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_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 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_calculate_diff_axis_angle(self):
self.v1 = bullet.btVector3(0, 0, -1)
self.q1 = bullet.btQuaternion(self.v1, bullet.btRadians(90))
self.t2.set_rotation(self.q1)
angle = bullet.btTransformUtil.calculate_diff_axis_angle(
self.t1,
self.t2,
self.v2 # out val
)
self.assertEqual(angle, bullet.btRadians(90))
self.assertEqual(self.v1, self.v2)
def test_calculate_diff_axis_angle(self):
self.v1 = bullet.btVector3(0, 0, -1)
self.q1 = bullet.btQuaternion(self.v1,
bullet.btRadians(90))
self.t2.set_rotation(self.q1)
angle = bullet.btTransformUtil.calculate_diff_axis_angle(
self.t1, self.t2,
self.v2 # out val
)
self.assertEqual(angle, bullet.btRadians(90))
self.assertEqual(self.v1, self.v2)
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_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_calculate_velocity_quaternion(self):
self.q2.set_euler(0, bullet.btRadians(90), 0)
lin_vel = bullet.btVector3(0, 0, 0)
ang_vel = bullet.btVector3(0, 0, 0)
bullet.btTransformUtil.calculate_velocity_quaternion(
self.v1,
self.v2 * self.step,
self.q1,
self.q2,
self.step,
lin_vel, # out param
ang_vel # out param
)
print('lin_vel', lin_vel)
print('ang_vel', ang_vel)
print('ang_vel.x degrees', bullet.btRadians(ang_vel.x))
self.assertEqual(lin_vel, self.v2)
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_calculate_velocity_quaternion(self):
self.q2.set_euler(0,
bullet.btRadians(90),
0)
lin_vel = bullet.btVector3(0, 0, 0)
ang_vel = bullet.btVector3(0, 0, 0)
bullet.btTransformUtil.calculate_velocity_quaternion(
self.v1,
self.v2*self.step,
self.q1,
self.q2,
self.step,
lin_vel, # out param
ang_vel # out param
)
print('lin_vel', lin_vel)
print('ang_vel', ang_vel)
print('ang_vel.x degrees', bullet.btRadians(ang_vel.x))
self.assertEqual(lin_vel, self.v2)
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_ctors(self):
self.q = bullet.btQuaternion(0, 0, 0, 1)
self.q = bullet.btQuaternion(bullet.btVector3(0, 0, -1),
bullet.btRadians(90))
self.q = bullet.btQuaternion(0, 0, 0)
def test_inverse(self):
self.q = bullet.btQuaternion(bullet.btVector3(0, 0, 1),
bullet.btRadians(90))
q1 = bullet.btQuaternion(bullet.btVector3(0, 0, -1),
bullet.btRadians(90))
self.assertEqual(self.q, q1.inverse())
def test_axis(self):
self.q = bullet.btQuaternion(bullet.btVector3(0, 0, -1),
bullet.btRadians(90))
axis = self.q.get_axis()
self.assertEqual(self.q.get_axis(), bullet.btVector3(0, 0, -1))
def test_angle(self):
v1 = bullet.btVector3(1, 0, 0)
v2 = bullet.btVector3(0, 1, 0)
self.assertEqual(v1.angle(v2), bullet.btRadians(90))
def test_angle(self):
v1 = bullet.btVector3(1, 0, 0)
v2 = bullet.btVector3(0, 1, 0)
self.assertEqual(v1.angle(v2), bullet.btRadians(90))
