def test_linearVelocity(self):
body = RigidBody()
body.setLinearVelocity(Vector3(1, 2, 3))
velocity = body.getLinearVelocity()
self.assertEquals(velocity.x, 1)
self.assertEquals(velocity.y, 2)
self.assertEquals(velocity.z, 3)
def test_linearVelocity(self):
body = RigidBody()
body.setLinearVelocity(Vector3(1, 2, 3))
velocity = body.getLinearVelocity()
self.assertEquals(velocity.x, 1)
self.assertEquals(velocity.y, 2)
self.assertEquals(velocity.z, 3)
def test_isInWorld(self):
body = RigidBody()
self.assertFalse(body.isInWorld())
world = DiscreteDynamicsWorld()
world.addRigidBody(body)
self.assertTrue(body.isInWorld())
world.removeRigidBody(body)
self.assertFalse(body.isInWorld())
def test_isInWorld(self):
body = RigidBody()
self.assertFalse(body.isInWorld())
world = DiscreteDynamicsWorld()
world.addRigidBody(body)
self.assertTrue(body.isInWorld())
world.removeRigidBody(body)
self.assertFalse(body.isInWorld())
def test_getInvInertiaDiagLocal(self):
"""
L{RigidBody.getInvInertiaDiagLocal} returns the inverse of the local
inertia vector.
"""
body = RigidBody()
inertia = body.getInvInertiaDiagLocal()
self.assertTrue(isinstance(inertia, Vector3))
def test_getInvInertiaDiagLocal(self):
"""
L{RigidBody.getInvInertiaDiagLocal} returns the inverse of the local
inertia vector.
"""
body = RigidBody()
inertia = body.getInvInertiaDiagLocal()
self.assertTrue(isinstance(inertia, Vector3))
def test_linearVelocity(self):
world = DiscreteDynamicsWorld()
world.setGravity(Vector3(0, 0, 0))
obj = RigidBody(None, None, 1)
obj.setLinearVelocity(Vector3(1, 2, 3))
world.addRigidBody(obj)
expectedSteps = 64
numSteps = world.stepSimulation(1.0, expectedSteps, 1.0 / expectedSteps)
self.assertEqual(numSteps, expectedSteps)
position = obj.getMotionState().getWorldTransform().getOrigin()
self.assertEquals(position.x, 1)
self.assertEquals(position.y, 2)
self.assertEquals(position.z, 3)
def test_linearVelocity(self):
world = DiscreteDynamicsWorld()
world.setGravity(Vector3(0, 0, 0))
obj = RigidBody(None, None, 1)
obj.setLinearVelocity(Vector3(1, 2, 3))
world.addRigidBody(obj)
expectedSteps = 64
numSteps = world.stepSimulation(1.0, expectedSteps,
1.0 / expectedSteps)
self.assertEqual(numSteps, expectedSteps)
position = obj.getMotionState().getWorldTransform().getOrigin()
self.assertEquals(position.x, 1)
self.assertEquals(position.y, 2)
self.assertEquals(position.z, 3)
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_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_stepSimulation(self):
world = DiscreteDynamicsWorld()
world.setGravity(Vector3(1, 2, 3))
obj = RigidBody(None, None, 1)
world.addRigidBody(obj)
expectedSteps = 64
numSteps = world.stepSimulation(1.0, expectedSteps, 1.0 / expectedSteps)
self.assertEqual(numSteps, expectedSteps)
position = obj.getMotionState().getWorldTransform().getOrigin()
