def test_setRigidBody(self):
"""
Set and retrieve object attributes like position, velocity,
acceleration, and rotation.
"""
# Instantiate a Leonard.
leo = getLeonard()
# Test constants.
body_new = {
'imass': 2,
'scale': 3,
'cshapes': {'csempty': getCSEmpty()},
'position': (1, 2, 5),
'velocityLin': (8, 9, 10.5),
'velocityRot': (9, 10, 11.5),
'rotation': (11, 12.5, 13, 13.5)
}
# Create a test body.
id_1 = 0
body = getRigidBody(cshapes={'csempty': getCSEmpty()})
# Add the object to the DB with ID=0.
assert leoAPI.addCmdSpawn([(id_1, body)]).ok
leo.processCommandsAndSync()
# Modify the state vector for body with id_1.
assert leoAPI.addCmdModifyBodyState(id_1, body_new).ok
leo.processCommandsAndSync()
# Query the body again and verify the changes are in effect.
ret = leo.allBodies[id_1]
assert ret.imass == body_new['imass']
assert ret.scale == body_new['scale']
assert np.array_equal(ret.position, body_new['position'])
assert np.array_equal(ret.velocityLin, body_new['velocityLin'])
assert np.array_equal(ret.velocityRot, body_new['velocityRot'])
assert np.array_equal(ret.rotation, body_new['rotation'])
# Query the AABB, update the collision shapes, and verify that the new
# AABBs are in effect.
assert leo.allAABBs[id_1] == {}
# Modify the body state by adding a collision shape.
body_new = {'cshapes': {'cssphere': getCSSphere(radius=1)}}
assert body_new is not None
assert leoAPI.addCmdModifyBodyState(id_1, body_new).ok
leo.processCommandsAndSync()
assert leo.allAABBs[id_1] == {'cssphere': [0, 0, 0, 1, 1, 1]}
# Modify the body state by adding a collision shape.
cs_a = getCSSphere(radius=1, pos=(1, 2, 3))
cs_b = getCSSphere(radius=2, pos=(4, 5, 6))
cshapes = {'1': cs_a, '2': getCSEmpty(), '3': cs_b}
body_new = {'cshapes': cshapes}
assert leoAPI.addCmdModifyBodyState(id_1, body_new).ok
leo.processCommandsAndSync()
correct = {'1': [1, 2, 3, 1, 1, 1], '3': [4, 5, 6, 2, 2, 2]}
assert leo.allAABBs[id_1] == correct
def test_move_single_object(self, clsLeonard):
"""
Create a single object with non-zero initial speed and ensure
Leonard moves it accordingly.
"""
# Get a Leonard instance.
leo = getLeonard(clsLeonard)
# Constants and parameters for this test.
id_0 = 0
# Spawn an object.
assert leoAPI.addCmdSpawn([(id_0, getRigidBody())]).ok
# Advance the simulation by 1s and verify that nothing has moved.
leo.step(1.0, 60)
assert np.array_equal(leo.allBodies[id_0].position, [0, 0, 0])
# Give the object a velocity.
body = {'velocityLin': np.array([1, 0, 0])}
assert leoAPI.addCmdModifyBodyState(id_0, body).ok
del body
# Advance the simulation by another second and verify the objects have
# moved accordingly.
leo.step(1.0, 60)
body = leo.allBodies[id_0]
assert 0.9 <= body.position[0] < 1.1
assert body.position[1] == body.position[2] == 0
def test_setRigidBody_advanced(self, clsLeonard):
"""
Similar to test_setRigidBody_basic but modify the collision shape
information as well, namely their mass- and type.
"""
# Get a Leonard instance.
leo = getLeonard(clsLeonard)
# Parameters and constants for this test.
cshape_box = {'1': getCSBox()}
cshape_sphere = {'1': getCSSphere()}
body = getRigidBody(imass=2, scale=3, cshapes=cshape_sphere)
# Spawn an object.
objID = 1
assert leoAPI.addCmdSpawn([(objID, body)]).ok
del body
# Verify the body data.
leo.processCommandsAndSync()
assert leo.allBodies[objID].imass == 2
assert leo.allBodies[objID].scale == 3
assert leo.allBodies[objID].cshapes == cshape_sphere
# Update the body.
cs_new = {'imass': 4, 'scale': 5, 'cshapes': cshape_box}
assert leoAPI.addCmdModifyBodyState(objID, cs_new).ok
# Verify the body data.
leo.processCommandsAndSync()
ret = leo.allBodies[objID]
assert (ret.imass == 4) and (ret.scale == 5)
assert ret.cshapes == cshape_box
def test_setRigidBody_basic(self, clsLeonard):
"""
Spawn an object, specify its State Variables explicitly, and verify the
change propagated through Azrael.
