def setUp(self):
self.a = bullet.btVector3Array()
for i in range(10):
self.a.append(bullet.btVector3(i, i+1, i+2))
self.b = bullet.btVector3Array()
for i in range(10, 20):
self.b.append(bullet.btVector3(i, i+1, i+2))
def test_interpolation_dynamics(self):
self.v1 = bullet.btVector3(1, 0, 0)
self.v2 = bullet.btVector3(0, 1, 0)
self.o1.interpolation_linear_velocity = self.v1
self.o1.interpolation_angular_velocity = self.v2
self.assertEquals(self.o1.interpolation_linear_velocity, self.v1)
self.assertEquals(self.o1.interpolation_angular_velocity, self.v2)
def test_interpolation_dynamics(self):
self.v1 = bullet.btVector3(1, 0, 0)
self.v2 = bullet.btVector3(0, 1, 0)
self.o1.interpolation_linear_velocity = self.v1
self.o1.interpolation_angular_velocity = self.v2
self.assertEquals(self.o1.interpolation_linear_velocity, self.v1)
self.assertEquals(self.o1.interpolation_angular_velocity, self.v2)
def test_set_rotation(self):
self.q = bullet.btQuaternion(bullet.btVector3(0, 0, -1),
bullet.btRadians(90))
q1 = bullet.btQuaternion()
q1.set_rotation(bullet.btVector3(0, 0, -1),
bullet.btRadians(90))
self.assertEqual(self.q, q1)
def setUp(self):
self.a = bullet.btVector3Array()
for i in range(10):
self.a.append(bullet.btVector3(i, i + 1, i + 2))
self.b = bullet.btVector3Array()
for i in range(10, 20):
self.b.append(bullet.btVector3(i, i + 1, i + 2))
def setUp(self):
self.q1 = bullet.btQuaternion.identity
self.q2 = bullet.btQuaternion.identity
self.v1 = bullet.btVector3(0, 0, 0)
self.v2 = bullet.btVector3(0, 0, 10)
self.t1 = bullet.btTransform.identity
self.t2 = bullet.btTransform.identity
self.step = 1.0/60
def test_slerp(self):
self.q = bullet.btQuaternion(bullet.btVector3(0, 0, -1),
bullet.btRadians(90))
q1 = bullet.btQuaternion(bullet.btVector3(0, 0, -1), 0)
q2 = self.q.slerp(q1, 0.5)
expected = bullet.btQuaternion(bullet.btVector3(0, 0, -1),
bullet.btRadians(45))
self.assertAlmostEqual(q2.angle(expected), 0)
def test_index(self):
v = [float(i) for i in range(0, 9)]
self.a = bullet.btMatrix3x3(*tuple(v))
self.assertEqual(self.a[0], bullet.btVector3(*tuple(v[:3])))
self.assertEqual(self.a[1], bullet.btVector3(*tuple(v[3:-3])))
w = [4, 5, 6]
self.a[0] = bullet.btVector3(*tuple(w))
self.assertEqual(self.a[0], bullet.btVector3(*tuple(w)))
def test_rotate(self):
v1 = bullet.btVector3(0, 1, 0) # up
v2 = bullet.btVector3(0, 0, -1) # forward
expected = bullet.btVector3(1, 0, 0) # right
v = v1.rotate(v2, bullet.btRadians(90))
self.assertAlmostEqual(v.x, expected.x)
self.assertAlmostEqual(v.y, expected.y)
self.assertAlmostEqual(v.z, expected.z)
def test_normalize(self):
v1 = bullet.btVector3(2, 2, 2)
v2 = v1.normalized
v1.normalize()
self.assertEqual(v1, v2)
v1 = bullet.btVector3(1, 0, 0)
v2 = bullet.btVector3(v1)
self.assertEqual(v1.normalized, v2)
def test_assignment(self):
self.a[0] = bullet.btVector3(21, 22, 23)
self.assertEqual(self.a[0], bullet.btVector3(21, 22, 23))
def _slice():
self.a[0:3] = bullet.btVector3()
self.assertRaises(RuntimeError, _slice)
def test_local_scaling(self):
self.hull.local_scaling = bullet.btVector3(2, 2, 2)
