def test_pose3d_invert(self):
# rotation matrix has to be orthogonal
col1 = m3d.Vector3(1, 0, 0)
col2 = m3d.Vector3(0, math.cos(2), math.sin(2))
col3 = m3d.Vector3(0, -math.sin(2), math.cos(2))
rotation = m3d.Matrix3x3(col1, col2, col3)
translation = m3d.Vector3(1234, 123, 798.1)
pose = m3d.Pose3D()
pose.translation = translation
pose.rotation = rotation
inverted_pose = ~pose
original = ~inverted_pose
self.assertEqual(pose.rotation.c1.x, original.rotation.c1.x)
self.assertEqual(pose.rotation.c1.y, original.rotation.c1.y)
self.assertEqual(pose.rotation.c1.z, original.rotation.c1.z)
self.assertEqual(pose.rotation.c2.x, original.rotation.c2.x)
self.assertEqual(pose.rotation.c2.y, original.rotation.c2.y)
self.assertEqual(pose.rotation.c2.z, original.rotation.c2.z)
self.assertEqual(pose.rotation.c3.x, original.rotation.c3.x)
self.assertEqual(pose.rotation.c3.y, original.rotation.c3.y)
self.assertEqual(pose.rotation.c3.z, original.rotation.c3.z)
self.assertAlmostEqual(pose.translation.x, original.translation.x, places=9)
self.assertAlmostEqual(pose.translation.y, original.translation.y, places=9)
self.assertAlmostEqual(pose.translation.z, original.translation.z, places=9)
def test_pose3d_mul(self):
# the multiplication transforms a vector in local coordinates to global coordinates.
# syntax pose2d(robot) in global coordinates * a vector in the robots coordinate system
glob_robot_pose = m3d.Pose3D()
glob_robot_pose.translation = m3d.Vector3(100, 0, 0)
glob_robot_pose.rotation = m3d.Matrix3x3.eye()
rel_ball_position = m3d.Vector3(100, 10, 0)
glob_ball_pos = glob_robot_pose * rel_ball_position
self.assertEqual(glob_ball_pos.x, 200)
self.assertEqual(glob_ball_pos.y, 10)
self.assertEqual(glob_ball_pos.z, 0)
def test_init(self):
col1 = m3d.Vector3(1, 2, 3)
col2 = m3d.Vector3(4, 5, 6)
col3 = m3d.Vector3(7, 8, 9)
matrix = m3d.Matrix3x3(col1, col2, col3)
self.assertEqual(matrix.c1.x, 1)
self.assertEqual(matrix.c1.y, 2)
self.assertEqual(matrix.c1.z, 3)
self.assertEqual(matrix.c2.x, 4)
self.assertEqual(matrix.c2.y, 5)
self.assertEqual(matrix.c2.z, 6)
self.assertEqual(matrix.c3.x, 7)
self.assertEqual(matrix.c3.y, 8)
self.assertEqual(matrix.c3.z, 9)
def test_transpose(self):
col1 = m3d.Vector3(1, 2, 3)
col2 = m3d.Vector3(4, 5, 6)
col3 = m3d.Vector3(7, 8, 9)
matrix = m3d.Matrix3x3(col1, col2, col3)
matrix = matrix.transpose()
self.assertEqual(matrix.c1.x, 1)
self.assertEqual(matrix.c1.y, 4)
self.assertEqual(matrix.c1.z, 7)
self.assertEqual(matrix.c2.x, 2)
self.assertEqual(matrix.c2.y, 5)
self.assertEqual(matrix.c2.z, 8)
self.assertEqual(matrix.c3.x, 3)
self.assertEqual(matrix.c3.y, 6)
self.assertEqual(matrix.c3.z, 9)
def test_matrix_multiplication(self):
col1 = m3d.Vector3(1, 2, 3)
col2 = m3d.Vector3(4, 5, 6)
col3 = m3d.Vector3(7, 8, 9)
matrix1 = m3d.Matrix3x3(col1, col2, col3)
col1 = m3d.Vector3(2, 0, 0)
col2 = m3d.Vector3(0, 2, 0)
col3 = m3d.Vector3(0, 0, 2)
