def test_linearVelocity(self):
body = RigidBody()
body.setLinearVelocity(Vector3(1, 2, 3))
velocity = body.getLinearVelocity()
self.assertEquals(velocity.x, 1)
self.assertEquals(velocity.y, 2)
self.assertEquals(velocity.z, 3)
def test_isInWorld(self):
body = RigidBody()
self.assertFalse(body.isInWorld())
world = DiscreteDynamicsWorld()
world.addRigidBody(body)
self.assertTrue(body.isInWorld())
world.removeRigidBody(body)
self.assertFalse(body.isInWorld())
def test_getInvInertiaDiagLocal(self):
"""
L{RigidBody.getInvInertiaDiagLocal} returns the inverse of the local
inertia vector.
"""
body = RigidBody()
inertia = body.getInvInertiaDiagLocal()
self.assertTrue(isinstance(inertia, Vector3))
def test_linearVelocity(self):
world = DiscreteDynamicsWorld()
world.setGravity(Vector3(0, 0, 0))
obj = RigidBody(None, None, 1)
obj.setLinearVelocity(Vector3(1, 2, 3))
world.addRigidBody(obj)
expectedSteps = 64
numSteps = world.stepSimulation(1.0, expectedSteps,
1.0 / expectedSteps)
self.assertEqual(numSteps, expectedSteps)
position = obj.getMotionState().getWorldTransform().getOrigin()
self.assertEquals(position.x, 1)
self.assertEquals(position.y, 2)
self.assertEquals(position.z, 3)
def test_stepSimulation(self):
world = DiscreteDynamicsWorld()
world.setGravity(Vector3(1, 2, 3))
obj = RigidBody(None, None, 1)
world.addRigidBody(obj)
expectedSteps = 64
numSteps = world.stepSimulation(1.0, expectedSteps,
1.0 / expectedSteps)
self.assertEqual(numSteps, expectedSteps)
position = obj.getMotionState().getWorldTransform().getOrigin()
# Unfortunately, there is some error (as compared to physical reality)
# in Bullet's results. My fault? Bullet's fault? I'm not sure.
self.assertEqual(position.x, 0.5 + 0.5 / expectedSteps)
self.assertEqual(position.y, 1.0 + 1.0 / expectedSteps)
self.assertEqual(position.z, 1.5 + 1.5 / expectedSteps)
def test_applyImpulse(self):
body = RigidBody(mass=1.0)
body.applyImpulse(Vector3(1, 2, 3), Vector3(1, 1, 1))
world = DiscreteDynamicsWorld()
world.setGravity(Vector3(0, 0, 0))
world.addRigidBody(body)
expectedSteps = 64
numSteps = world.stepSimulation(1.0, expectedSteps,
1.0 / expectedSteps)
self.assertEqual(numSteps, expectedSteps)
transform = body.getMotionState().getWorldTransform()
position = transform.getOrigin()
self.assertEqual(position.x, 1.0)
self.assertEqual(position.y, 2.0)
self.assertEqual(position.z, 3.0)
rot = transform.getRotation()
self.assertNotEqual((rot.getX(), rot.getY(), rot.getZ(), rot.getW()),
(0, 0, 0, 1))
def test_removeRigidBody(self):
world = DiscreteDynamicsWorld()
body = RigidBody()
world.addRigidBody(body)
world.removeRigidBody(body)
def objAt(pos):
obj = RigidBody(None, BoxShape(Vector3(1, 1, 1)), 1.0)
xform = Transform()
xform.setOrigin(pos)
obj.setWorldTransform(xform)
return obj
def test_friction(self):
body = RigidBody()
body.setFriction(3.5)
self.assertEqual(3.5, body.getFriction())
def test_setAngularFactor(self):
body = RigidBody()
body.setAngularFactor(1.0)
def test_getInvMass(self):
"""
L{RigidBody.getInvMass} returns the inverse of the mass of the body.
"""
body = RigidBody(mass=16)
self.assertEqual(1. / 16, body.getInvMass())