self.assertEquals(self.hull.local_scaling, bullet.btVector3(2, 2, 2))
self.hull.get_aabb_non_virtual(self.t1, self.v1, self.v2)
self.assertNotEquals(self.v1, self.v3)
self.v3 = bullet.btVector3(2.08, 2.08, 2.08)
self.assertEquals(self.v1, -self.v3)
self.assertEquals(self.v2, self.v3)
def test_gravity(self):
self.world.set_gravity(self.gravity)
self.assertEquals(self.world.gravity, self.gravity)
self.world.gravity = bullet.btVector3(0, 0, 0)
self.assertEquals(self.world.get_gravity(),
bullet.btVector3(0, 0, 0))
self.assertEquals(self.world.gravity,
bullet.btVector3(0, 0, 0))
def test_index(self):
v = [float(i) for i in range(0, 9)]
self.a = bullet.btMatrix3x3(*tuple(v))
self.assertEqual(self.a[0], bullet.btVector3(*tuple(v[:3])))
self.assertEqual(self.a[1], bullet.btVector3(*tuple(v[3:-3])))
w = [4, 5, 6]
self.a[0] = bullet.btVector3(*tuple(w))
self.assertEqual(self.a[0], bullet.btVector3(*tuple(w)))
def test_ctors(self):
self.a = bullet.btTransform(bullet.btMatrix3x3(*self.v1))
self.b = bullet.btTransform(bullet.btMatrix3x3(*self.v1),
bullet.btVector3(0, 0, 0))
self.c = bullet.btTransform(bullet.btQuaternion.identity)
self.d = bullet.btTransform(bullet.btQuaternion.identity,
bullet.btVector3(0, 0, 0))
self.assertEqual(self.a, self.b)
def test_normalize(self):
v1 = bullet.btVector3(2, 2, 2)
v2 = v1.normalized
v1.normalize()
self.assertEqual(v1, v2)
v1 = bullet.btVector3(1, 0, 0)
v2 = bullet.btVector3(v1)
self.assertEqual(v1.normalized, v2)
def test_get_nonvirtual_aabb(self):
aabb_min = bullet.btVector3()
aabb_max = bullet.btVector3()
trans = bullet.btTransform.identity
self.hull.recalc_local_aabb()
self.hull.get_nonvirtual_aabb(trans, aabb_min, aabb_max, 0.00)
self.assertEquals(aabb_min, self.points[0] - self.tolerance)
self.assertEquals(aabb_max, self.points[4] + self.tolerance)
def test_rotate(self):
v1 = bullet.btVector3(0, 1, 0) # up
v2 = bullet.btVector3(0, 0, -1) # forward
expected = bullet.btVector3(1, 0, 0) # right
v = v1.rotate(v2, bullet.btRadians(90))
self.assertAlmostEqual(v.x, expected.x)
self.assertAlmostEqual(v.y, expected.y)
self.assertAlmostEqual(v.z, expected.z)
def test_get_nonvirtual_aabb(self):
aabb_min = bullet.btVector3()
aabb_max = bullet.btVector3()
trans = bullet.btTransform.identity
self.hull.recalc_local_aabb()
self.hull.get_nonvirtual_aabb(trans, aabb_min, aabb_max, 0.00)
self.assertEquals(aabb_min, self.points[0] - self.tolerance)
self.assertEquals(aabb_max, self.points[4] + self.tolerance)
def setUp(self):
self.q1 = bullet.btQuaternion.identity
self.q2 = bullet.btQuaternion.identity
self.v1 = bullet.btVector3(0, 0, 0)
self.v2 = bullet.btVector3(0, 0, 10)
self.t1 = bullet.btTransform.identity
self.t2 = bullet.btTransform.identity
self.step = 1.0 / 60
def test_local_scaling(self):
self.hull.local_scaling = bullet.btVector3(2, 2, 2)
self.assertEquals(self.hull.local_scaling,
bullet.btVector3(2, 2, 2))
self.hull.get_aabb_non_virtual(self.t1, self.v1, self.v2)
self.assertNotEquals(self.v1, self.v3)
self.v3 = bullet.btVector3(2.08, 2.08, 2.08)
