def test_spawn_and_delete_one_object(self, client_type):
"""
Ask Clerk to spawn one object.
"""
# Get the client for this test.
client = self.clients[client_type]
# Constants and parameters for this test.
objID, templateID = 1, '_templateEmpty'
# Spawn a new object from templateID. The new object must have objID=1.
init = {'templateID': templateID,
'rbs': {'position': (0, 0, 0)}}
ret = client.spawn([init])
assert ret.ok and ret.data == [objID]
# Attempt to spawn a non-existing template.
assert not client.spawn([{'templateID': 'blah'}]).ok
# Send invalid data to 'spawn'.
assert not client.spawn([{'blah': 'blah'}]).ok
# Exactly one object must exist at this point.
ret = client.getAllObjectIDs()
assert (ret.ok, ret.data) == (True, [objID])
# Attempt to delete a non-existing object. This must silently fail.
assert client.removeObject(100).ok
ret = client.getAllObjectIDs()
assert (ret.ok, ret.data) == (True, [objID])
# Delete an existing object.
assert client.removeObject(objID).ok
ret = client.getAllObjectIDs()
assert (ret.ok, ret.data) == (True, [])
def run(self):
# Return immediately if no resets are required.
if self.period == -1:
return
# Establish connection to Azrael.
client = azrael.client.Client()
# Query all objects in the scene. These are the only objects that will
# survive the reset.
ret = client.getAllObjectIDs()
assert ret.ok
ret = client.getRigidBodies(ret.data)
assert ret.ok
allowed_objIDs = {k: v["rbs"] for k, v in ret.data.items() if v is not None}
print("Took simulation snapshot for reset: ({} objects)".format(len(allowed_objIDs)))
# Periodically reset the SV values. Set them several times because it
# is well possible that not all State Variables reach Leonard in the
# same frame, which means some objects will be reset while other are
# not. This in turn may cause strange artefacts in the next physics
# update step, especially when the objects now partially overlap.
while True:
# Wait until the timeout expires.
time.sleep(self.period)
# Remove all newly added objects.
ret = client.getAllObjectIDs()
for objID in ret.data:
if objID not in allowed_objIDs:
client.removeObject(objID)
# Forcefully reset the position and velocity of every object. Do
# this several times since network latency may result in some
# objects being reset sooner than others.
for ii in range(5):
for objID, SV in allowed_objIDs.items():
tmp = {
"position": SV.position,
"velocityLin": SV.velocityLin,
"velocityRot": SV.velocityRot,
"rotation": SV.rotation,
}
assert client.setRigidBodies({objID: tmp}).ok
time.sleep(0.1)
def resetSimulation(host, port=5555):
"""
Delete all objects in the scene.
Azrael does not have a command to do that (yet), which is why this function
queries all objects and the deletes them one-by-one.
The `host` and `port` parameters specify the location of the Azrael API.
"""
# Connect to Azrael.
client = azrael.client.Client(host, port=port)
# Query IDs of all objects in the simulation.
ret = client.getAllObjectIDs()
assert ret.ok
allIDs = ret.data
# Delete all objects.
for objID in allIDs:
assert client.removeObject(objID).ok
