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)
def getRB(pos=Vec3(0, 0, 0), cshape=SphereShape(1)):
"""
Return a Rigid Body plus auxiliary information (do *not* delete; see
note below).
.. note:: Do not delete the tuple until the end of the test
because it may lead to memory access violations. The reason is that a
rigid body requires several indepenent structures that need to remain
in memory.
"""
t = Transform(Quaternion(0, 0, 0, 1), pos)
ms = DefaultMotionState(t)
mass = 1
# Build construction info and instantiate the rigid body.
ci = RigidBodyConstructionInfo(mass, ms, cshape)
return RigidBody(ci)
from azBullet import RigidBody, RigidBodyConstructionInfo
# Instantiate the Bullet simulation.
sim = azBullet.BulletBase()
sim.setGravity(Vec3(0, -10, 0))
# Create the collision shape for Ball and Ground.
ballShape = SphereShape(1)
groundShape = StaticPlaneShape(Vec3(0, 1, 0), 1)
# Create the rigid body for the Ground. Since it is a static body its mass must
# be zero.
mass = 0
groundRigidBodyState = DefaultMotionState(
Transform(Quaternion(0, 0, 0, 1), Vec3(0, -1, 0)))
ci = RigidBodyConstructionInfo(mass, groundRigidBodyState, groundShape)
groundRigidBody = RigidBody(ci)
groundRigidBody.setRestitution(1.0)
sim.addRigidBody(groundRigidBody)
del mass, ci
# Create the rigid body for the Ball. Since it is a dynamic body we need to
# specify mass and inertia. The former we need to do ourselves but Bullet can
# do the heavy lifting for the Inertia and compute it for us.
fallRigidBodyState = DefaultMotionState(
Transform(Quaternion(0, 0, 0, 1), Vec3(0, 20, 0)))
mass = 1
fallInertia = ballShape.calculateLocalInertia(mass)
ci = RigidBodyConstructionInfo(mass, fallRigidBodyState, ballShape,
fallInertia)
fallRigidBody = RigidBody(ci)
