def test_cpso_init_tree():
c = 3.
n = 4
sso = SSO("parent")
cpso = CPSO("foo")
cpso.reparentTo(sso)
objs = [RBSO(str(i)) for i in xrange(n)]
for obj in objs:
obj.setPos((c * (i - np.floor(n / 2.)), 0, 0))
obj.set_shape("Box")
cpso.add(objs)
sso.init_tree(tags=("shape", ))
assert cpso.node().getNumShapes() == n
for obj in cpso.components:
assert obj.node().getNumShapes() == 0
def attach_pair(self, pair, f_on):
""" Adds/removes physical attachment between a pair of nodes."""
# Get the connected subgroups.
graph = self.make_attachment_graph()
sgs = [sg for sg in nx.connected_components(graph) if len(sg) > 1]
self.reset_compounds()
# Iterate over subgroups, creating compound shapes.
for sg in sgs:
nodes = [self.contact_bodies[i] for i in sg]
parents = [c.getParent() for c in nodes]
self.compound_components.extend(zip(nodes, parents))
cname = "+".join([str(i) for i in sorted(sg)])
cnode = CPSO(cname)
cnode.reparentTo(self.scene)
cnode.add(nodes)
cnode.init_tree(tags=("shape", ))
cnode.destroy_component_shapes()
self.compound_objects.append(cnode)
def attach_pair(self, pair, f_on):
""" Adds/removes physical attachment between a pair of nodes."""
# Get the connected subgroups.
graph = self.make_attachment_graph()
sgs = [sg for sg in nx.connected_components(graph) if len(sg) > 1]
self.reset_compounds()
# Iterate over subgroups, creating compound shapes.
for sg in sgs:
nodes = [self.contact_bodies[i] for i in sg]
parents = [c.getParent() for c in nodes]
self.compound_components.extend(zip(nodes, parents))
cname = "+".join([str(i) for i in sorted(sg)])
cnode = CPSO(cname)
cnode.reparentTo(self.scene)
cnode.add(nodes)
cnode.init_tree(tags=("shape",))
cnode.destroy_component_shapes()
self.compound_objects.append(cnode)
