def test_ConstructionInfo(self): """ Create a RigidBodyConstructionInfo class and set/get some attributes. """ mass = 1.5 pos = Vec3(1, 2, 3) rot = Quaternion(0, 0, 0, 1) t = Transform(rot, pos) ms = DefaultMotionState(t) cs = EmptyShape() ci = RigidBodyConstructionInfo(mass, ms, cs) # Mass was specified in Ctor. assert ci.mass == mass ci.mass = 1.1 assert ci.mass == 1.1 ci.mass = 1.1 assert ci.mass == 1.1 # Local inertia was specified in Ctor. assert ci.localInertia == Vec3(0, 0, 0) inert = Vec3(1, 2, 10) ci.localInertia = inert assert ci.localInertia == inert inert = Vec3(1, 2, 20) ci.localInertia = inert assert ci.localInertia == inert # Verify the 'motionState' attribute. assert ci.motionState.getWorldTransform().getOrigin() == pos assert ci.motionState.getWorldTransform().getRotation() == rot # Verify the 'collisionShape' attribute. assert ci.collisionShape.getName() == b"Empty"
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 getRB(pos=Vec3(0, 0, 0), cshape=SphereShape(1)): """ Return a Rigid Body plus auxiliary information (do *not* delete; see note below). .. note:: Do not delete the tuple until the end of the test because it may lead to memory access violations. The reason is that a rigid body requires several indepenent structures that need to remain in memory. """ t = Transform(Quaternion(0, 0, 0, 1), pos) ms = DefaultMotionState(t) mass = 1 # Build construction info and instantiate the rigid body. ci = RigidBodyConstructionInfo(mass, ms, cshape) return RigidBody(ci)
from azBullet import RigidBody, RigidBodyConstructionInfo # Instantiate the Bullet simulation. sim = azBullet.BulletBase() sim.setGravity(Vec3(0, -10, 0)) # Create the collision shape for Ball and Ground. ballShape = SphereShape(1) groundShape = StaticPlaneShape(Vec3(0, 1, 0), 1) # Create the rigid body for the Ground. Since it is a static body its mass must # be zero. mass = 0 groundRigidBodyState = DefaultMotionState( Transform(Quaternion(0, 0, 0, 1), Vec3(0, -1, 0))) ci = RigidBodyConstructionInfo(mass, groundRigidBodyState, groundShape) groundRigidBody = RigidBody(ci) groundRigidBody.setRestitution(1.0) sim.addRigidBody(groundRigidBody) del mass, ci # Create the rigid body for the Ball. Since it is a dynamic body we need to # specify mass and inertia. The former we need to do ourselves but Bullet can # do the heavy lifting for the Inertia and compute it for us. fallRigidBodyState = DefaultMotionState( Transform(Quaternion(0, 0, 0, 1), Vec3(0, 20, 0))) mass = 1 fallInertia = ballShape.calculateLocalInertia(mass) ci = RigidBodyConstructionInfo(mass, fallRigidBodyState, ballShape, fallInertia) fallRigidBody = RigidBody(ci)