self.assertEquals(self.v1, -self.v3)
self.assertEquals(self.v2, self.v3)
def test_add(self):
v1 = bullet.btVector3(1, 1, 1)
v2 = bullet.btVector3(1, 1, 1)
v = v1 + v2
self.assertIsNotNone(v)
self.assertEqual(v.x, 2.0)
v = bullet.btVector3(v1 + v2)
v1 += v2
self.assertEqual(v, v1)
def test_dot(self):
v1 = bullet.btVector3(2, 2, 2)
v2 = bullet.btVector3(v1)
self.assertEqual(v1.dot(v2), 12.0)
v3 = bullet.btVector3(v1)
v4 = bullet.btVector3(v1)
v = v4.dot3(v1, v2, v3)
expected = bullet.btVector3(12, 12, 12)
self.assertEqual(v, expected)
def setUp(self):
self.o1 = bullet.btCollisionObject()
self.shape = bullet.btSphereShape(1.0)
self.bp = bullet.btDbvtBroadphase()
self.v1 = bullet.btVector3(0, 0, 0)
self.v2 = bullet.btVector3(0, 0, 0)
self.v3 = bullet.btVector3(0, 0, 0)
self.t1 = bullet.btTransform.identity
self.t2 = bullet.btTransform.identity
def test_mul(self):
v1 = bullet.btVector3(2, 2, 2)
v = v1 * 2.0
self.assertEqual(v.x, 4)
v *= 2.0
self.assertEqual(v.x, 8)
v2 = bullet.btVector3(2, 2, 2)
v *= v2
self.assertEqual(v.x, 16)
def test_apply_force(self):
self.v1.y = 10.0
self.v2.y = 20.0
self.body2.apply_force(self.v1, self.v3)
self.body2.apply_torque(self.v2)
self.v1 = self.body2.get_total_force()
self.v2 = self.body2.get_total_torque()
self.assertEquals(self.v1, bullet.btVector3(0, 10, 0))
self.assertEquals(self.v2, bullet.btVector3(0, 20, 0))
def setUp(self):
self.o1 = bullet.btCollisionObject()
self.shape = bullet.btSphereShape(1.0)
self.bp = bullet.btDbvtBroadphase()
self.v1 = bullet.btVector3(0, 0, 0)
self.v2 = bullet.btVector3(0, 0, 0)
self.v3 = bullet.btVector3(0, 0, 0)
self.t1 = bullet.btTransform.identity
self.t2 = bullet.btTransform.identity
def test_assignment(self):
self.a[0] = bullet.btVector3(21, 22, 23)
self.assertEqual(self.a[0],
bullet.btVector3(21, 22, 23))
def _slice():
self.a[0:3] = bullet.btVector3()
self.assertRaises(RuntimeError, _slice)
def test_apply_force(self):
self.v1.y = 10.0
self.v2.y = 20.0
self.body2.apply_force(self.v1, self.v3)
self.body2.apply_torque(self.v2)
self.v1 = self.body2.get_total_force()
self.v2 = self.body2.get_total_torque()
self.assertEquals(self.v1, bullet.btVector3(0, 10, 0))
self.assertEquals(self.v2, bullet.btVector3(0, 20, 0))
def test_sub(self):
v1 = bullet.btVector3(1, 1, 1)
v2 = bullet.btVector3(1, 1, 1)
v = v1 - v2
self.assertIsNotNone(v)
self.assertEqual(v.x, 0.0)
v = bullet.btVector3(v1 - v2)
v1 -= v2
self.assertEqual(v1, v)
def test_add(self):
v1 = bullet.btVector3(1, 1, 1)
v2 = bullet.btVector3(1, 1, 1)
v = v1 + v2
self.assertIsNotNone(v)
self.assertEqual(v.x, 2.0)
v = bullet.btVector3(v1 + v2)
v1 += v2
self.assertEqual(v, v1)
def test_dot(self):
v1 = bullet.btVector3(2, 2, 2)
v2 = bullet.btVector3(v1)
self.assertEqual(v1.dot(v2), 12.0)
v3 = bullet.btVector3(v1)
v4 = bullet.btVector3(v1)
v = v4.dot3(v1, v2, v3)
expected = bullet.btVector3(12, 12, 12)
self.assertEqual(v, expected)
def test_mul(self):
v1 = bullet.btVector3(2, 2, 2)
v = v1 * 2.0
self.assertEqual(v.x, 4)
v *= 2.0
self.assertEqual(v.x, 8)
v2 = bullet.btVector3(2, 2, 2)
v *= v2
