def test_gravity(self):
world = DiscreteDynamicsWorld()
world.setGravity(Vector3(3, 2, 1))
gravity = world.getGravity()
self.assertEqual(gravity.x, 3)
self.assertEqual(gravity.y, 2)
self.assertEqual(gravity.z, 1)
def test_gravity(self):
world = DiscreteDynamicsWorld()
world.setGravity(Vector3(3, 2, 1))
gravity = world.getGravity()
self.assertEqual(gravity.x, 3)
self.assertEqual(gravity.y, 2)
self.assertEqual(gravity.z, 1)
def test_isInWorld(self):
body = RigidBody()
self.assertFalse(body.isInWorld())
world = DiscreteDynamicsWorld()
world.addRigidBody(body)
self.assertTrue(body.isInWorld())
world.removeRigidBody(body)
self.assertFalse(body.isInWorld())
def test_cycle(self):
world = DiscreteDynamicsWorld()
class Cheat(RigidBody):
pass
body = Cheat(None, BoxShape(Vector3(3, 4, 5)))
body.cycle = world
world.addRigidBody(body)
del body, world
import gc
gc.collect()
def test_cycle(self):
world = DiscreteDynamicsWorld()
class Cheat(RigidBody):
pass
body = Cheat(None, BoxShape(Vector3(3, 4, 5)))
body.cycle = world
world.addRigidBody(body)
del body, world
import gc
gc.collect()
def test_isInWorld(self):
body = RigidBody()
self.assertFalse(body.isInWorld())
world = DiscreteDynamicsWorld()
world.addRigidBody(body)
self.assertTrue(body.isInWorld())
world.removeRigidBody(body)
self.assertFalse(body.isInWorld())
def test_linearVelocity(self):
world = DiscreteDynamicsWorld()
world.setGravity(Vector3(0, 0, 0))
obj = RigidBody(None, None, 1)
obj.setLinearVelocity(Vector3(1, 2, 3))
world.addRigidBody(obj)
expectedSteps = 64
numSteps = world.stepSimulation(1.0, expectedSteps,
1.0 / expectedSteps)
self.assertEqual(numSteps, expectedSteps)
position = obj.getMotionState().getWorldTransform().getOrigin()
self.assertEquals(position.x, 1)
self.assertEquals(position.y, 2)
self.assertEquals(position.z, 3)
def test_stepSimulation(self):
world = DiscreteDynamicsWorld()
world.setGravity(Vector3(1, 2, 3))
obj = RigidBody(None, None, 1)
world.addRigidBody(obj)
expectedSteps = 64
numSteps = world.stepSimulation(1.0, expectedSteps,
1.0 / expectedSteps)
self.assertEqual(numSteps, expectedSteps)
position = obj.getMotionState().getWorldTransform().getOrigin()
# Unfortunately, there is some error (as compared to physical reality)
# in Bullet's results. My fault? Bullet's fault? I'm not sure.
self.assertEqual(position.x, 0.5 + 0.5 / expectedSteps)
self.assertEqual(position.y, 1.0 + 1.0 / expectedSteps)
self.assertEqual(position.z, 1.5 + 1.5 / expectedSteps)
def test_linearVelocity(self):
world = DiscreteDynamicsWorld()
world.setGravity(Vector3(0, 0, 0))
obj = RigidBody(None, None, 1)
obj.setLinearVelocity(Vector3(1, 2, 3))
world.addRigidBody(obj)
expectedSteps = 64
numSteps = world.stepSimulation(1.0, expectedSteps, 1.0 / expectedSteps)
self.assertEqual(numSteps, expectedSteps)
position = obj.getMotionState().getWorldTransform().getOrigin()
self.assertEquals(position.x, 1)
self.assertEquals(position.y, 2)
self.assertEquals(position.z, 3)
def test_applyImpulse(self):
body = RigidBody(mass=1.0)
body.applyImpulse(Vector3(1, 2, 3), Vector3(1, 1, 1))
world = DiscreteDynamicsWorld()
world.setGravity(Vector3(0, 0, 0))
world.addRigidBody(body)
expectedSteps = 64
numSteps = world.stepSimulation(1.0, expectedSteps,
1.0 / expectedSteps)
self.assertEqual(numSteps, expectedSteps)
transform = body.getMotionState().getWorldTransform()
position = transform.getOrigin()
self.assertEqual(position.x, 1.0)
self.assertEqual(position.y, 2.0)
self.assertEqual(position.z, 3.0)
rot = transform.getRotation()
self.assertNotEqual((rot.getX(), rot.getY(), rot.getZ(), rot.getW()),
(0, 0, 0, 1))
def test_stepSimulation(self):
world = DiscreteDynamicsWorld()
world.setGravity(Vector3(1, 2, 3))
obj = RigidBody(None, None, 1)
world.addRigidBody(obj)
expectedSteps = 64
numSteps = world.stepSimulation(1.0, expectedSteps, 1.0 / expectedSteps)
self.assertEqual(numSteps, expectedSteps)
position = obj.getMotionState().getWorldTransform().getOrigin()
