def test_pso_create_shape():
ts1 = TransformState.makePos((1, 3, 5))
ts2 = TransformState.makePos((2, 4, 6))
par2 = (Vec3(4, 1, 7), )
obj0 = RBSO("0")
obj1 = RBSO("1")
obj2 = RBSO("2")
obj0.set_shape("Box")
obj1.set_shape(("Box", (), ts1))
obj2.set_shape(("Box", par2, ts2))
obj0.create_shape()
obj1.create_shape()
obj2.create_shape()
sh0 = obj0.node().getShape(0)
sh1 = obj1.node().getShape(0)
sh2 = obj2.node().getShape(0)
assert isinstance(sh0, BulletBoxShape)
assert isinstance(sh1, BulletBoxShape)
assert isinstance(sh2, BulletBoxShape)
assert obj0.node().getShapeMat(0) == Mat4.identMat()
assert obj1.node().getShapeMat(0) == ts1.getMat()
assert obj2.node().getShapeMat(0) == ts2.getMat()
assert sh0.getHalfExtentsWithMargin() == Vec3(0.5, 0.5, 0.5)
assert sh1.getHalfExtentsWithMargin() == Vec3(0.5, 0.5, 0.5)
assert sh2.getHalfExtentsWithMargin() == par2
def test_boxshape_fix_xform():
# _fix_xform
ident_T = TransformState.makeIdentity()
X = None
assert BoxShape._fix_xform(X) == ident_T
X = ()
assert BoxShape._fix_xform(X) == ident_T
X = Mat4.identMat() * 3
assert BoxShape._fix_xform(X) == TransformState.makeMat(X)
def _fix_xform(T):
""" Converts T into a valid xform. Returns None on fail."""
# If T has "flat" attribute, it is an ndarray and that should
# be returned. Otherwise just return T.
if not T:
xform = TransformState.makeIdentity()
else:
if not isinstance(T, TransformState):
mat = Mat4(*T.flat) if hasattr(T, "flat") else Mat4(T)
xform = TransformState.makeMat(mat)
else:
xform = T
return xform
def _fix_xform(T):
""" Converts T into a valid xform. Returns None on fail."""
# If T has "flat" attribute, it is an ndarray and that should
# be returned. Otherwise just return T.
if not T:
xform = TransformState.makeIdentity()
else:
if not isinstance(T, TransformState):
mat = Mat4(*T.flat) if hasattr(T, "flat") else Mat4(T)
xform = TransformState.makeMat(mat)
else:
xform = T
return xform
def read(cls, node):
""" Get shape list from Bullet*Shape(s)."""
# Get valid node.
try:
node = node.node()
except AttributeError:
pass
# Get shapes.
n_shapes = node.getNumShapes()
if n_shapes == 0:
# For no shape, return "".
shapes = []
else:
# For 1+ shapes.
parent = node.getParent()
node.detachNode()
shapes = []
for i in xrange(n_shapes):
# Get shape and shape's matrix.
bshape = node.getShape(i)
# Get name.
name = cls.read_name(bshape)
# Get params.
Shape = cls._name2shape[name]
params = Shape.read_params(bshape)
# Get xform.
xform = TransformState.makeMat(node.getShapeMat(i))
# Store.
shapes.append((name, params, xform))
node.reparentTo(parent)
return shapes
def read(cls, node):
""" Get shape list from Bullet*Shape(s)."""
# Get valid node.
try:
node = node.node()
except AttributeError:
pass
# Get shapes.
n_shapes = node.getNumShapes()
if n_shapes == 0:
# For no shape, return "".
shapes = []
else:
# For 1+ shapes.
parent = node.getParent()
node.detachNode()
shapes = []
for i in xrange(n_shapes):
# Get shape and shape's matrix.
bshape = node.getShape(i)
# Get name.
name = cls.read_name(bshape)
# Get params.
Shape = cls._name2shape[name]
params = Shape.read_params(bshape)
# Get xform.
xform = TransformState.makeMat(node.getShapeMat(i))
# Store.
shapes.append((name, params, xform))
node.reparentTo(parent)
return shapes
def test_boxshape_shift():
S0 = BoxShape()
args = Vec3(1, 2, 3)
S1 = BoxShape([args])
pos = Vec3(10, 20, 30)
quat = Quat(1, 1, 0, 0)
quat.normalize()
ones = Vec3(1, 1, 1)
T = TransformState.makePosQuatScale(pos, quat, ones)
S0.shift(pos=pos, quat=quat)
S1.shift(pos=pos, quat=quat)
S1.shift(pos=pos, quat=quat)
assert S0[1] == T
assert S1[1] == T.compose(T)
def test_boxshape_transform():
args = Vec3(1, 2, 3)
S0 = BoxShape([args])
scale = Vec3(5, 6, 7)
pos = Vec3(10, 20, 30)
quat = Quat(1, 1, 0, 0)
quat.normalize()
ones = Vec3(1, 1, 1)
rbso = RBSO("rbso")
rbso.set_scale(scale)
rbso.set_pos(pos)
rbso.set_quat(quat)
S0.transform(rbso)
T = TransformState.makePosQuatScale(pos, quat, ones)
assert S0[0][0] == Vec3(*imap(mul, args, scale))
assert S0[1] == T
def shift(self, pos=(0, 0, 0), quat=(1, 0, 0, 0)):
""" Translate and rotate shape's transform."""
ones = Vec3(1, 1, 1)
T = TransformState.makePosQuatScale(pos, quat, ones)
xform = T.compose(self[1])
self[1] = xform
def test_pso_get_shape():
shape = ("Box", (Vec3(4, 1, 7), ), TransformState.makePos((2, 4, 6)))
obj = RBSO("rso")
obj.set_shape(shape)
assert obj.get_shape() == shape
def shift(self, pos=(0, 0, 0), quat=(1, 0, 0, 0)):
""" Translate and rotate shape's transform."""
ones = Vec3(1, 1, 1)
T = TransformState.makePosQuatScale(pos, quat, ones)
xform = T.compose(self[1])
self[1] = xform
