def _fix_xform(T):
""" Converts T into a valid xform. Returns None on fail."""
# If T has "flat" attribute, it is an ndarray and that should
# be returned. Otherwise just return T.
if not T:
xform = TransformState.makeIdentity()
else:
if not isinstance(T, TransformState):
mat = Mat4(*T.flat) if hasattr(T, "flat") else Mat4(T)
xform = TransformState.makeMat(mat)
else:
xform = T
return xform
def test_pso_create_shape():
ts1 = TransformState.makePos((1, 3, 5))
ts2 = TransformState.makePos((2, 4, 6))
par2 = (Vec3(4, 1, 7), )
obj0 = RBSO("0")
obj1 = RBSO("1")
obj2 = RBSO("2")
obj0.set_shape("Box")
obj1.set_shape(("Box", (), ts1))
obj2.set_shape(("Box", par2, ts2))
obj0.create_shape()
obj1.create_shape()
obj2.create_shape()
sh0 = obj0.node().getShape(0)
sh1 = obj1.node().getShape(0)
sh2 = obj2.node().getShape(0)
assert isinstance(sh0, BulletBoxShape)
assert isinstance(sh1, BulletBoxShape)
assert isinstance(sh2, BulletBoxShape)
assert obj0.node().getShapeMat(0) == Mat4.identMat()
assert obj1.node().getShapeMat(0) == ts1.getMat()
assert obj2.node().getShapeMat(0) == ts2.getMat()
assert sh0.getHalfExtentsWithMargin() == Vec3(0.5, 0.5, 0.5)
assert sh1.getHalfExtentsWithMargin() == Vec3(0.5, 0.5, 0.5)
assert sh2.getHalfExtentsWithMargin() == par2
def test_boxshape_fix_xform():
# _fix_xform
ident_T = TransformState.makeIdentity()
X = None
assert BoxShape._fix_xform(X) == ident_T
X = ()
assert BoxShape._fix_xform(X) == ident_T
X = Mat4.identMat() * 3
assert BoxShape._fix_xform(X) == TransformState.makeMat(X)