# Unfortunately, there is some error (as compared to physical reality)
# in Bullet's results. My fault? Bullet's fault? I'm not sure.
self.assertEqual(position.x, 0.5 + 0.5 / expectedSteps)
self.assertEqual(position.y, 1.0 + 1.0 / expectedSteps)
self.assertEqual(position.z, 1.5 + 1.5 / expectedSteps)
def test_applyCentralImpulse(self):
body = RigidBody(mass=1.0)
body.applyCentralImpulse(Vector3(1, 2, 3))
world = DiscreteDynamicsWorld()
world.setGravity(Vector3(0, 0, 0))
world.addRigidBody(body)
expectedSteps = 64
numSteps = world.stepSimulation(1.0, expectedSteps, 1.0 / expectedSteps)
self.assertEqual(numSteps, expectedSteps)
transform = body.getMotionState().getWorldTransform()
position = transform.getOrigin()
self.assertEqual(position.x, 1.0)
self.assertEqual(position.y, 2.0)
self.assertEqual(position.z, 3.0)
rot = transform.getRotation()
self.assertEqual(
(rot.getX(), rot.getY(), rot.getZ(), rot.getW()), (0, 0, 0, 1))
class DebugDrawerTests(TestCase):
def setUp(self):
self.world = DiscreteDynamicsWorld()
self.recorder = DebugRecorder()
self.recorder.setDebugMode(DRAW_WIREFRAME | DRAW_CONTACT_POINTS)
self.world.setDebugDrawer(self.recorder)
def test_debugFlags(self):
"""
Various integer debug flags are exposed on the bullet module.
"""
# Values should agree with those from btIDebugDraw.h
self.assertEqual(0, NO_DEBUG)
self.assertEqual(1 << 0, DRAW_WIREFRAME)
self.assertEqual(1 << 1, DRAW_AABB)
self.assertEqual(1 << 2, DRAW_FEATURES_TEXT)
self.assertEqual(1 << 3, DRAW_CONTACT_POINTS)
self.assertEqual(1 << 6, DRAW_TEXT)
self.assertEqual(1 << 11, DRAW_CONSTRAINTS)
self.assertEqual(1 << 12, DRAW_CONSTRAINT_LIMITS)
def test_lines(self):
"""
Some lines are drawn using the debug drawer when
L{CollisionWorld.debugDrawWorld} is called.
"""
obj = CollisionObject()
shape = BoxShape(Vector3(1, 2, 3))
obj.setCollisionShape(shape)
self.world.addCollisionObject(obj)
self.world.debugDrawWorld()
self.assertTrue(len(self.recorder.lines) > 0)
for line in self.recorder.lines:
self.assertEquals(len(line), 9)
def test_collisions(self):
"""
When objects collide and L{CollisionWorld.debugDrawWorld} is called,
collisions are drawn using the debug drawer.
