def test_add_get_constraint(self):
"""
Add- and get constraints.
"""
# Define the constraints.
p2p = getP2P(rb_a='1', rb_b='2', pivot_a=(0, 1, 2), pivot_b=(3, 4, 5))
dof = get6DofSpring2(rb_a='1', rb_b='2')
# ----------------------------------------------------------------------
# Client --> Clerk.
# ----------------------------------------------------------------------
for con in (p2p, dof):
payload = {'constraints': [con._asdict()]}
# Convert to JSON and back (simulates the wire transmission).
enc = json.loads(json.dumps(payload))
# Decode the data.
dec_con = protocol.ToClerk_AddConstraints_Decode(enc)
dec_con = dec_con['constraints']
assert len(dec_con) == 1
assert dec_con[0] == con
# ----------------------------------------------------------------------
# Clerk --> Client
# ----------------------------------------------------------------------
for con in (p2p, dof):
# Encode source data and simulate wire transmission.
enc = protocol.FromClerk_GetConstraints_Encode([con])
enc = json.loads(json.dumps(enc))
# Decode the data.
assert len(enc) == 1
assert aztypes.ConstraintMeta(**enc[0]) == con
def test_add_get_remove_constraints(self, client_type):
"""
Create some bodies. Then add/query/remove constraints.
This test only verifies that the Igor interface works. It does *not*
verify that the objects are really linked in the actual simulation.
"""
# Reset the constraint database.
igor = azrael.igor.Igor()
assert igor.reset().ok
# Get the client for this test.
client = self.clients[client_type]
# Spawn the two bodies.
pos_1, pos_2, pos_3 = [-2, 0, 0], [2, 0, 0], [6, 0, 0]
new_objs = [
{'templateID': '_templateSphere', 'rbs': {'position': pos_1}},
{'templateID': '_templateSphere', 'rbs': {'position': pos_2}},
{'templateID': '_templateSphere', 'rbs': {'position': pos_3}}
]
id_1, id_2, id_3 = 1, 2, 3
assert client.spawn(new_objs) == (True, None, [id_1, id_2, id_3])
# Define the constraints.
con_1 = getP2P(rb_a=id_1, rb_b=id_2, pivot_a=pos_2, pivot_b=pos_1)
con_2 = get6DofSpring2(rb_a=id_2, rb_b=id_3)
# Verify that no constraints are currently active.
assert client.getConstraints(None) == (True, None, [])
assert client.getConstraints([id_1]) == (True, None, [])
# Add both constraints and verify they are returned correctly.
assert client.addConstraints([con_1, con_2]) == (True, None, 2)
ret = client.getConstraints(None)
assert ret.ok and (sorted(ret.data) == sorted([con_1, con_2]))
ret = client.getConstraints([id_2])
assert ret.ok and (sorted(ret.data) == sorted([con_1, con_2]))
assert client.getConstraints([id_1]) == (True, None, [con_1])
assert client.getConstraints([id_3]) == (True, None, [con_2])
# Remove the second constraint and verify the remaining constraint is
# returned correctly.
assert client.deleteConstraints([con_2]) == (True, None, 1)
assert client.getConstraints(None) == (True, None, [con_1])
assert client.getConstraints([id_1]) == (True, None, [con_1])
assert client.getConstraints([id_2]) == (True, None, [con_1])
assert client.getConstraints([id_3]) == (True, None, [])
def test_specify_6DofSpring2_constraint(self):
"""
Create two objects and linke them with a 6DOF constraint. The
constraint mimicks a spring-loaded slider that will pull the objects
together.
"""
# Create physics simulation.
sim = azrael.bullet_api.PyBulletDynamicsWorld(1)
# Create identical unit spheres 10 meters apart.
id_a, id_b = '10', '20'
pos_a = (-5, 0, 0)
pos_b = (5, 0, 0)
obj_a = getRigidBody(position=pos_a,
cshapes={'cssphere': getCSSphere()})
obj_b = getRigidBody(position=pos_b,
cshapes={'cssphere': getCSSphere()})
# Load the objects into the physics engine.
sim.setRigidBodyData(id_a, obj_a)
sim.setRigidBodyData(id_b, obj_b)
# Compile the 6DOF constraint.
constraints = [get6DofSpring2(rb_a=id_a, rb_b=id_b)]
# Step the simulation. Nothing must happen because no forces or
# constraints act upon the objects.
sim.compute([id_a, id_b], 1.0, 60)
ret_a = sim.getRigidBodyData(id_a)
ret_b = sim.getRigidBodyData(id_b)
assert ret_a.ok and ret_b.ok
assert np.allclose(ret_a.data.position, pos_a)
assert np.allclose(ret_b.data.position, pos_b)
# Load the constraints into the physics engine and step the simulation
# again. This time the objects must move closer together.
assert sim.setConstraints(constraints).ok
# Step the simulation --> the objects must move closer together.
sim.compute([id_a, id_b], 1.0, 60)
ret_a = sim.getRigidBodyData(id_a)
ret_b = sim.getRigidBodyData(id_b)
assert ret_a.ok and ret_b.ok
assert ret_a.data.position[0] > pos_a[0]
assert ret_b.data.position[0] < pos_b[0]
def test_specify_6DofSpring2_constraint(self):
"""
Create two objects and linke them with a 6DOF constraint. The
constraint mimicks a spring-loaded slider that will pull the objects
together.
"""
# Create physics simulation.
sim = azrael.bullet_api.PyBulletDynamicsWorld(1)
# Create identical unit spheres 10 meters apart.
id_a, id_b = 10, 20
pos_a = (-5, 0, 0)
pos_b = (5, 0, 0)
obj_a = getRigidBody(position=pos_a, cshapes={'cssphere': getCSSphere()})
obj_b = getRigidBody(position=pos_b, cshapes={'cssphere': getCSSphere()})
# Load the objects into the physics engine.
sim.setRigidBodyData(id_a, obj_a)
sim.setRigidBodyData(id_b, obj_b)
# Compile the 6DOF constraint.
constraints = [get6DofSpring2(rb_a=id_a, rb_b=id_b)]
# Step the simulation. Nothing must happen because no forces or
# constraints act upon the objects.
sim.compute([id_a, id_b], 1.0, 60)
ret_a = sim.getRigidBodyData(id_a)
ret_b = sim.getRigidBodyData(id_b)
assert ret_a.ok and ret_b.ok
assert np.allclose(ret_a.data.position, pos_a)
assert np.allclose(ret_b.data.position, pos_b)
# Load the constraints into the physics engine and step the simulation
# again. This time the objects must move closer together.
assert sim.setConstraints(constraints).ok
# Step the simulation --> the objects must move closer together.
sim.compute([id_a, id_b], 1.0, 60)
ret_a = sim.getRigidBodyData(id_a)
ret_b = sim.getRigidBodyData(id_b)
assert ret_a.ok and ret_b.ok
assert ret_a.data.position[0] > pos_a[0]
assert ret_b.data.position[0] < pos_b[0]