matrix2 = m3d.Matrix3x3(col1, col2, col3)
result1 = matrix1 * matrix2
self.assertEqual(result1.c1.x, 2)
self.assertEqual(result1.c1.y, 4)
self.assertEqual(result1.c1.z, 6)
self.assertEqual(result1.c2.x, 8)
self.assertEqual(result1.c2.y, 10)
self.assertEqual(result1.c2.z, 12)
self.assertEqual(result1.c3.x, 14)
self.assertEqual(result1.c3.y, 16)
self.assertEqual(result1.c3.z, 18)
result2 = matrix1 * m3d.Vector3(1, 1, 1)
self.assertEqual(result2.x, 12)
self.assertEqual(result2.y, 15)
self.assertEqual(result2.z, 18)
def test_sub(self):
a = m3d.Vector3(100, 100, 100)
b = m3d.Vector3(1000, 100, 10)
c = m3d.Vector3(-100, -100, -100)
d = m3d.Vector3(-5000, 5.3)
e = m3d.Vector3(0.245, -32.28)
f = m3d.Vector3()
ab = a - b
self.assertEqual(ab.x, -900)
self.assertEqual(ab.y, 0)
self.assertEqual(ab.z, 90)
ac = a - c
self.assertEqual(ac.x, 200)
self.assertEqual(ac.y, 200)
self.assertEqual(ac.z, 200)
de = d - e
self.assertEqual(de.x, -5000.245)
self.assertEqual(de.y, 37.58)
self.assertEqual(de.z, 0)
cc = c - c
self.assertEqual(cc.x, 0)
self.assertEqual(cc.y, 0)
self.assertEqual(cc.z, 0)
ff = f - f
self.assertEqual(ff.x, 0)
self.assertEqual(ff.y, 0)
self.assertEqual(ff.z, 0)
def test_add(self):
a = m3d.Vector3(100, 100, 100)
b = m3d.Vector3(1000, 100, 10)
c = m3d.Vector3(-100, -100, -100)
d = m3d.Vector3(-5000, 5.3)
e = m3d.Vector3(0.245, -32.28)
f = m3d.Vector3()
ab = a + b
self.assertEqual(ab.x, 1100)
self.assertEqual(ab.y, 200)
self.assertEqual(ab.z, 110)
ac = a + c
self.assertEqual(ac.x, 0)
self.assertEqual(ac.y, 0)
self.assertEqual(ac.z, 0)
de = d + e
self.assertEqual(de.x, -4999.755)
self.assertEqual(de.y, -26.98)
self.assertEqual(de.z, 0)
cc = c + c
self.assertEqual(cc.x, -200)
self.assertEqual(cc.y, -200)
self.assertEqual(cc.z, -200)
ff = f + f
self.assertEqual(ff.x, 0)
self.assertEqual(ff.y, 0)
self.assertEqual(ff.z, 0)
def test_mul(self):
a = m3d.Vector3(50, -50, 50)
b = m3d.Vector3(1, 0, 0)
c = m3d.Vector3(0, 1, 1)
d = m3d.Vector3(0.5, 7, 2)
# scalar product
ab = a * b
ac = a * c
ad = a * d
self.assertEqual(ab, 50)
self.assertEqual(ac, 0)
self.assertEqual(ad, -225)
e = 0.5
f = 0
g = -2
ea = e * a # Test for __rmul__
ae = a * e
fa = a * f
ga = a * g
self.assertEqual(ea.x, 25)
self.assertEqual(ea.y, -25)
self.assertEqual(ea.z, 25)
self.assertEqual(ae.x, 25)
self.assertEqual(ae.y, -25)
self.assertEqual(ae.z, 25)
self.assertEqual(fa.x, 0)
self.assertEqual(fa.y, 0)
self.assertEqual(fa.z, 0)
self.assertEqual(ga.x, -100)
self.assertEqual(ga.y, 100)
self.assertEqual(ga.z, -100)
def test_mul(self):
a = m2d.Vector2(50, -50)
b = m2d.Vector2(1, 0)
c = m2d.Vector2(0, 1)
d = m2d.Vector2(0.5, 7)
# Scalarproduct
ab = a * b
ac = a * c
ad = a * d
self.assertEqual(ab, 50)
self.assertEqual(ac, -50)
self.assertEqual(ad, -325)
e = 0.5
f = 0
g = -2
ea = e * a # Test for __rmul__
ae = a * e
fa = a * f
ga = a * g
self.assertEqual(ea.x, 25)
self.assertEqual(ea.y, -25)
