def test_matrix(self):
x, y, z = 1.0, 2.0, 3.0
v2 = b2Vec2(x, y)
v3 = b2Vec3(x, y, z)
self.checkAlmostEqual(v2.skew, (-v2.y, v2.x), msg='skew')
m2 = b2Mat22((x, y), (y, x))
# Note that you can't do:
# m2 = b2Mat22(col1=(x, y), col2=(y, x))
# as SWIG will not allow the kwargs option to be used when there are multiple constructors
m3 = b2Mat33((x, y, z), (z, y, x), (y, x, z))
m = m2 + m2
self.checkAlmostEqual(m.col1, (x + x, y + y), msg='b2Mat22 +')
self.checkAlmostEqual(m.col2, (y + y, x + x), msg='b2Mat22 +')
m = m2 - m2
self.checkAlmostEqual(m.col1, (0, 0), msg='b2Mat22 -')
self.checkAlmostEqual(m.col2, (0, 0), msg='b2Mat22 -')
# x y * x
# y x y
v = m2 * v2
self.checkAlmostEqual(v, (x * x + y * y, y * x + y * x),
msg='b2Mat22 * b2Vec2')
i = m2.inverse
i = m2.angle
m = m2 * m2
self.checkAlmostEqual(m.col1, (x * x + y * y, y * x + y * x),
msg='b2Mat22 * b2Mat22')
self.checkAlmostEqual(m.col2, (x * y + y * x, y * y + x * x),
msg='b2Mat22 * b2Mat22')
m2 += m2
self.checkAlmostEqual(m2.col1, (x + x, y + y), msg='b2Mat22 +=')
self.checkAlmostEqual(m2.col2, (y + y, x + x), msg='b2Mat22 +=')
m2 -= m2
self.checkAlmostEqual(m2.col1, (0, 0), msg='b2Mat22 -=')
self.checkAlmostEqual(m2.col2, (0, 0), msg='b2Mat22 -=')
m = m3 + m3
self.checkAlmostEqual(m.col1, (x + x, y + y, z + z), msg='b2Mat33 +')
self.checkAlmostEqual(m.col2, (z + z, y + y, x + x), msg='b2Mat33 +')
self.checkAlmostEqual(m.col3, (y + y, x + x, z + z), msg='b2Mat33 +')
m = m3 - m3
self.checkAlmostEqual(m.col1, (0, 0, 0), msg='b2Mat33 -')
self.checkAlmostEqual(m.col2, (0, 0, 0), msg='b2Mat33 -')
self.checkAlmostEqual(m.col3, (0, 0, 0), msg='b2Mat33 -')
m3 += m3
self.checkAlmostEqual(m3.col1, (x + x, y + y, z + z), msg='b2Mat33 +=')
self.checkAlmostEqual(m3.col2, (z + z, y + y, x + x), msg='b2Mat33 +=')
self.checkAlmostEqual(m3.col3, (y + y, x + x, z + z), msg='b2Mat33 +=')
m3 -= m3
self.checkAlmostEqual(m3.col1, (0, 0, 0), msg='b2Mat33 -=')
self.checkAlmostEqual(m3.col2, (0, 0, 0), msg='b2Mat33 -=')
self.checkAlmostEqual(m3.col3, (0, 0, 0), msg='b2Mat33 -=')
def test_matrix(self):
x, y, z = 1.0, 2.0, 3.0
v2 = b2Vec2(x, y)
v3 = b2Vec3(x, y, z)
self.checkAlmostEqual(v2.skew, (-v2.y, v2.x), msg="skew")
m2 = b2Mat22((x, y), (y, x))
# Note that you can't do:
# m2 = b2Mat22(col1=(x, y), col2=(y, x))
# as SWIG will not allow the kwargs option to be used when there are multiple constructors
m3 = b2Mat33((x, y, z), (z, y, x), (y, x, z))
m = m2 + m2
self.checkAlmostEqual(m.col1, (x + x, y + y), msg="b2Mat22 +")
self.checkAlmostEqual(m.col2, (y + y, x + x), msg="b2Mat22 +")
m = m2 - m2
self.checkAlmostEqual(m.col1, (0, 0), msg="b2Mat22 -")
self.checkAlmostEqual(m.col2, (0, 0), msg="b2Mat22 -")
# x y * x
# y x y
v = m2 * v2
self.checkAlmostEqual(v, (x * x + y * y, y * x + y * x), msg="b2Mat22 * b2Vec2")
i = m2.inverse
i = m2.angle
m = m2 * m2
self.checkAlmostEqual(m.col1, (x * x + y * y, y * x + y * x), msg="b2Mat22 * b2Mat22")
self.checkAlmostEqual(m.col2, (x * y + y * x, y * y + x * x), msg="b2Mat22 * b2Mat22")
m2 += m2
self.checkAlmostEqual(m2.col1, (x + x, y + y), msg="b2Mat22 +=")
self.checkAlmostEqual(m2.col2, (y + y, x + x), msg="b2Mat22 +=")
m2 -= m2
self.checkAlmostEqual(m2.col1, (0, 0), msg="b2Mat22 -=")