"""
# Get a Leonard instance.
leo = getLeonard(clsLeonard)
# Parameters and constants for this test.
id_1 = 1
# Body data.
p = np.array([1, 2, 5])
vl = np.array([8, 9, 10.5])
vr = vl + 1
body = {'position': p, 'velocityLin': vl, 'velocityRot': vr}
del p, vl, vr
# Spawn a new object. It must have ID=1.
assert leoAPI.addCmdSpawn([(id_1, getRigidBody())]).ok
# Update the object's body.
assert leoAPI.addCmdModifyBodyState(id_1, body).ok
# Sync the commands to Leonard.
leo.processCommandsAndSync()
# Verify that the attributes were correctly updated.
ret = leo.allBodies[id_1]
assert np.array_equal(ret.position, body['position'])
assert np.array_equal(ret.velocityLin, body['velocityLin'])
assert np.array_equal(ret.velocityRot, body['velocityRot'])
def test_processCommandQueue(self):
"""
Create commands to spawn-, delete, and modify objects or their booster
values. Then verify that ``processCommandQueue`` corrently updates
Leonard's object cache.
"""
# Get a Leonard instance.
leo = getLeonard(azrael.leonard.LeonardDistributedZeroMQ)
# Convenience.
body_1 = getRigidBody(imass=1)
body_2 = getRigidBody(imass=2)
id_1, id_2 = 1, 2
# Cache must be empty.
assert len(leo.allBodies) == len(leo.allForces) == 0
# Spawn two objects.
tmp = [(id_1, body_1), (id_2, body_2)]
assert leoAPI.addCmdSpawn(tmp).ok
leo.processCommandsAndSync()
# Verify the local cache (forces and torques must default to zero).
assert getRigidBody(*leo.allBodies[id_1]) == body_1
assert getRigidBody(*leo.allBodies[id_2]) == body_2
tmp = leo.allForces[id_1]
assert tmp.forceDirect == tmp.torqueDirect == [0, 0, 0]
assert tmp.forceBoost == tmp.torqueBoost == [0, 0, 0]
del tmp
# Remove first object.
assert leoAPI.addCmdRemoveObject(id_1).ok
leo.processCommandsAndSync()
assert id_1 not in leo.allBodies
assert id_1 not in leo.allForces
# Change the State Vector of id_2.
pos = (10, 11.5, 12)
body_3 = {'position': pos}
assert leo.allBodies[id_2].position == (0, 0, 0)
assert leoAPI.addCmdModifyBodyState(id_2, body_3).ok
leo.processCommandsAndSync()
assert leo.allBodies[id_2].position == pos
# Apply a direct force and torque to id_2.
force, torque = [1, 2, 3], [4, 5, 6]
assert leoAPI.addCmdDirectForce(id_2, force, torque).ok
leo.processCommandsAndSync()
assert leo.allForces[id_2].forceDirect == force
assert leo.allForces[id_2].torqueDirect == torque
# Specify a new force- and torque value due to booster activity.
force, torque = [1, 2, 3], [4, 5, 6]
assert leoAPI.addCmdBoosterForce(id_2, force, torque).ok
leo.processCommandsAndSync()
assert leo.allForces[id_2].forceBoost == force
assert leo.allForces[id_2].torqueBoost == torque
def test_setRigidBody(self):
"""
Set and retrieve object attributes like position, velocity,
acceleration, and rotation.
"""
# Instantiate a Leonard.
leo = getLeonard()
# Test constants.
body_new = {
'imass': 2,
'scale': 3,
'cshapes': {
'csempty': getCSEmpty()
},
'position': (1, 2, 5),
'velocityLin': (8, 9, 10.5),
'velocityRot': (9, 10, 11.5),
'rotation': (11, 12.5, 13, 13.5)
}
# Create a test body.
id_1 = '0'
body = getRigidBody(cshapes={'csempty': getCSEmpty()})
# Add the object to the DB with ID=0.
assert leoAPI.addCmdSpawn([(id_1, body)]).ok
leo.processCommandsAndSync()
# Modify the state vector for body with id_1.
assert leoAPI.addCmdModifyBodyState(id_1, body_new).ok
leo.processCommandsAndSync()
