def test_origin(self):
transform = Transform()
transform.setOrigin(Vector3(1, 2, 3))
origin = transform.getOrigin()
self.assertEqual(origin.x, 1)
self.assertEqual(origin.y, 2)
self.assertEqual(origin.z, 3)
def test_fromConstructionInfoWithoutMotionState(self):
"""
When L{RigidBody.fromConstructionInfo} is used to construct a
L{RigidBody} without a L{MotionState}, the C{worldTransform} parameter
is used to specify the body's initial position.
"""
mass = 8
shape = SphereShape(3)
inertia = Vector3(1, 2, 3)
startTransform = Transform()
startTransform.setOrigin(Vector3(5, 6, 7))
linearDamping = 0.3
angularDamping = 0.4
friction = 4.5
restition = 5.4
linearSleepingThreshold = 4.3
angularSleepingThreshold = 3.2
body = RigidBody.fromConstructionInfo(None, shape, mass, inertia,
startTransform, linearDamping,
angularDamping, friction,
restition,
linearSleepingThreshold,
angularSleepingThreshold)
origin = body.getWorldTransform().getOrigin()
self.assertEqual(5, origin.x)
self.assertEqual(6, origin.y)
self.assertEqual(7, origin.z)
def test_origin(self):
transform = Transform()
transform.setOrigin(Vector3(1, 2, 3))
origin = transform.getOrigin()
self.assertEqual(origin.x, 1)
self.assertEqual(origin.y, 2)
self.assertEqual(origin.z, 3)
def test_fromConstructionInfoWithoutMotionState(self):
"""
When L{RigidBody.fromConstructionInfo} is used to construct a
L{RigidBody} without a L{MotionState}, the C{worldTransform} parameter
is used to specify the body's initial position.
"""
mass = 8
shape = SphereShape(3)
inertia = Vector3(1, 2, 3)
startTransform = Transform()
startTransform.setOrigin(Vector3(5, 6, 7))
linearDamping = 0.3
angularDamping = 0.4
friction = 4.5
restition = 5.4
linearSleepingThreshold = 4.3
angularSleepingThreshold = 3.2
body = RigidBody.fromConstructionInfo(
None, shape, mass, inertia, startTransform,
linearDamping, angularDamping, friction, restition,
linearSleepingThreshold, angularSleepingThreshold)
origin = body.getWorldTransform().getOrigin()
self.assertEqual(5, origin.x)
self.assertEqual(6, origin.y)
self.assertEqual(7, origin.z)
def test_worldTransform(self):
obj = CollisionObject()
trans = Transform()
trans.setOrigin(Vector3(3, 5, 7))
obj.setWorldTransform(trans)
origin = obj.getWorldTransform().getOrigin()
self.assertEquals(origin.x, 3)
self.assertEquals(origin.y, 5)
self.assertEquals(origin.z, 7)
def test_rotation(self):
transform = Transform()
transform.setRotation(Quaternion.fromScalars(1, 2, 3, 4))
quat = transform.getRotation()
self.assertTrue(isinstance(quat, Quaternion))
self.assertEquals(quat.getX(), 0.18257419764995575)
self.assertEquals(quat.getY(), 0.3651483952999115)
self.assertEquals(quat.getZ(), 0.54772257804870605)
self.assertEquals(quat.getW(), 0.73029673099517822)
def test_worldTransform(self):
obj = CollisionObject()
trans = Transform()
trans.setOrigin(Vector3(3, 5, 7))
obj.setWorldTransform(trans)
origin = obj.getWorldTransform().getOrigin()
self.assertEquals(origin.x, 3)
self.assertEquals(origin.y, 5)
self.assertEquals(origin.z, 7)
def test_rotation(self):
transform = Transform()
transform.setRotation(Quaternion.fromScalars(1, 2, 3, 4))
quat = transform.getRotation()
self.assertTrue(isinstance(quat, Quaternion))
self.assertEquals(quat.getX(), 0.18257419764995575)
self.assertEquals(quat.getY(), 0.3651483952999115)
self.assertEquals(quat.getZ(), 0.54772257804870605)
self.assertEquals(quat.getW(), 0.73029673099517822)
def test_worldTransform(self):
xform = Transform()
xform.setOrigin(Vector3(3, 5, 7))
state = DefaultMotionState()
state.setWorldTransform(xform)
xform = state.getWorldTransform()
origin = xform.getOrigin()
self.assertEqual(origin.x, 3)
self.assertEqual(origin.y, 5)
self.assertEqual(origin.z, 7)
def test_worldTransform(self):
xform = Transform()
xform.setOrigin(Vector3(3, 5, 7))
state = DefaultMotionState()
state.setWorldTransform(xform)
xform = state.getWorldTransform()
origin = xform.getOrigin()
self.assertEqual(origin.x, 3)
self.assertEqual(origin.y, 5)
self.assertEqual(origin.z, 7)
def test_fromConstructionInfo(self):
mass = 8
motion = DefaultMotionState()
shape = SphereShape(3)
inertia = Vector3(1, 2, 3)
transform = Transform()
transform.setOrigin(Vector3(5, 6, 7))
linearDamping = 0.3
angularDamping = 0.4
friction = 4.5
restition = 5.4
linearSleepingThreshold = 4.3
angularSleepingThreshold = 3.2
body = RigidBody.fromConstructionInfo(motion, shape, mass, inertia,
transform, linearDamping,
angularDamping, friction,
restition,
linearSleepingThreshold,
angularSleepingThreshold)
self.assertTrue(isinstance(body, RigidBody))
self.assertEqual(1. / mass, body.getInvMass())
self.assertTrue(motion is body.getMotionState())
self.assertTrue(shape is body.getCollisionShape())
self.assertAlmostEqual(1. / inertia.x,
body.getInvInertiaDiagLocal().x, 6)
self.assertAlmostEqual(1. / inertia.y,
body.getInvInertiaDiagLocal().y, 6)
self.assertAlmostEqual(1. / inertia.z,
body.getInvInertiaDiagLocal().z, 6)