# Unfortunately, there is some error (as compared to physical reality)
# in Bullet's results. My fault? Bullet's fault? I'm not sure.
self.assertEqual(position.x, 0.5 + 0.5 / expectedSteps)
self.assertEqual(position.y, 1.0 + 1.0 / expectedSteps)
self.assertEqual(position.z, 1.5 + 1.5 / expectedSteps)
def test_applyCentralImpulse(self):
body = RigidBody(mass=1.0)
body.applyCentralImpulse(Vector3(1, 2, 3))
world = DiscreteDynamicsWorld()
world.setGravity(Vector3(0, 0, 0))
world.addRigidBody(body)
expectedSteps = 64
numSteps = world.stepSimulation(1.0, expectedSteps, 1.0 / expectedSteps)
self.assertEqual(numSteps, expectedSteps)
transform = body.getMotionState().getWorldTransform()
position = transform.getOrigin()
self.assertEqual(position.x, 1.0)
self.assertEqual(position.y, 2.0)
self.assertEqual(position.z, 3.0)
rot = transform.getRotation()
self.assertEqual(
(rot.getX(), rot.getY(), rot.getZ(), rot.getW()), (0, 0, 0, 1))
def test_stepSimulation(self):
world = DiscreteDynamicsWorld()
world.setGravity(Vector3(1, 2, 3))
obj = RigidBody(None, None, 1)
world.addRigidBody(obj)
expectedSteps = 64
numSteps = world.stepSimulation(1.0, expectedSteps,
1.0 / expectedSteps)
self.assertEqual(numSteps, expectedSteps)
position = obj.getMotionState().getWorldTransform().getOrigin()
# Unfortunately, there is some error (as compared to physical reality)
# in Bullet's results. My fault? Bullet's fault? I'm not sure.
self.assertEqual(position.x, 0.5 + 0.5 / expectedSteps)
self.assertEqual(position.y, 1.0 + 1.0 / expectedSteps)
self.assertEqual(position.z, 1.5 + 1.5 / expectedSteps)
def test_applyImpulse(self):
body = RigidBody(mass=1.0)
body.applyImpulse(Vector3(1, 2, 3), Vector3(1, 1, 1))
world = DiscreteDynamicsWorld()
world.setGravity(Vector3(0, 0, 0))
world.addRigidBody(body)
expectedSteps = 64
numSteps = world.stepSimulation(1.0, expectedSteps,
1.0 / expectedSteps)
self.assertEqual(numSteps, expectedSteps)
transform = body.getMotionState().getWorldTransform()
position = transform.getOrigin()
self.assertEqual(position.x, 1.0)
self.assertEqual(position.y, 2.0)
self.assertEqual(position.z, 3.0)
rot = transform.getRotation()
self.assertNotEqual((rot.getX(), rot.getY(), rot.getZ(), rot.getW()),
(0, 0, 0, 1))
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_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_removeRigidBody(self):
world = DiscreteDynamicsWorld()
body = RigidBody()
world.addRigidBody(body)
world.removeRigidBody(body)
def test_getInvMass(self):
"""
L{RigidBody.getInvMass} returns the inverse of the mass of the body.
"""
body = RigidBody(mass=16)
self.assertEqual(1. / 16, body.getInvMass())
def test_setAngularFactor(self):
body = RigidBody()
body.setAngularFactor(1.0)
def objAt(pos):
obj = RigidBody(None, BoxShape(Vector3(1, 1, 1)), 1.0)
xform = Transform()
xform.setOrigin(pos)
obj.setWorldTransform(xform)
return obj
def test_friction(self):
body = RigidBody()
body.setFriction(3.5)
self.assertEqual(3.5, body.getFriction())
def test_friction(self):
body = RigidBody()
body.setFriction(3.5)
self.assertEqual(3.5, body.getFriction())
def objAt(pos):
obj = RigidBody(None, BoxShape(Vector3(1, 1, 1)), 1.0)
xform = Transform()
xform.setOrigin(pos)
obj.setWorldTransform(xform)
return obj
def test_setAngularFactor(self):
body = RigidBody()
body.setAngularFactor(1.0)
def test_getInvMass(self):
"""
L{RigidBody.getInvMass} returns the inverse of the mass of the body.
"""
body = RigidBody(mass=16)
self.assertEqual(1. / 16, body.getInvMass())