# Query the body again and verify the changes are in effect.
ret = leo.allBodies[id_1]
assert ret.imass == body_new['imass']
assert ret.scale == body_new['scale']
assert np.array_equal(ret.position, body_new['position'])
assert np.array_equal(ret.velocityLin, body_new['velocityLin'])
assert np.array_equal(ret.velocityRot, body_new['velocityRot'])
assert np.array_equal(ret.rotation, body_new['rotation'])
# Query the AABB, update the collision shapes, and verify that the new
# AABBs are in effect.
assert leo.allAABBs[id_1] == {}
# Modify the body state by adding a collision shape.
body_new = {'cshapes': {'cssphere': getCSSphere(radius=1)}}
assert body_new is not None
assert leoAPI.addCmdModifyBodyState(id_1, body_new).ok
leo.processCommandsAndSync()
assert leo.allAABBs[id_1] == {'cssphere': [0, 0, 0, 1, 1, 1]}
# Modify the body state by adding a collision shape.
cs_a = getCSSphere(radius=1, pos=(1, 2, 3))
cs_b = getCSSphere(radius=2, pos=(4, 5, 6))
cshapes = {'1': cs_a, '2': getCSEmpty(), '3': cs_b}
body_new = {'cshapes': cshapes}
assert leoAPI.addCmdModifyBodyState(id_1, body_new).ok
leo.processCommandsAndSync()
correct = {'1': [1, 2, 3, 1, 1, 1], '3': [4, 5, 6, 2, 2, 2]}
assert leo.allAABBs[id_1] == correct
def test_commandQueue(self):
"""
Add-, query, and remove commands from the command queue.
"""
# Convenience.
body_1 = getRigidBody()
body_2 = {'imass': 2, 'scale': 3}
id_1, id_2 = '0', '1'
# The command queue must be empty for every category.
ret = leoAPI.dequeueCommands()
assert ret.ok
assert ret.data['spawn'] == []
assert ret.data['remove'] == []
assert ret.data['modify'] == []
assert ret.data['direct_force'] == []
assert ret.data['booster_force'] == []
# Spawn two objects with id_1 and id_2.
tmp = [(id_1, body_1), (id_2, body_1)]
assert leoAPI.addCmdSpawn(tmp).ok
# Verify that the spawn commands were added.
ret = leoAPI.dequeueCommands()
assert ret.ok
spawn = ret.data['spawn']
assert {spawn[0]['objID'], spawn[1]['objID']} == {id_1, id_2}
assert ret.data['remove'] == []
assert ret.data['modify'] == []
assert ret.data['direct_force'] == []
assert ret.data['booster_force'] == []
# De-queuing the commands once more must not return any results because
# they have already been removed.
ret = leoAPI.dequeueCommands()
assert ret.ok
assert ret.data['spawn'] == []
assert ret.data['remove'] == []
assert ret.data['modify'] == []
assert ret.data['direct_force'] == []
assert ret.data['booster_force'] == []
# Modify state variable for body with id_1.
newSV = {'imass': 10, 'position': [3, 4, 5]}
assert leoAPI.addCmdModifyBodyState(id_1, newSV).ok
ret = leoAPI.dequeueCommands()
modify = ret.data['modify']
assert ret.ok and len(modify) == 1
assert modify[0]['objID'] == id_1
assert modify[0]['rbs'] == newSV
del newSV
# Set the direct force and torque for id_2.
force, torque = [1, 2, 3], [4, 5, 6]
assert leoAPI.addCmdDirectForce(id_2, force, torque).ok
ret = leoAPI.dequeueCommands()
fat = ret.data['direct_force']
assert ret.ok
assert len(fat) == 1
assert fat[0]['objID'] == id_2
assert fat[0]['force'] == force
assert fat[0]['torque'] == torque
# Set the booster force and torque for id_1.
force, torque = [1, 2, 3], [4, 5, 6]
assert leoAPI.addCmdBoosterForce(id_1, force, torque).ok
ret = leoAPI.dequeueCommands()
fat = ret.data['booster_force']
assert ret.ok
assert len(fat) == 1
assert fat[0]['objID'] == id_1
assert fat[0]['force'] == force
assert fat[0]['torque'] == torque
# Remove an object.
assert leoAPI.addCmdRemoveObject(id_1).ok
ret = leoAPI.dequeueCommands()
