def test_ConstructionInfo(self):
"""
Create a RigidBodyConstructionInfo class and set/get some attributes.
"""
mass = 1.5
pos = Vec3(1, 2, 3)
rot = Quaternion(0, 0, 0, 1)
t = Transform(rot, pos)
ms = DefaultMotionState(t)
cs = EmptyShape()
ci = RigidBodyConstructionInfo(mass, ms, cs)
# Mass was specified in Ctor.
assert ci.mass == mass
ci.mass = 1.1
assert ci.mass == 1.1
ci.mass = 1.1
assert ci.mass == 1.1
# Local inertia was specified in Ctor.
assert ci.localInertia == Vec3(0, 0, 0)
inert = Vec3(1, 2, 10)
ci.localInertia = inert
assert ci.localInertia == inert
inert = Vec3(1, 2, 20)
ci.localInertia = inert
assert ci.localInertia == inert
# Verify the 'motionState' attribute.
assert ci.motionState.getWorldTransform().getOrigin() == pos
assert ci.motionState.getWorldTransform().getRotation() == rot
# Verify the 'collisionShape' attribute.
assert ci.collisionShape.getName() == b"Empty"
def test_ConstructionInfo_to_RigidBody(self):
"""
Verify that the initial motion state is transferred correctly to the
RigidBody.
"""
mass = 10
pos = Vec3(1, 2, 3)
rot = Quaternion(0, 1, 0, 0)
t = Transform(rot, pos)
ms = DefaultMotionState(t)
cs = EmptyShape()
inert = Vec3(1, 2, 4)
# Compile the Rigid Body parameters.
ci = RigidBodyConstructionInfo(mass, ms, cs, Vec3(2, 4, 6))
assert ci.localInertia == Vec3(2, 4, 6)
ci.localInertia = inert
assert ci.localInertia == inert
# Construct the rigid body and delete the construction info.
body = RigidBody(ci)
del ci
# Verify that the object is at the correct position and has the correct
# mass and inertia.
t = body.getMotionState().getWorldTransform()
assert t.getOrigin() == pos
assert t.getRotation() == rot
assert body.getInvMass() == 1 / mass
assert body.getInvInertiaDiagLocal() == Vec3(1, 0.5, 0.25)