self.assertEqual(ae.x, 25)
self.assertEqual(ae.y, -25)
self.assertEqual(fa.x, 0)
self.assertEqual(fa.y, 0)
self.assertEqual(ga.x, -100)
self.assertEqual(ga.y, 100)
# Negative Test
with self.assertRaises(TypeError):
t = m2d.Vector2(50, -50)
z = m3d.Vector3(1, 0, 1)
t * z
import math3d import gfx import stage import stage_util light_util = stage_util.CreateStageLightUtility() dir_light = light_util.CreateHSDirectionalLightEntity( upper_color = gfx.Color(1.0, 1.0, 1.0, 1.0), lower_color = gfx.Color(0.1,0.1,0.1,1.0), dir = math3d.Vector3(2,-3,1) ) pnt_light = light_util.CreateHSPointLightEntity( upper_color = gfx.Color(1.00,0.86,0.51,1.0), lower_color = gfx.Color(0.1,0.1,0.1,1.0), pos = math3d.Vector3(0.0,3.5,8.0), attenu0=0.1, attenu1=0.1, attenu2=0.1 ) #dir_light = light_util.CreateHSDirectionalLightEntity( upper_color = gfx.Color(1.0,0.0,0.0,1.0), lower_color = gfx.Color(0.0,1.0,0.0,1.0), dir = math3d.Vector3(2,-3,1) )
import math3d import gfx import stage import stage_util #def run(): misc_util = stage_util.CreateStageMiscUtility() static_box = misc_util.CreateStaticBox( edge_lengths = math3d.Vector3(10,1,10), diffuse_color = gfx.Color(1,1,1,1), pose = math3d.Matrix34Identity() ) for i in range(3): box_pose = math3d.Matrix34( math3d.Vector3(-2,2,0) + math3d.Vector3(i*2,i,0), math3d.Matrix33Identity() ); misc_util.CreateStaticBox( edge_lengths = math3d.Vector3(1,1,1), diffuse_color = gfx.Color(0.5,0.5,1.0,1.0), pose = box_pose ) #return 1 # done - release the script #ScriptBase.SetCallback( run )
import math3d
import gfx
import stage
import stage_util
misc_util = stage_util.CreateStageMiscUtility()
floor_pose = math3d.Matrix34(math3d.Vector3(0, -0.5, 0),
math3d.Matrix33Identity())
static_box = misc_util.CreateStaticBox(edge_lengths=math3d.Vector3(64, 1, 64),
diffuse_color=gfx.Color(1, 1, 1, 1),
pose=floor_pose)
misc_util.CreateStaticTriangleMeshFromMesh(
mesh_path="models/Gerzi3DARTHouse.msh")
#return 1 # done - release the script
#ScriptBase.SetCallback( run )
import math3d import gfx import stage import stage_util misc_util = stage_util.CreateStageMiscUtility() static_mesh = misc_util.CreateStaticTriangleMeshFromMesh( mesh_path="models/character_motion_collision_test.msh" ) for x in range(-1,2): for z in range(-1,2): if x == 0 and z == 0: continue box_pos = math3d.Vector3( x*10.0, 2.0, z*10.0 ) box_orient = math3d.Matrix33Identity() box_pose = math3d.Matrix34( box_pos, box_orient ) misc_util.CreateBoxFromMesh( mesh_path = "models/objects/wooden_crate_H0.25.msh", pose = box_pose )
import math3d
import gfx
import stage
import stage_util
light_util = stage_util.CreateStageLightUtility()
dir_light = light_util.CreateHSDirectionalLightEntity(
upper_color=gfx.Color(1.0, 1.0, 1.0, 1.0),
lower_color=gfx.Color(0.1, 0.1, 0.1, 1.0),
dir=math3d.Vector3(2, -3, 1))