self.assertEqual(v.x, 16)
def test_sub(self):
v1 = bullet.btVector3(1, 1, 1)
v2 = bullet.btVector3(1, 1, 1)
v = v1 - v2
self.assertIsNotNone(v)
self.assertEqual(v.x, 0.0)
v = bullet.btVector3(v1 - v2)
v1 -= v2
self.assertEqual(v1, v)
def test_setval(self):
v1 = bullet.btVector3(1, 2, 3)
v2 = bullet.btVector3(2, 4, 6)
v1.set_value(2, 4, 6)
self.assertEqual(v1, v2)
v2.set_zero()
zerovec = bullet.btVector3(0, 0, 0)
self.assertEqual(v2, zerovec)
self.assertTrue(v2.is_zero)
self.assertTrue(v2.fuzzy_zero)
def test_origin(self):
self.a = bullet.btTransform(self.q)
self.b = bullet.btTransform(self.q)
self.vec = self.a.get_origin()
self.assertEqual(self.vec, self.a.get_origin())
self.assertEqual(self.a.get_origin(), bullet.btVector3(0, 0, 0))
self.a.origin.set_value(1, 0, 0)
self.assertEqual(self.a.get_origin(), bullet.btVector3(1, 0, 0))
self.a.set_origin(bullet.btVector3(0, 1, 0))
self.assertEqual(self.a.get_origin(), bullet.btVector3(0, 1, 0))
def test_interpolate(self):
v1 = bullet.btVector3(0, 1, 0)
v2 = bullet.btVector3(1, 0, 0)
v3 = bullet.btVector3(0, 0, 0)
v3.set_interpolate_3(v1, v2, 0.5)
expected = bullet.btVector3(0.5, 0.5, 0)
self.assertEqual(v3, expected)
v3 = v1.lerp(v2, 0.5)
expected = bullet.btVector3(0.5, 0.5, 0)
self.assertEqual(v3, expected)
def test_interpolate(self):
v1 = bullet.btVector3(0, 1, 0)
v2 = bullet.btVector3(1, 0, 0)
v3 = bullet.btVector3(0, 0, 0)
v3.set_interpolate_3(v1, v2, 0.5)
expected = bullet.btVector3(0.5, 0.5, 0)
self.assertEqual(v3, expected)
v3 = v1.lerp(v2, 0.5)
expected = bullet.btVector3(0.5, 0.5, 0)
self.assertEqual(v3, expected)
def test_setval(self):
v1 = bullet.btVector3(1, 2, 3)
v2 = bullet.btVector3(2, 4, 6)
v1.set_value(2, 4, 6)
self.assertEqual(v1, v2)
v2.set_zero()
zerovec = bullet.btVector3(0, 0, 0)
self.assertEqual(v2, zerovec)
self.assertTrue(v2.is_zero)
self.assertTrue(v2.fuzzy_zero)
def setUp(self):
self.solver = bullet.btSequentialImpulseConstraintSolver()
self.cinfo = bullet.btDefaultCollisionConstructionInfo()
self.collision_config = \
bullet.btDefaultCollisionConfiguration(self.cinfo)
self.broadphase = bullet.btDbvtBroadphase()
self.dispatcher = bullet.btCollisionDispatcher(self.collision_config)
self.gravity = bullet.btVector3(0, -9.8, 0)
self.time_step = 1.0 / 60
self.collision_object = bullet.btCollisionObject()
self.v1 = bullet.btVector3(0, 0, 0)
def setUp(self):
self.solver = bullet.btSequentialImpulseConstraintSolver()
self.cinfo = bullet.btDefaultCollisionConstructionInfo()
self.collision_config = \
bullet.btDefaultCollisionConfiguration(self.cinfo)
self.broadphase = bullet.btDbvtBroadphase()
self.dispatcher = bullet.btCollisionDispatcher(self.collision_config)
self.gravity = bullet.btVector3(0, -9.8, 0)
self.time_step = 1.0/60
self.collision_object = bullet.btCollisionObject()
self.v1 = bullet.btVector3(0, 0, 0)
def test_add_ground(self):
self.ground_shape = bullet.btStaticPlaneShape(
bullet.btVector3(0, 1, 0), 1)
self.ground_motion_state = bullet.btDefaultMotionState(
bullet.btTransform(bullet.btQuaternion.identity,
bullet.btVector3(0, -1, 0)))
