObject()
shape = SphereShape(3)
obj.setCollisionShape(shape)
world.addCollisionObject(obj)
self.assertEqual(world.getNumCollisionObjects(), 1)
def test_fromConstructionInfoWithoutMotionState(self):
"""
When L{RigidBody.fromConstructionInfo} is used to construct a
L{RigidBody} without a L{MotionState}, the C{worldTransform} parameter
is used to specify the body's initial position.
"""
mass = 8
shape = SphereShape(3)
inertia = Vector3(1, 2, 3)
startTransform = Transform()
startTransform.setOrigin(Vector3(5, 6, 7))
linearDamping = 0.3
angularDamping = 0.4
friction = 4.5
restition = 5.4
linearSleepingThreshold = 4.3
angularSleepingThreshold = 3.2
body = RigidBody.fromConstructionInfo(None, shape, mass, inertia,
startTransform, linearDamping,
angularDamping, friction,
restition,
linearSleepingThreshold,
angularSleepingThreshold)
origin = body.getWorldTransform().getOrigin()
self.assertEqual(5, origin.x)
self.assertEqual(6, origin.y)
self.assertEqual(7, origin.z)
def test_setCollisionShape(self):
obj = CollisionObject()
# Let go of the shape reference, it shouldn't matter.
obj.setCollisionShape(SphereShape(3))
shape = obj.getCollisionShape()
self.assertTrue(isinstance(shape, SphereShape))
self.assertEquals(shape.getRadius(), 3)
def test_fromConstructionInfo(self):
mass = 8
motion = DefaultMotionState()
shape = SphereShape(3)
inertia = Vector3(1, 2, 3)
transform = Transform()
transform.setOrigin(Vector3(5, 6, 7))
linearDamping = 0.3
angularDamping = 0.4
friction = 4.5
restition = 5.4
linearSleepingThreshold = 4.3
angularSleepingThreshold = 3.2
body = RigidBody.fromConstructionInfo(motion, shape, mass, inertia,
transform, linearDamping,
angularDamping, friction,
restition,
linearSleepingThreshold,
angularSleepingThreshold)
self.assertTrue(isinstance(body, RigidBody))
self.assertEqual(1. / mass, body.getInvMass())
self.assertTrue(motion is body.getMotionState())
self.assertTrue(shape is body.getCollisionShape())
self.assertAlmostEqual(1. / inertia.x,
body.getInvInertiaDiagLocal().x, 6)
self.assertAlmostEqual(1. / inertia.y,
body.getInvInertiaDiagLocal().y, 6)
self.assertAlmostEqual(1. / inertia.z,
body.getInvInertiaDiagLocal().z, 6)
# The worldTransform is ignored if a MotionState is supplied.
self.assertEqual(0, body.getWorldTransform().getOrigin().x)
self.assertEqual(0, body.getWorldTransform().getOrigin().y)
self.assertEqual(0, body.getWorldTransform().getOrigin().z)
self.assertAlmostEqual(linearDamping, body.getLinearDamping(), 6)
self.assertAlmostEqual(angularDamping, body.getAngularDamping(), 6)
self.assertAlmostEqual(friction, body.getFriction(), 6)
self.assertAlmostEqual(restition, body.getRestitution(), 6)
self.assertAlmostEqual(linearSleepingThreshold,
body.getLinearSleepingThreshold(), 6)
self.assertAlmostEqual(angularSleepingThreshold,
body.getAngularSleepingThreshold(), 6)
def test_removeAction(self):
world = DiscreteDynamicsWorld()
action = KinematicCharacterController(SphereShape(1), 1.0, 1)
world.addAction(action)
world.removeAction(action)
def test_instantiate(self):
shape = SphereShape(3.0)
self.assertTrue(isinstance(shape, CollisionShape))