def test_setFragments_dae(self, client_type):
"""
Spawn a new object and modify its geometry at runtime.
"""
# Get the client for this test.
client = self.clients[client_type]
# Get a Collada fragment.
f_dae = {'f_dae': getFragDae()}
# Add a new template and spawn it.
temp = getTemplate('t1', fragments=f_dae)
assert client.addTemplates([temp]).ok
new_obj = {'templateID': temp.aid,
'rbs': {'position': (1, 1, 1), 'velocityLin': (-1, -1, -1)}}
ret = client.spawn([new_obj])
objID = ret.data[0]
assert ret.ok and ret.data == [objID]
del temp, new_obj, ret
# Query the body states to obtain the 'version' value.
ret = client.getRigidBodies(objID)
assert ret.ok
version = ret.data[objID]['rbs'].version
# Fetch-, modify-, update- and verify the geometry.
ret = client.getFragments([objID])
assert ret.ok
assert ret.data[objID]['f_dae']['fragtype'] == 'DAE'
# Change the geometry for fragment 'f_dae' to a RAW type.
assert client.setFragments({objID: {'f_dae': getFragRaw()._asdict()}}).ok
# Ensure the fragment is now indeed of type 'RAW'.
ret = client.getFragments([objID])
assert ret.ok
assert ret.data[objID]['f_dae']['fragtype'] == 'RAW'
# Ensure 'version' is different as well.
ret = client.getRigidBodies(objID)
assert ret.ok and (ret.data[objID]['rbs'].version != version)
# Change the fragment geometry once more.
version = ret.data[objID]['rbs'].version
assert client.setFragments({objID: {'f_dae': getFragDae()._asdict()}}).ok
# Ensure it now has type 'DAE' again.
ret = client.getFragments([objID])
assert ret.ok
assert ret.data[objID]['f_dae']['fragtype'] == 'DAE'
# Ensure 'version' is different as well.
ret = client.getRigidBodies(objID)
assert ret.ok and (ret.data[objID]['rbs'].version != version)
def test_remove_fragments(self, client_type):
"""
Remove a fragment. This test is basically the integration test for
'test_dibbler.test_updateFragments_partial'.
"""
# Get the client for this test.
client = self.clients[client_type]
# Convenience.
objID = 1
# The original template has the following three fragments:
frags_orig = {
'fname_1': getFragRaw(),
'fname_2': getFragDae(),
'fname_3': getFragRaw(),
}
t1 = getTemplate('t1', fragments=frags_orig)
# Add a new template and spawn it.
assert client.addTemplates([t1]).ok
new_obj = {'templateID': t1.aid,
'rbs': {'position': (1, 1, 1), 'velocityLin': (-1, -1, -1)}}
assert client.spawn([new_obj]) == (True, None, [objID])
# Query the fragment geometries and Body State to verify that both
# report three fragments.
ret = client.getFragments([objID])
assert ret.ok and len(ret.data[objID]) == 3
ret = client.getObjectStates(objID)
assert ret.ok and len(ret.data[objID]['frag']) == 3
# Update the fragments as follows: keep the first intact, remove the
# second, and modify the third one.
frags_new = {
'fname_2': getFragNone()._asdict(),
'fname_3': getFragDae()._asdict()
}
assert client.setFragments({objID: frags_new}).ok
# After the last update there must now only be two fragments.
ret = client.getFragments([objID])
assert ret.ok and len(ret.data[objID]) == 2
ret = client.getObjectStates(objID)
assert ret.ok and len(ret.data[objID]['frag']) == 2
def test_update_FragmentStates(self, client_type):
"""
Query and modify fragment states.
Note that fragment states are updated via 'setFragments'.
"""
# Get the client for this test.
client = self.clients[client_type]
# Convenience.
objID = 1
# Add a new template and spawn it.
temp = getTemplate('t1', fragments={'bar': getFragRaw()})
assert client.addTemplates([temp]).ok
new_obj = {'templateID': temp.aid,
'rbs': {'position': (1, 1, 1), 'velocityLin': (-1, -1, -1)}}
ret = client.spawn([new_obj])
assert ret.ok and ret.data == [objID]
del temp, new_obj, ret
# Query the Body State to get the Fragment States. Then verify the
# Fragment State named 'bar'.
ret = client.getObjectStates(objID)
ref = {'bar': {'scale': 1, 'position': [0, 0, 0], 'rotation': [0, 0, 0, 1]}}
assert ret.ok
assert ret.data[objID]['frag'] == ref
# Modify and update the fragment states in Azrael, then query and
# verify it worked.
newStates = {objID: {'bar': {'scale': 2.2, 'position': [1, 2, 3],
'rotation': [1, 0, 0, 0]}}}
assert client.setFragments(newStates).ok
ret = client.getObjectStates(objID)
assert ret.ok
ret = ret.data[objID]['frag']['bar']
assert ret == newStates[objID]['bar']
def placeTarget(host, numTargets=1):
"""
Spawn ``numTargets`` in the scene.
