def test_applyCentralForce(self):
body = RigidBody(mass=1.0)
body.applyCentralForce(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, 0.5 + 0.5 / expectedSteps)
self.assertEqual(position.y, 1.0 + 1.0 / expectedSteps)
self.assertEqual(position.z, 1.5 + 1.5 / expectedSteps)
rot = transform.getRotation()
self.assertEqual(
(rot.getX(), rot.getY(), rot.getZ(), rot.getW()), (0, 0, 0, 1))
def test_applyCentralForce(self):
body = RigidBody(mass=1.0)
body.applyCentralForce(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, 0.5 + 0.5 / expectedSteps)
self.assertEqual(position.y, 1.0 + 1.0 / expectedSteps)
self.assertEqual(position.z, 1.5 + 1.5 / expectedSteps)
rot = transform.getRotation()
self.assertEqual((rot.getX(), rot.getY(), rot.getZ(), rot.getW()),
(0, 0, 0, 1))