#dir_light = light_util.CreateHSDirectionalLightEntity( upper_color = gfx.Color(1.0,0.0,0.0,1.0), lower_color = gfx.Color(0.0,1.0,0.0,1.0), dir = math3d.Vector3(2,-3,1) )
import math3d import gfx import stage import stage_util #def run(): misc_util = stage_util.CreateStageMiscUtility() misc_util.CreateSkybox() # floor #static_box = misc_util.CreateStaticBox( edge_lengths = math3d.Vector3(50,1,50), diffuse_color = gfx.Color(1,1,1,1), pose = math3d.Matrix34Identity() ) for x in range(-2,3): for y in range(-2,3): for z in range(-2,3): box_pos = math3d.Vector3(x,100+y,z) #box_orient = math3d.Matrix33Identity() box_orient = math3d.Matrix33RotationZ(x) * math3d.Matrix33RotationX(z) box_pose = math3d.Matrix34( box_pos, box_orient ) misc_util.CreateBox( edge_lengths = math3d.Vector3(0.8,0.8,0.8), diffuse_color = gfx.Color(1.0,0.5,0.5,1.0), pose = box_pose ) #return 1 # done - release the script #ScriptBase.SetCallback( run )
import math3d
import gfx
import stage
import stage_util
import random
#def run():
misc_util = stage_util.CreateStageMiscUtility()
# floor
floor_pose = math3d.Matrix34(math3d.Vector3(0.0, -0.5, 0.0),
math3d.Matrix33Identity())
static_box = misc_util.CreateStaticBox(edge_lengths=math3d.Vector3(80, 1, 80),
diffuse_color=gfx.Color(1, 1, 1, 1),
pose=floor_pose)
for x in range(-1, 2):
for z in range(-1, 2):
if x == 0 and z == 0:
continue
box_pos = math3d.Vector3(x * 35.0, 2.0, z * 35.0)
box_orient = math3d.Matrix33Identity()
box_pose = math3d.Matrix34(box_pos, box_orient)
misc_util.CreateBox(edge_lengths=math3d.Vector3(0.8, 0.8, 0.8),
diffuse_color=gfx.Color(1.0, 0.3, 0.3, 1.0),
pose=box_pose)
box_pos = math3d.Vector3(x * 5.0, 2.0, z * 5.0)
box_orient = math3d.Matrix33Identity()
import math3d
import gfx
import stage
import stage_util
#def run():
misc_util = stage_util.CreateStageMiscUtility()
misc_util.CreateSkybox()
misc_util.CreateStaticBox(edge_lengths=math3d.Vector3(200, 1, 200),
diffuse_color=gfx.Color(0.50, 0.45, 0.45, 1.0),
pose=math3d.Matrix34(math3d.Vector3(0.0, -0.5, 0.0),
math3d.Matrix33Identity()))
for x in range(-2, 3):
for y in range(-2, 3):
for z in range(-2, 3):
box_pos = math3d.Vector3(x, 100 + y, z)
#box_orient = math3d.Matrix33Identity()
box_orient = math3d.Matrix33RotationZ(
x) * math3d.Matrix33RotationX(z)
box_pose = math3d.Matrix34(box_pos, box_orient)
misc_util.CreateBox(edge_lengths=math3d.Vector3(0.8, 0.8, 0.8),
diffuse_color=gfx.Color(1.0, 0.5, 0.5, 1.0),
pose=box_pose)
#return 1 # done - release the script
#ScriptBase.SetCallback( run )
import math3d
import gfx
import stage
import stage_util
#import random
# Initialize the basic random number generator
#random.seed()
# Add a light
light_util = stage_util.CreateStageLightUtility()
dir_light = light_util.CreateHSDirectionalLightEntity(
upper_color=gfx.Color(1.0, 1.0, 1.0, 1.0),
lower_color=gfx.Color(0.1, 0.1, 0.1, 1.0),
dir=math3d.Vector3(2, -3, 1))
#def run():
misc_util = stage_util.CreateStageMiscUtility()
misc_util.CreateSkybox()