The targets visually oscillate in size. They also have no collision
shapes and are thus unaffected by physics (ie they cannot collide
with anything).
"""
# Connect to Azrael.
client = azrael.client.Client(ip=host)
# Spawn the target object from the 'BoosterCube_1' template (defined in
# 'demo_boostercube' that must already be running at this point).
init = []
for ii in range(numTargets):
tmp = {
'templateID': 'BoosterCube_1',
'rbs': {'imass': 0, 'position': (0, 0, 3 * ii)}
}
init.append(tmp)
ret = client.spawn(init)
# Check for errors and abort if there are any.
if not ret.ok:
print(ret)
sys.exit(1)
# Extract the IDs of the spawned target objects.
targetIDs = ret.data
print('Spawned {} targets'.format(len(targetIDs)))
del init, ret
# Replace the collision shape with an empty one to disable the physics for
# those targets.
cs = types.CollShapeEmpty()
cs = types.CollShapeMeta('empty', (0, 0, 0), (0, 0, 0, 1), cs)
cmd = {targetID: {'cshapes': {'cssphere': cs}} for targetID in targetIDs}
assert client.setRigidBodies(cmd).ok
del cs
# Tag the object with target. This is necessary because the
# `PyConBrisbaneClient.selectNewTarget` method will use to distinguish
# targets from other objects.
cmd = {targetID: 'Target' for targetID in targetIDs}
assert client.setCustomData(cmd)
# Create a random phase offset in the oscillation pattern (pure eye candy
# to avoid all targets scale synchronously).
phi = 2 * np.pi * np.random.rand(len(targetIDs))
# Modify the scale of the target every 100ms.
cnt = 0
while True:
time.sleep(0.1)
# Compile the payload for the update command, then send it to Azrael.
# The fragment names (eg 'frag_1') are hard coded in the Template
# (don't worry about them, just accept that they exist).
cmd = {}
for idx, targetID in enumerate(targetIDs):
# Compute the new scale value.
scale = 1 + np.sin(2 * np.pi * 0.1 * cnt + phi[idx])
scale *= 0.1
tmp = {
'frag_1': {'scale': scale},
'frag_2': {'scale': scale},
}
cmd[targetID] = tmp
assert client.setFragments(cmd).ok
# Randomly update the target's position every 10s.
if (cnt % 100) == 0:
cmd = {}
for targetID in targetIDs:
pos = 15 * np.random.rand(3) - 10
cmd[targetID] = {'position': pos.tolist()}
assert client.setRigidBodies(cmd).ok
cnt += 1
def test_setFragments_raw(self, client_type):
"""
Spawn a new object and modify its geometry at runtime.
"""
# Get the client for this test.
client = self.clients[client_type]
# Convenience.
objID = 1
# Add a new template and spawn it.
frag = {'bar': getFragRaw()}
temp = getTemplate('t1', fragments=frag)
assert client.addTemplates([temp]).ok
new_obj = {'templateID': temp.aid,
'rbs': {'position': (1, 1, 1),
'velocityLin': (-1, -1, -1)}}
ret = client.spawn([new_obj])
assert ret.ok and ret.data == [objID]
del temp, new_obj, ret
# Query the SV to obtain the 'version' value.
ret = client.getRigidBodies(objID)
assert ret.ok
version = ret.data[objID]['rbs'].version
# Fetch-, modify-, update- and verify the geometry.
ret = client.getFragments([objID])
assert ret.ok
assert ret.data[objID]['bar']['fragtype'] == 'RAW'
# Download the fragment.
base_url = 'http://{ip}:{port}'.format(
ip=config.addr_webserver, port=config.port_webserver)
url = base_url + ret.data[objID]['bar']['url_frag'] + '/model.json'
for ii in range(10):
assert ii < 8
try:
tmp = urllib.request.urlopen(url).readall()
break
except urllib.request.URLError:
time.sleep(0.2)
tmp = json.loads(tmp.decode('utf8'))
assert FragRaw(**tmp) == frag['bar'].fragdata
# Change the fragment geometries.
cmd = {objID: {k: v._asdict() for (k, v) in frag.items()}}
assert client.setFragments(cmd).ok
ret = client.getFragments([objID])
assert ret.ok
assert ret.data[objID]['bar']['fragtype'] == 'RAW'
# Download the fragment.
url = base_url + ret.data[objID]['bar']['url_frag'] + '/model.json'
tmp = urllib.request.urlopen(url).readall()
tmp = json.loads(tmp.decode('utf8'))
assert FragRaw(**tmp) == frag['bar'].fragdata
# Ensure 'version' is different as well.
ret = client.getRigidBodies(objID)
assert ret.ok and (ret.data[objID]['rbs'].version != version)
def spawnCubes(numCols, numRows, numLayers, center=(0, 0, 0)):
"""
Spawn multiple cubes in a regular grid.
The number of cubes equals ``numCols`` * ``numRows`` * ``numLayers``. The
center of this "prism" is at ``center``.
Every cube has two boosters and two factories. The factories can themselves
spawn more (purely passive) cubes.
