def test_methods():
trans_idt = transform_identity()
base = transform_identity()
vec = Vector3(1, 2, 3)
meths_specs = {
"inverse": ([], trans_idt),
"inverseTimes": ([trans_idt], trans_idt),
"invXform": ([vec], vec),
}
for name, (args, expected_ret) in meths_specs.items():
v = base.copy()
ret = getattr(v, name)(*args)
assert_equal(ret, expected_ret, "%s(): %r != %r" %
(name, ret, expected_ret))
# Operators
trans1 = transform_identity()
half_pi = math.pi / 2
rot = Quaternion()
rot.setRotation(Vector3(0, 1, 0), math.pi / 2)
trans2 = Transform()
trans2.rotation = rot
trans2.origin = Vector3(1, 0, 0)
vec = Vector3(1, 0, 0)
assert_equal(trans2(vec), Vector3(1, 0, -1))
assert_equal(trans2 * vec, Vector3(1, 0, -1))
rot2 = trans2 * rot
assert_almost_equal(rot2.getAngle(), math.pi, places=5)
comp_trans_ref = Transform(Matrix3x3(-1, 0, 0, 0, 1, 0, 0, 0, -1),
Vector3(1, 0, -1))
assert_equal(trans2 * trans2, comp_trans_ref)
trans2 *= trans2
assert_equal(trans2, comp_trans_ref)
def test_get_set():
trans_idt = transform_identity()
# openGLMatrix property
ref_basis = Matrix3x3(
1, 2, 3,
4, 5, 6,
7, 8, 9)
ref_origin = Vector3(1, 2, 3)
ref_trans = Transform(ref_basis, ref_origin)
np_mat = np.array((
1, 4, 7, 0,
2, 5, 8, 0,
3, 6, 9, 0,
0, 0, 0, 1))
trans = Transform()
trans.openGLMatrix = np_mat
assert (trans.getOpenGLMatrix() == np_mat).all()
assert (ref_trans.openGLMatrix == np.array((
1, 4, 7, 0,
2, 5, 8, 0,
3, 6, 9, 0,
1, 2, 3, 1))).all()
# origin/basis properties
trans = Transform()
trans.origin = ref_origin
trans.basis = ref_basis
assert_equal(trans, ref_trans)
trans = Transform()
trans.setOrigin(ref_origin)
trans.setBasis(ref_basis)
assert_equal(trans.getOrigin(), ref_origin)
assert_equal(trans.getBasis(), ref_basis)
# rotation property
trans = Transform()
rot = Quaternion()
rot.setRotation(Vector3(0, 1, 0), math.pi / 2)
trans.rotation = rot
trans.origin = ref_origin
ref_rot_trans = Transform(Matrix3x3(
0, 0, 1,
0, 1, 0,
-1, 0, 0), ref_origin)
assert_equal(trans, ref_rot_trans)
# setIdentity()
trans = Transform()
trans.setIdentity()
assert_equal(trans.basis, matrix3x3_identity())
assert_equal(trans.origin, Vector3(0, 0, 0))
# mult()
trans = Transform()
trans.mult(trans_idt, trans_idt)
assert_equal(trans, trans_idt)
def test_get_set():
# Basic get/set
mat = Matrix3x3(1, 2, 3, 4, 5, 6, 7, 8, 9)
assert_equal([mat.getColumn(i) for i in range(3)], [Vector3(1, 4, 7),
Vector3(2, 5, 8), Vector3(3, 6, 9)])
assert_equal([mat.getRow(i) for i in range(3)], [Vector3(1, 2, 3),
Vector3(4, 5, 6), Vector3(7, 8, 9)])
assert_equal([mat[i] for i in range(3)], [Vector3(1, 2, 3),
Vector3(4, 5, 6), Vector3(7, 8, 9)])
mat2 = Matrix3x3()
np_mat = np.array((
1, 4, 7, 0,
2, 5, 8, 0,
3, 6, 9, 0,
0, 0, 0, 1))
mat2.setFromOpenGLSubMatrix(np_mat)
assert_equal(mat, mat2)
assert (mat.getOpenGLSubMatrix() == np_mat).all()
mat2.setValue(1, 2, 3, 4, 5, 6, 7, 8, 9)
assert_equal(mat, mat2)
# Rotations
# quaternion
qpi = math.pi / 4
rot_quat = Quaternion()
rot_quat.setRotation(Vector3(0.25, 0.75, 0.5), qpi)
mat.setRotation(rot_quat)
mat_rot_quat = mat.getRotation()
assert_almost_equal(rot_quat.x, mat_rot_quat.x)
assert_almost_equal(rot_quat.y, mat_rot_quat.y)
assert_almost_equal(rot_quat.z, mat_rot_quat.z)
assert_almost_equal(rot_quat.w, mat_rot_quat.w)
# Euler
angles = (0.1, 0.2, 0.3)
expected_res = (
[0.1, 0.2, 0.3],
[0.3, 0.2, 0.1],
)
for suffix, expected in zip(("YPR", "ZYX"), expected_res ):
getattr(mat, "setEuler" + suffix)(*angles)
res = getattr(mat, "getEuler" + suffix)()
for i in range(3):
assert_almost_equal(res[i], expected[i])