def test_spawn_and_delete_one_object(self, client_type):
"""
Ask Clerk to spawn one object.
"""
# Get the client for this test.
client = self.clients[client_type]
# Constants and parameters for this test.
objID, templateID = 1, '_templateEmpty'
# Spawn a new object from templateID. The new object must have objID=1.
init = {'templateID': templateID,
'rbs': {'position': (0, 0, 0)}}
ret = client.spawn([init])
assert ret.ok and ret.data == [objID]
# Attempt to spawn a non-existing template.
assert not client.spawn([{'templateID': 'blah'}]).ok
# Send invalid data to 'spawn'.
assert not client.spawn([{'blah': 'blah'}]).ok
# Exactly one object must exist at this point.
ret = client.getAllObjectIDs()
assert (ret.ok, ret.data) == (True, [objID])
# Attempt to delete a non-existing object. This must silently fail.
assert client.removeObject(100).ok
ret = client.getAllObjectIDs()
assert (ret.ok, ret.data) == (True, [objID])
# Delete an existing object.
assert client.removeObject(objID).ok
ret = client.getAllObjectIDs()
assert (ret.ok, ret.data) == (True, [])
def run(self):
# Return immediately if no resets are required.
if self.period == -1:
return
# Establish connection to Azrael.
client = azrael.client.Client()
# Query all objects in the scene. These are the only objects that will
# survive the reset.
ret = client.getAllObjectIDs()
assert ret.ok
ret = client.getRigidBodies(ret.data)
assert ret.ok
allowed_objIDs = {k: v["rbs"] for k, v in ret.data.items() if v is not None}
print("Took simulation snapshot for reset: ({} objects)".format(len(allowed_objIDs)))
# Periodically reset the SV values. Set them several times because it
# is well possible that not all State Variables reach Leonard in the
# same frame, which means some objects will be reset while other are
# not. This in turn may cause strange artefacts in the next physics
# update step, especially when the objects now partially overlap.
while True:
# Wait until the timeout expires.
time.sleep(self.period)
# Remove all newly added objects.
ret = client.getAllObjectIDs()
for objID in ret.data:
if objID not in allowed_objIDs:
client.removeObject(objID)
# Forcefully reset the position and velocity of every object. Do
# this several times since network latency may result in some
# objects being reset sooner than others.
for ii in range(5):
for objID, SV in allowed_objIDs.items():
tmp = {
"position": SV.position,
"velocityLin": SV.velocityLin,
"velocityRot": SV.velocityRot,
"rotation": SV.rotation,
}
assert client.setRigidBodies({objID: tmp}).ok
time.sleep(0.1)
def test_getAllObjectIDs(self, client_type):
"""
Ensure the getAllObjectIDs command reaches Clerk.
"""
# Get the client for this test.
client = self.clients[client_type]
# Constants and parameters for this test.
templateID, objID_1 = '_templateEmpty', 1
# So far no objects have been spawned.
ret = client.getAllObjectIDs()
assert (ret.ok, ret.data) == (True, [])
# Spawn a new object.
init = {'templateID': templateID, 'rbs': {'position': (0, 0, 0)}}
ret = client.spawn([init])
assert ret.ok and ret.data == [objID_1]
# The object list must now contain the ID of the just spawned object.
ret = client.getAllObjectIDs()
assert (ret.ok, ret.data) == (True, [objID_1])
def resetSimulation(host, port=5555):
"""
Delete all objects in the scene.
Azrael does not have a command to do that (yet), which is why this function
queries all objects and the deletes them one-by-one.
The `host` and `port` parameters specify the location of the Azrael API.
"""
# Connect to Azrael.
client = azrael.client.Client(host, port=port)
# Query IDs of all objects in the simulation.
ret = client.getAllObjectIDs()
assert ret.ok
allIDs = ret.data
# Delete all objects.
for objID in allIDs:
assert client.removeObject(objID).ok
def run(self):
"""
"""
# Return immediately if no resets are required.
if self.period == -1:
return
# Instantiate Client.
client = azrael.client.Client()
# Query all object IDs. This happens only once which means the geometry
# swap does not affect newly generated objects.
time.sleep(1)
ret = client.getAllObjectIDs()
objIDs = ret.data
print('\n-- {} objects --\n'.format(len(objIDs)))
# Query and backup all models currently in the scene.
geo_meta = client.getFragments(objIDs).data
base_url = 'http://{}:{}'.format(
azrael.config.addr_webserver, azrael.config.port_webserver)
geo_orig = {}
for objID in objIDs:
frags = {}
for frag_name in geo_meta[objID]:
url = base_url + geo_meta[objID][frag_name]['url_frag']
url += '/model.json'
tmp = urllib.request.urlopen(url).readall()
tmp = json.loads(tmp.decode('utf8'))
tmp = FragRaw(**tmp)
frags[frag_name] = FragMeta(frag_name, 'raw', tmp)
del url, tmp
geo_orig[objID] = frags
del frags, objID
del geo_meta, base_url
# Compile a set of sphere models for all objects. These will be
# periodically swapped out for the original models.
sphere_vert, sphere_uv, sphere_rgb = loadSphere()
sphere = FragRaw(sphere_vert, sphere_uv, sphere_rgb)
geo_spheres = {}
for objID in objIDs:
tmp = {_: FragMeta(_, 'raw', sphere) for _ in geo_orig[objID]}
geo_spheres[objID] = tmp
del tmp
del sphere_vert, sphere_uv, sphere_rgb, sphere
cnt = 0
while True:
# Update the counter and pause for the specified time.
cnt = (cnt + 1) % 20
time.sleep(self.period)
# Swap out the geometry.
if (cnt % 2) == 1:
geo = geo_spheres
else:
geo = geo_orig
# Apply the new geometry to each fragment.
for objID, val in geo.items():
ret = client.updateFragments(objID, list(val.values()))
if not ret.ok:
print('--> Terminating geometry updates')
sys.exit(1)
# Modify the global scale and a fragment position.
scale = (cnt + 1) / 10
for objID in objIDs:
# Change the scale of the overall object.
new_sv = RigidBodyDataOverride(scale=scale)
client.setRigidBody(objID, new_sv)
# Move the second fragment.
x = -10 + cnt
newStates = {
objID: [FragState('frag_2', 1, [x, 0, 0], [0, 0, 0, 1])]
}
client.setFragmentStates(newStates)
# Print status for user.
print('Scale={:.1f}'.format(scale))