assert ret.ok and ret.data['remove'][0]['objID'] == id_1
# Add commands for two objects (it is perfectly ok to add commands for
# non-existing body IDs since this is just a command queue - Leonard
# will skip commands for non-existing IDs automatically).
force, torque = [7, 8, 9], [10, 11.5, 12.5]
for objID in (id_1, id_2):
assert leoAPI.addCmdSpawn([(objID, body_1)]).ok
assert leoAPI.addCmdModifyBodyState(objID, body_2).ok
assert leoAPI.addCmdRemoveObject(objID).ok
assert leoAPI.addCmdDirectForce(objID, force, torque).ok
assert leoAPI.addCmdBoosterForce(objID, force, torque).ok
# De-queue all commands.
ret = leoAPI.dequeueCommands()
assert ret.ok
assert len(ret.data['spawn']) == 2
assert len(ret.data['remove']) == 2
assert len(ret.data['modify']) == 2
assert len(ret.data['direct_force']) == 2
assert len(ret.data['booster_force']) == 2
def test_commandQueue(self):
"""
Add-, query, and remove commands from the command queue.
"""
# Convenience.
body_1 = getRigidBody()
body_2 = {'imass': 2, 'scale': 3}
id_1, id_2 = 0, 1
# The command queue must be empty for every category.
ret = leoAPI.dequeueCommands()
assert ret.ok
assert ret.data['spawn'] == []
assert ret.data['remove'] == []
assert ret.data['modify'] == []
assert ret.data['direct_force'] == []
assert ret.data['booster_force'] == []
# Spawn two objects with id_1 and id_2.
tmp = [(id_1, body_1), (id_2, body_1)]
assert leoAPI.addCmdSpawn(tmp).ok
# Verify that the spawn commands were added.
ret = leoAPI.dequeueCommands()
assert ret.ok
assert ret.data['spawn'][0]['objID'] == id_1
assert ret.data['spawn'][1]['objID'] == id_2
assert ret.data['remove'] == []
assert ret.data['modify'] == []
assert ret.data['direct_force'] == []
assert ret.data['booster_force'] == []
# De-queuing the commands once more must not return any results because
# they have already been removed.
ret = leoAPI.dequeueCommands()
assert ret.ok
assert ret.data['spawn'] == []
assert ret.data['remove'] == []
assert ret.data['modify'] == []
assert ret.data['direct_force'] == []
assert ret.data['booster_force'] == []
# Modify state variable for body with id_1.
newSV = {'imass': 10, 'position': [3, 4, 5]}
assert leoAPI.addCmdModifyBodyState(id_1, newSV).ok
ret = leoAPI.dequeueCommands()
modify = ret.data['modify']
assert ret.ok and len(modify) == 1
assert modify[0]['objID'] == id_1
assert modify[0]['rbs'] == newSV
del newSV
# Set the direct force and torque for id_2.
force, torque = [1, 2, 3], [4, 5, 6]
assert leoAPI.addCmdDirectForce(id_2, force, torque).ok
ret = leoAPI.dequeueCommands()
fat = ret.data['direct_force']
assert ret.ok
assert len(fat) == 1
assert fat[0]['objID'] == id_2
assert fat[0]['force'] == force
assert fat[0]['torque'] == torque
# Set the booster force and torque for id_1.
force, torque = [1, 2, 3], [4, 5, 6]
assert leoAPI.addCmdBoosterForce(id_1, force, torque).ok
ret = leoAPI.dequeueCommands()
fat = ret.data['booster_force']
assert ret.ok
assert len(fat) == 1
assert fat[0]['objID'] == id_1
assert fat[0]['force'] == force
assert fat[0]['torque'] == torque
# Remove an object.
assert leoAPI.addCmdRemoveObject(id_1).ok
ret = leoAPI.dequeueCommands()
assert ret.ok and ret.data['remove'][0]['objID'] == id_1
# Add commands for two objects (it is perfectly ok to add commands for
# non-existing body IDs since this is just a command queue - Leonard
# will skip commands for non-existing IDs automatically).
force, torque = [7, 8, 9], [10, 11.5, 12.5]
for objID in (id_1, id_2):
assert leoAPI.addCmdSpawn([(objID, body_1)]).ok
assert leoAPI.addCmdModifyBodyState(objID, body_2).ok
assert leoAPI.addCmdRemoveObject(objID).ok
assert leoAPI.addCmdDirectForce(objID, force, torque).ok
assert leoAPI.addCmdBoosterForce(objID, force, torque).ok
# De-queue all commands.
ret = leoAPI.dequeueCommands()
assert ret.ok
assert len(ret.data['spawn']) == 2
assert len(ret.data['remove']) == 2
assert len(ret.data['modify']) == 2
assert len(ret.data['direct_force']) == 2
assert len(ret.data['booster_force']) == 2