self.ground_rigid_body_cinfo = bullet.btRigidBodyConstructionInfo(
0, self.ground_motion_state, self.ground_shape,
bullet.btVector3(0, 0, 0))
self.ground_rigid_body = \
bullet.btRigidBody(self.ground_rigid_body_cinfo)
self.dynamics_world.add_rigid_body(self.ground_rigid_body)
def test_local_scaling(self):
self.v1 = bullet.btVector3(2, 2, 2)
self.hull1.set_local_scaling(self.v1)
self.assertEquals(self.hull1.get_local_scaling(),
bullet.btVector3(2, 2, 2))
self.assertEquals(self.hull1.local_scaling, bullet.btVector3(2, 2, 2))
self.hull1.local_scaling = bullet.btVector3(3, 3, 3)
self.hull1.recalc_local_aabb()
self.hull1.get_aabb_slow(self.t1, self.v1, self.v2)
self.v3 = bullet.btVector3(3.08, 3.08, 3.08)
self.assertEquals(self.v1, -self.v3)
self.assertEquals(self.v2, self.v3)
def test_local_scaling(self):
self.v1 = bullet.btVector3(2, 2, 2)
self.hull1.set_local_scaling(self.v1)
self.assertEquals(self.hull1.get_local_scaling(),
bullet.btVector3(2, 2, 2))
self.assertEquals(self.hull1.local_scaling,
bullet.btVector3(2, 2, 2))
self.hull1.local_scaling = bullet.btVector3(3, 3, 3)
self.hull1.recalc_local_aabb()
self.hull1.get_aabb_slow(self.t1, self.v1, self.v2)
self.v3 = bullet.btVector3(3.08, 3.08, 3.08)
self.assertEquals(self.v1, -self.v3)
self.assertEquals(self.v2, self.v3)
def test_add_sphere(self, pos=bullet.btVector3(0, 0, 0)):
self.sphere_shape = bullet.btSphereShape(1)
self.sphere_motion_state = bullet.btDefaultMotionState(
bullet.btTransform(bullet.btQuaternion.identity, pos))
self.sphere_mass = 1.0
self.fall_inertia = bullet.btVector3(0, 0, 0)
self.sphere_shape.calculate_local_inertia(self.sphere_mass,
self.fall_inertia)
self.sphere_rigid_body_cinfo = bullet.btRigidBodyConstructionInfo(
self.sphere_mass, self.sphere_motion_state, self.sphere_shape,
self.fall_inertia)
self.sphere_rigid_body = \
bullet.btRigidBody(self.sphere_rigid_body_cinfo)
self.dynamics_world.add_rigid_body(self.sphere_rigid_body)
def test_angle(self):
self.q = bullet.btQuaternion(bullet.btVector3(0, 0, -1),
bullet.btRadians(90))
q1 = bullet.btQuaternion(bullet.btVector3(0, 0, -1),
bullet.btRadians(0))
angle = self.q.angle(q1)
expected = bullet.btRadians(45)
self.assertAlmostEqual(angle, expected)
angle = self.q.angle_shortest_path(q1)
expected = bullet.btRadians(90)
self.assertAlmostEqual(angle, expected)
angle = self.q.get_angle()
self.assertAlmostEqual(angle, bullet.btRadians(90))
angle = self.q.get_angle_shortest_path()
self.assertAlmostEqual(angle, bullet.btRadians(270))
def test_add_ground(self):
self.ground_shape = bullet.btStaticPlaneShape(
bullet.btVector3(0, 1, 0), 1
)
self.ground_motion_state = bullet.btDefaultMotionState(
bullet.btTransform(bullet.btQuaternion.identity,
bullet.btVector3(0, -1, 0))
)
self.ground_rigid_body_cinfo = bullet.btRigidBodyConstructionInfo(
0, self.ground_motion_state, self.ground_shape,
bullet.btVector3(0, 0, 0)
)
self.ground_rigid_body = \
bullet.btRigidBody(self.ground_rigid_body_cinfo)
self.dynamics_world.add_rigid_body(self.ground_rigid_body)
def test_get_supporting_vertex(self):