# TODO: check if the floor surface have friction?
# building
misc_util.CreateEntity(name="building",
model="models/architecture/building.msh",
position=math3d.Vector3(0, 0, 0),
is_static=True,
shape="mesh")
def test_neg(self):
a = m3d.Vector3(100, 100, 100)
b = -a
self.assertEqual(b.x, -100)
self.assertEqual(b.y, -100)
self.assertEqual(b.z, -100)
import math3d
import gfx
import stage
import stage_util
#def run():
misc_util = stage_util.CreateStageMiscUtility()
misc_util.CreateSkybox(
texture_path="textures/skygrad-sunny_cloudless-s1x256.jpg")
for x in range(-2, 3):
for y in range(-2, 3):
for z in range(-2, 3):
box_pos = math3d.Vector3(x, 100 + y, z)
#box_orient = math3d.Matrix33Identity()
box_orient = math3d.Matrix33RotationZ(
x) * math3d.Matrix33RotationX(z)
box_pose = math3d.Matrix34(box_pos, box_orient)
misc_util.CreateBox(edge_lengths=math3d.Vector3(0.8, 0.8, 0.8),
diffuse_color=gfx.Color(1.0, 0.5, 0.5, 1.0),
pose=box_pose)
#return 1 # done - release the script
#ScriptBase.SetCallback( run )
def test_abs(self):
a = m3d.Vector3(100, 0, 0)
b = a.abs()
self.assertEqual(b, 100)
import math3d
import gfx
import stage
import stage_util
import random
# Initialize the basic random number generator
random.seed()
# Add a light
light_util = stage_util.CreateStageLightUtility()
dir_light = light_util.CreateHSDirectionalLightEntity(
upper_color=gfx.Color(1.0, 1.0, 1.0, 1.0),
lower_color=gfx.Color(0.1, 0.1, 0.1, 1.0),
dir=math3d.Vector3(2, -3, 1))
#def run():
misc_util = stage_util.CreateStageMiscUtility()
misc_util.CreateSkybox()
# terrain
terrain_05 = misc_util.CreateStaticTriangleMeshFromMesh(
mesh_path="models/terrain/compact_003_05.msh")
terrain_06 = misc_util.CreateStaticTriangleMeshFromMesh(
mesh_path="models/terrain/compact_003_06.msh")
terrain_09 = misc_util.CreateStaticTriangleMeshFromMesh(
mesh_path="models/terrain/compact_003_09.msh")
terrain_15 = misc_util.CreateStaticTriangleMeshFromMesh(
import stage_util
#def run():
misc_util = stage_util.CreateStageMiscUtility()
#ground_box_pose = math3d.Matrix34( math3d.Vector3(0.0,-0.5,0.0), math3d.Matrix33Identity() )
#ground_box = misc_util.CreateStaticBox( edge_lengths = math3d.Vector3(200,1,200), diffuse_color = gfx.Color(0.7,0.7,0.7,1.0), pose=ground_box_pose )
ground_entity = misc_util.CreateStaticTriangleMeshFromMesh(
mesh_path="models/ground.msh")
house_d00 = misc_util.CreateStaticTriangleMeshFromMesh(
mesh_path="models/fachwerk.msh")
house_a00 = misc_util.CreateStaticTriangleMeshFromMesh(
mesh_path="models/gerzi_house.msh",
pose=math3d.Matrix34(math3d.Vector3(-10, 0, 16),
math3d.Matrix33Identity()))
house_0 = misc_util.CreateStaticTriangleMeshFromMesh(
mesh_path="models/kosciol.msh",
pose=math3d.Matrix34(math3d.Vector3(10, 0, 16), math3d.Matrix33Identity()))
house_3 = misc_util.CreateStaticTriangleMeshFromMesh(
mesh_path="models/gerzi_chapel.msh",
pose=math3d.Matrix34(math3d.Vector3(-25, 0, 20),
math3d.Matrix33Identity()))
house_b00 = misc_util.CreateStaticTriangleMeshFromMesh(
mesh_path="models/fw65.msh",
pose=math3d.Matrix34(math3d.Vector3(15, 0, 35),
math3d.Matrix33RotationY(1.5708)))
house_b01 = misc_util.CreateStaticTriangleMeshFromMesh(
mesh_path="models/fw65.msh",
pose=math3d.Matrix34(math3d.Vector3(15, 0, 45),