"""
tID_cube = addTexturedCubeTemplates(numCols, numRows, numLayers)
# Get a Client instance.
client = azrael.client.Client()
# ----------------------------------------------------------------------
# Spawn the differently textured cubes in a regular grid.
# ----------------------------------------------------------------------
allObjs = []
cube_idx = 0
cube_spacing = 0.1
# Determine the template and position for every cube. The cubes are *not*
# spawned in this loop, but afterwards.
print("Compiling scene: ", end="", flush=True)
t0 = time.time()
for row in range(numRows):
for col in range(numCols):
for lay in range(numLayers):
# Base position of cube.
pos = np.array([col, row, lay], np.float64)
# Add space in between cubes.
pos *= -(2 + cube_spacing)
# Correct the cube's position to ensure the center of the
# grid coincides with the origin.
pos[0] += (numCols // 2) * (1 + cube_spacing)
pos[1] += (numRows // 2) * (1 + cube_spacing)
pos[2] += (numLayers // 2) * (1 + cube_spacing)
# Move the grid to position ``center``.
pos += np.array(center)
# Store the position and template for this cube.
allObjs.append({"templateID": tID_cube[cube_idx], "rbs": {"position": pos.tolist()}})
cube_idx += 1
del pos
print("{:,} objects ({:.1f}s)".format(len(allObjs), time.time() - t0))
del cube_idx, cube_spacing, row, col, lay
# Spawn the cubes from the templates at the just determined positions.
print("Spawning {} objects: ".format(len(allObjs)), end="", flush=True)
t0 = time.time()
ret = client.spawn(allObjs)
if not ret.ok:
print("** Error:")
print(ret)
assert False
print(" {:.1f}s".format(time.time() - t0))
# Make 'frag_2' invisible by setting its scale to zero.
for objID in ret.data:
assert client.setFragments({objID: {"frag_2": {"scale": 0}}}).ok
assert client.setCustomData({objID: "asteroid"}).ok
def addBoosterCubeTemplate(scale, vert, uv, rgb):
# Get a Client instance.
client = azrael.client.Client()
# Ensure the data has the correct format.
vert = scale * np.array(vert)
uv = np.array(uv, np.float32)
rgb = np.array(rgb, np.uint8)
print("done")
# Attach four boosters: left (points down), front (points back), right
# (points up), and back (point forward).
dir_up = np.array([0, +1, 0])
dir_forward = np.array([0, 0, -1])
pos_left = np.array([-1.5, 0, 0])
pos_center = np.zeros(3)
boosters = {
"0": types.Booster(pos=pos_left, direction=-dir_up, minval=0, maxval=10.0, force=0),
"1": types.Booster(pos=pos_center, direction=dir_forward, minval=0, maxval=1000.0, force=0),
"2": types.Booster(pos=-pos_left, direction=dir_up, minval=0, maxval=10.0, force=0),
"3": types.Booster(pos=pos_center, direction=-dir_forward, minval=0, maxval=1000.0, force=0),
}
del dir_up, dir_forward, pos_left, pos_center
# Construct a Tetrahedron (triangular Pyramid). This is going to be the
# (super simple) "flame" that comes out of the (still invisible) boosters.
y = 0.5 * np.arctan(np.pi / 6)
a = (-0.5, -y, 1)
b = (0.5, -y, 1)
c = (0, 3 / 4 - y, 1)
d = (0, 0, 0)
vert_b = [(a + b + c) + (a + b + d) + (a + c + d) + (b + c + d)]
vert_b = np.array(vert_b[0], np.float64)
del a, b, c, d, y
# Add the template to Azrael.
print(" Adding template to Azrael... ", end="", flush=True)
tID = "ground"
cs = CollShapeBox(1, 1, 1)
cs = CollShapeMeta("box", (0, 0, 0), (0, 0, 0, 1), cs)
z = np.array([])
frags = {
"frag_1": getFragMeta("raw", FragRaw(vert, uv, rgb)),
"b_left": getFragMeta("raw", FragRaw(vert_b, z, z)),
"b_right": getFragMeta("raw", FragRaw(vert_b, z, z)),
}
body = getRigidBody()
temp = Template(tID, body, frags, boosters, {})
assert client.addTemplates([temp]).ok
del cs, frags, temp, z
print("done")
# Spawn the template near the center.
print(" Spawning object... ", end="", flush=True)
pos, orient = [0, 0, -10], [0, 1, 0, 0]
new_obj = {
"templateID": tID,
"rbs": {
"scale": scale,
"imass": 0.1,
"position": pos,
"rotation": orient,
"axesLockLin": [1, 1, 1],
"axesLockRot": [1, 1, 1],
},
}
ret = client.spawn([new_obj])
objID = ret.data[0]
print("done (ID=<{}>)".format(objID))
# Disable the booster fragments by settings their scale to Zero.
newStates = {objID: {"b_left": {"scale": 0}, "b_right": {"scale": 0}}}
assert client.setFragments(newStates).ok