self.checkAlmostEqual(m2.col2, (0, 0), msg="b2Mat22 -=")
m = m3 + m3
self.checkAlmostEqual(m.col1, (x + x, y + y, z + z), msg="b2Mat33 +")
self.checkAlmostEqual(m.col2, (z + z, y + y, x + x), msg="b2Mat33 +")
self.checkAlmostEqual(m.col3, (y + y, x + x, z + z), msg="b2Mat33 +")
m = m3 - m3
self.checkAlmostEqual(m.col1, (0, 0, 0), msg="b2Mat33 -")
self.checkAlmostEqual(m.col2, (0, 0, 0), msg="b2Mat33 -")
self.checkAlmostEqual(m.col3, (0, 0, 0), msg="b2Mat33 -")
m3 += m3
self.checkAlmostEqual(m3.col1, (x + x, y + y, z + z), msg="b2Mat33 +=")
self.checkAlmostEqual(m3.col2, (z + z, y + y, x + x), msg="b2Mat33 +=")
self.checkAlmostEqual(m3.col3, (y + y, x + x, z + z), msg="b2Mat33 +=")
m3 -= m3
self.checkAlmostEqual(m3.col1, (0, 0, 0), msg="b2Mat33 -=")
self.checkAlmostEqual(m3.col2, (0, 0, 0), msg="b2Mat33 -=")
self.checkAlmostEqual(m3.col3, (0, 0, 0), msg="b2Mat33 -=")
def test_mat33(self):
x, y, z = 1.0, 2.0, 3.0
v3 = b2Vec3(x, y, z)
m3 = b2Mat33((x, y, z), (z, y, x), (y, x, z))
m = m3 + m3
self.checkAlmostEqual(m.col1, (x + x, y + y, z + z), msg="b2Mat33 +")
self.checkAlmostEqual(m.col2, (z + z, y + y, x + x), msg="b2Mat33 +")
self.checkAlmostEqual(m.col3, (y + y, x + x, z + z), msg="b2Mat33 +")
m = m3 - m3
self.checkAlmostEqual(m.col1, (0, 0, 0), msg="b2Mat33 -")
self.checkAlmostEqual(m.col2, (0, 0, 0), msg="b2Mat33 -")
self.checkAlmostEqual(m.col3, (0, 0, 0), msg="b2Mat33 -")
m3 += m3
self.checkAlmostEqual(m3.col1, (x + x, y + y, z + z), msg="b2Mat33 +=")
self.checkAlmostEqual(m3.col2, (z + z, y + y, x + x), msg="b2Mat33 +=")
self.checkAlmostEqual(m3.col3, (y + y, x + x, z + z), msg="b2Mat33 +=")
m3 -= m3
self.checkAlmostEqual(m3.col1, (0, 0, 0), msg="b2Mat33 -=")
self.checkAlmostEqual(m3.col2, (0, 0, 0), msg="b2Mat33 -=")
self.checkAlmostEqual(m3.col3, (0, 0, 0), msg="b2Mat33 -=")
def test_mat33(self):
x, y, z = 1.0, 2.0, 3.0
v3 = b2Vec3(x, y, z)
m3 = b2Mat33((x, y, z), (z, y, x), (y, x, z))
m = m3 + m3
self.checkAlmostEqual(m.col1, (x+x, y+y, z+z), msg='b2Mat33 +')
self.checkAlmostEqual(m.col2, (z+z, y+y, x+x), msg='b2Mat33 +')
self.checkAlmostEqual(m.col3, (y+y, x+x, z+z), msg='b2Mat33 +')
m = m3 - m3
self.checkAlmostEqual(m.col1, (0,0,0), msg='b2Mat33 -')
self.checkAlmostEqual(m.col2, (0,0,0), msg='b2Mat33 -')
self.checkAlmostEqual(m.col3, (0,0,0), msg='b2Mat33 -')
m3 += m3
self.checkAlmostEqual(m3.col1, (x+x, y+y, z+z), msg='b2Mat33 +=')
self.checkAlmostEqual(m3.col2, (z+z, y+y, x+x), msg='b2Mat33 +=')
self.checkAlmostEqual(m3.col3, (y+y, x+x, z+z), msg='b2Mat33 +=')
m3 -= m3
self.checkAlmostEqual(m3.col1, (0,0,0), msg='b2Mat33 -=')
self.checkAlmostEqual(m3.col2, (0,0,0), msg='b2Mat33 -=')
self.checkAlmostEqual(m3.col3, (0,0,0), msg='b2Mat33 -=')
def test_mat33_identity(self):
i3 = b2Mat33()
self.checkAlmostEqual(i3.col1, (1.0, 0.0, 0.0), msg="mat33 col1")
self.checkAlmostEqual(i3.col2, (0.0, 1.0, 0.0), msg="mat33 col2")
self.checkAlmostEqual(i3.col3, (0.0, 0.0, 1.0), msg="mat33 col3")
def test_mat33_identity(self):
i3 = b2Mat33()
self.checkAlmostEqual(i3.col1, (1.0, 0.0, 0.0), msg='mat33 col1')
self.checkAlmostEqual(i3.col2, (0.0, 1.0, 0.0), msg='mat33 col2')
self.checkAlmostEqual(i3.col3, (0.0, 0.0, 1.0), msg='mat33 col3')