# The worldTransform is ignored if a MotionState is supplied.
self.assertEqual(0, body.getWorldTransform().getOrigin().x)
self.assertEqual(0, body.getWorldTransform().getOrigin().y)
self.assertEqual(0, body.getWorldTransform().getOrigin().z)
self.assertAlmostEqual(linearDamping, body.getLinearDamping(), 6)
self.assertAlmostEqual(angularDamping, body.getAngularDamping(), 6)
self.assertAlmostEqual(friction, body.getFriction(), 6)
self.assertAlmostEqual(restition, body.getRestitution(), 6)
self.assertAlmostEqual(linearSleepingThreshold,
body.getLinearSleepingThreshold(), 6)
self.assertAlmostEqual(angularSleepingThreshold,
body.getAngularSleepingThreshold(), 6)
def test_fromConstructionInfo(self):
mass = 8
motion = DefaultMotionState()
shape = SphereShape(3)
inertia = Vector3(1, 2, 3)
transform = Transform()
transform.setOrigin(Vector3(5, 6, 7))
linearDamping = 0.3
angularDamping = 0.4
friction = 4.5
restition = 5.4
linearSleepingThreshold = 4.3
angularSleepingThreshold = 3.2
body = RigidBody.fromConstructionInfo(
motion, shape, mass, inertia, transform,
linearDamping, angularDamping, friction, restition,
linearSleepingThreshold, angularSleepingThreshold)
self.assertTrue(isinstance(body, RigidBody))
self.assertEqual(1. / mass, body.getInvMass())
self.assertTrue(motion is body.getMotionState())
self.assertTrue(shape is body.getCollisionShape())
self.assertAlmostEqual(
1. / inertia.x, body.getInvInertiaDiagLocal().x, 6)
self.assertAlmostEqual(
1. / inertia.y, body.getInvInertiaDiagLocal().y, 6)
self.assertAlmostEqual(
1. / inertia.z, body.getInvInertiaDiagLocal().z, 6)
# The worldTransform is ignored if a MotionState is supplied.
self.assertEqual(0, body.getWorldTransform().getOrigin().x)
self.assertEqual(0, body.getWorldTransform().getOrigin().y)
self.assertEqual(0, body.getWorldTransform().getOrigin().z)
self.assertAlmostEqual(linearDamping, body.getLinearDamping(), 6)
self.assertAlmostEqual(angularDamping, body.getAngularDamping(), 6)
self.assertAlmostEqual(friction, body.getFriction(), 6)
self.assertAlmostEqual(restition, body.getRestitution(), 6)
self.assertAlmostEqual(
linearSleepingThreshold, body.getLinearSleepingThreshold(), 6)
self.assertAlmostEqual(
angularSleepingThreshold, body.getAngularSleepingThreshold(), 6)
def test_setIdentity(self):
transform = Transform()
transform.setOrigin(Vector3(2, 3, 4))
transform.setIdentity()
origin = transform.getOrigin()
self.assertEqual(origin.x, 0)
self.assertEqual(origin.y, 0)
self.assertEqual(origin.z, 0)
def test_setIdentity(self):
transform = Transform()
transform.setOrigin(Vector3(2, 3, 4))
transform.setIdentity()
origin = transform.getOrigin()
self.assertEqual(origin.x, 0)
self.assertEqual(origin.y, 0)
self.assertEqual(origin.z, 0)
def objAt(pos):
obj = RigidBody(None, BoxShape(Vector3(1, 1, 1)), 1.0)
xform = Transform()
xform.setOrigin(pos)
obj.setWorldTransform(xform)
return obj
def objAt(pos):
obj = RigidBody(None, BoxShape(Vector3(1, 1, 1)), 1.0)
xform = Transform()
xform.setOrigin(pos)
obj.setWorldTransform(xform)
return obj