"""Runtime tests only"""
self.v2 = self.hull.local_get_supporting_vertex_without_margin(self.v1)
self.assertGreater(self.v1.x, self.v2.x)
self.assertGreater(self.v1.y, self.v2.y)
self.assertGreater(self.v1.z, self.v2.z)
self.v2 = self.hull.local_get_supporting_vertex_without_margin(self.v1)
self.v3 = self.v2
self.assertEquals(self.v2, bullet.btVector3(-1, -1, -1))
self.v2 = \
self.hull.local_get_supporting_vertex_without_margin_non_virtual(
self.v1
)
self.assertEquals(self.v2, bullet.btVector3(-1, -1, -1))
self.hull.local_get_support_vertex_non_virtual(self.v1)
self.assertEquals(self.v2, self.v3)
def test_margin(self):
self.hull1.margin = 0.01
self.assertEquals(self.hull1.margin, 0.01)
self.hull1.get_aabb(self.t1, self.v1, self.v2)
self.v3 = bullet.btVector3(1.05, 1.05, 1.05)
self.assertEquals(self.v1, -self.v3)
self.assertEquals(self.v2, self.v3)
def test_get_supporting_vertex(self):
"""Runtime tests only"""
self.v2 = self.hull.local_get_supporting_vertex_without_margin(self.v1)
self.assertGreater(self.v1.x, self.v2.x)
self.assertGreater(self.v1.y, self.v2.y)
self.assertGreater(self.v1.z, self.v2.z)
self.v2 = self.hull.local_get_supporting_vertex_without_margin(self.v1)
self.v3 = self.v2
self.assertEquals(self.v2, bullet.btVector3(-1, -1, -1))
self.v2 = \
self.hull.local_get_supporting_vertex_without_margin_non_virtual(
self.v1
)
self.assertEquals(self.v2, bullet.btVector3(-1, -1, -1))
self.hull.local_get_support_vertex_non_virtual(self.v1)
self.assertEquals(self.v2, self.v3)
def test_margin(self):
self.hull1.margin = 0.01
self.assertEquals(self.hull1.margin, 0.01)
self.hull1.get_aabb(self.t1, self.v1, self.v2)
self.v3 = bullet.btVector3(1.05, 1.05, 1.05)
self.assertEquals(self.v1, -self.v3)
self.assertEquals(self.v2, self.v3)
def test_calculate_diff_axis_angle_quaternion(self):
self.q2.set_rotation(bullet.btVector3(0, 0, -1), bullet.btRadians(90))
angle = bullet.btRadians(0.0)
angle = bullet.btTransformUtil.calculate_diff_axis_angle_quaternion(
self.q1, self.q2, self.v1)
self.assertFalse(angle == 0.0)
self.assertEqual(angle, bullet.btRadians(90))
def test_mul(self):
self.a = bullet.btTransform.identity
self.b = bullet.btTransform.identity
self.a.set_origin(bullet.btVector3(1, 1, 1))
self.c = self.a * self.b
self.a *= self.b
self.assertEqual(self.c, self.a)
def test_length(self):
v1 = bullet.btVector3(2, 2, 2)
length2 = (math.pow(v1.x, 2) + math.pow(v1.y, 2) + math.pow(v1.z, 2))
length = math.sqrt(length2)
self.assertEqual(v1.length2, length2)
self.assertEqual(v1.length, length)
self.assertEqual(v1.norm, length)
def test_implemented(self):
self.m = MyMotionState()
t1 = bullet.btTransform(bullet.btQuaternion.identity,
bullet.btVector3(0, 10, 0))
print('t1', t1)
self.m.getWorldTransform(t1)
self.assertEqual(t1, bullet.btTransform.identity)
def test_angular_factor(self):
self.v1.x = 1.0
self.body1.angular_factor = self.v1
self.assertEquals(self.body1.angular_factor, self.v1)
self.body1.set_angular_factor(1.0)
self.v2 = bullet.btVector3(1, 1, 1)
self.assertEquals(self.body1.angular_factor, self.v2)
