def test_motionstate(self):
"""
Set and get a motion state.
"""
# Get RigidBody object.
body = getRB()
# Create a new Transform.
pos = Vec3(1, 2, 3.5)
rot = Quaternion(0, 1, 0, 0)
t = Transform()
t.setOrigin(pos)
t.setRotation(rot)
# It must be impossible to instantiate 'MotionState' directly.
with pytest.raises(NotImplementedError):
MotionState()
# Create a MotionState and apply the new transform.
ms_ref = DefaultMotionState()
ms_ref.setWorldTransform(t)
# Verify the MotionState does not yet match ours.
ms = body.getMotionState()
assert ms.getWorldTransform().getOrigin() != pos
assert ms.getWorldTransform().getRotation() != rot
# Apply- and query the MotionState.
body.setMotionState(ms_ref)
ms = body.getMotionState()
# Verify the MotionState is correct.
assert ms.getWorldTransform().getOrigin() == pos
assert ms.getWorldTransform().getRotation() == rot
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_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()
