def test_transform(self):
"""
Test the Transform class.
"""
pos = Vec3(1, 2, 3.5)
rot = Quaternion(0, 1, 0, 0)
t = Transform(rot, pos)
assert t.getOrigin() == pos
assert t.getRotation() == rot
# Set to identity.
t.setIdentity()
assert t.getOrigin() == Vec3(0, 0, 0)
assert t.getRotation() == Quaternion(0, 0, 0, 1)
# Set the position and rotation.
pos = Vec3(1, 2, 3.5)
rot = Quaternion(0, 1, 0, 0)
t.setOrigin(pos)
t.setRotation(rot)
assert t.getOrigin() == pos
assert t.getRotation() == rot
# Repeat with different values.
pos = Vec3(-1, 2.5, 3.5)
rot = Quaternion(0, 0, 0, 1)
t.setOrigin(pos)
t.setRotation(rot)
assert t.getOrigin() == pos
assert t.getRotation() == rot
def test_ConstructionInfo_to_RigidBody(self):
"""
Verify that the initial motion state is transferred correctly to the
RigidBody.
"""
mass = 10
pos = Vec3(1, 2, 3)
rot = Quaternion(0, 1, 0, 0)
t = Transform(rot, pos)
ms = DefaultMotionState(t)
cs = EmptyShape()
inert = Vec3(1, 2, 4)
# Compile the Rigid Body parameters.
ci = RigidBodyConstructionInfo(mass, ms, cs, Vec3(2, 4, 6))
assert ci.localInertia == Vec3(2, 4, 6)
ci.localInertia = inert
assert ci.localInertia == inert
# Construct the rigid body and delete the construction info.
body = RigidBody(ci)
del ci
# Verify that the object is at the correct position and has the correct
# mass and inertia.
t = body.getMotionState().getWorldTransform()
assert t.getOrigin() == pos
assert t.getRotation() == rot
assert body.getInvMass() == 1 / mass
assert body.getInvInertiaDiagLocal() == Vec3(1, 0.5, 0.25)
def test_centerOfMassTransform(self):
"""
Get/set the centerOfMassTransform.
"""
# Get RigidBody object.
body = getRB()
# Create a new Transform.
pos = Vec3(1, 2, 3.5)
rot = Quaternion(0, 1, 0, 0)
t1 = Transform()
t1.setOrigin(pos)
t1.setRotation(rot)
# Apply the Transform to the body.
body.setCenterOfMassTransform(t1)
t2 = body.getCenterOfMassTransform()
# Verify the result.
assert t1.getOrigin() == t2.getOrigin()
assert t1.getRotation() == t2.getRotation()