"""
def objAt(pos):
obj = RigidBody(None, BoxShape(Vector3(1, 1, 1)), 1.0)
xform = Transform()
xform.setOrigin(pos)
obj.setWorldTransform(xform)
return obj
first = objAt(Vector3(-2, 0, 0))
first.applyCentralForce(Vector3(50, 0, 0))
second = objAt(Vector3(2, 0, 0))
second.applyCentralForce(Vector3(-50, 0, 0))
self.world.addRigidBody(first)
self.world.addRigidBody(second)
# Simulate the world enough for them to hit each other
for i in range(100):
self.world.stepSimulation(1.0 / 60.0)
self.world.debugDrawWorld()
self.assertTrue(len(self.recorder.contacts) > 0)
for contact in self.recorder.contacts:
self.assertEquals(len(contact), 11)
def setUp(self):
self.world = DiscreteDynamicsWorld()
self.recorder = DebugRecorder()
self.recorder.setDebugMode(DRAW_WIREFRAME | DRAW_CONTACT_POINTS)
self.world.setDebugDrawer(self.recorder)
def test_removeAction(self):
world = DiscreteDynamicsWorld()
action = KinematicCharacterController(SphereShape(1), 1.0, 1)
world.addAction(action)
world.removeAction(action)
def test_removeRigidBody(self):
world = DiscreteDynamicsWorld()
body = RigidBody()
world.addRigidBody(body)
world.removeRigidBody(body)
def test_empty(self):
world = DiscreteDynamicsWorld()
self.assertEqual(world.getNumCollisionObjects(), 0)
def test_empty(self):
world = DiscreteDynamicsWorld()
self.assertEqual(world.getNumCollisionObjects(), 0)
def setUp(self):
self.world = DiscreteDynamicsWorld()
self.recorder = DebugRecorder()
self.recorder.setDebugMode(DRAW_WIREFRAME | DRAW_CONTACT_POINTS)
self.world.setDebugDrawer(self.recorder)
class DebugDrawerTests(TestCase):
def setUp(self):
self.world = DiscreteDynamicsWorld()
self.recorder = DebugRecorder()
self.recorder.setDebugMode(DRAW_WIREFRAME | DRAW_CONTACT_POINTS)
self.world.setDebugDrawer(self.recorder)
def test_debugFlags(self):
"""
Various integer debug flags are exposed on the bullet module.
"""
# Values should agree with those from btIDebugDraw.h
self.assertEqual(0, NO_DEBUG)
self.assertEqual(1 << 0, DRAW_WIREFRAME)
self.assertEqual(1 << 1, DRAW_AABB)
self.assertEqual(1 << 2, DRAW_FEATURES_TEXT)
self.assertEqual(1 << 3, DRAW_CONTACT_POINTS)
self.assertEqual(1 << 6, DRAW_TEXT)
self.assertEqual(1 << 11, DRAW_CONSTRAINTS)
self.assertEqual(1 << 12, DRAW_CONSTRAINT_LIMITS)
def test_lines(self):
"""
Some lines are drawn using the debug drawer when
L{CollisionWorld.debugDrawWorld} is called.
"""
obj = CollisionObject()
shape = BoxShape(Vector3(1, 2, 3))
obj.setCollisionShape(shape)
self.world.addCollisionObject(obj)
self.world.debugDrawWorld()
self.assertTrue(len(self.recorder.lines) > 0)
for line in self.recorder.lines:
self.assertEquals(len(line), 9)
def test_collisions(self):
"""
When objects collide and L{CollisionWorld.debugDrawWorld} is called,
collisions are drawn using the debug drawer.
"""
def objAt(pos):
obj = RigidBody(None, BoxShape(Vector3(1, 1, 1)), 1.0)
xform = Transform()
xform.setOrigin(pos)
obj.setWorldTransform(xform)
return obj
first = objAt(Vector3(-2, 0, 0))
first.applyCentralForce(Vector3(50, 0, 0))
second = objAt(Vector3(2, 0, 0))
second.applyCentralForce(Vector3(-50, 0, 0))
self.world.addRigidBody(first)
self.world.addRigidBody(second)
# Simulate the world enough for them to hit each other
for i in range(100):
self.world.stepSimulation(1.0 / 60.0)
self.world.debugDrawWorld()
self.assertTrue(len(self.recorder.contacts) > 0)
for contact in self.recorder.contacts:
self.assertEquals(len(contact), 11)
def test_removeRigidBody(self):
world = DiscreteDynamicsWorld()
body = RigidBody()
world.addRigidBody(body)
world.removeRigidBody(body)
def test_removeAction(self):
world = DiscreteDynamicsWorld()
action = KinematicCharacterController(SphereShape(1), 1.0, 1)
world.addAction(action)
world.removeAction(action)
