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from tests.core import TestCore
from pyrep.objects.shape import Shape
from pyrep.const import PrimitiveShape, TextureMappingMode
from tests.core import ASSET_DIR
from os import path
import numpy as np
class TestShapes(TestCore):
def setUp(self):
super().setUp()
self.dynamic_cube = Shape('dynamic_cube')
def test_create_primitive_simple(self):
pr = Shape.create(
PrimitiveShape.CUBOID, size=[1., 1., 1.])
self.assertIsInstance(pr, Shape)
def test_create_primitive_complex(self):
pr = Shape.create(
PrimitiveShape.CUBOID, size=[1., 1., 1.], mass=2.0,
smooth=True, respondable=True, static=False,
position=[1.1, 1.2, 1.3], orientation=[0.1, 0.2, 0.3],
color=[0.7, 0.8, 0.9])
self.assertIsInstance(pr, Shape)
self.assertTrue(np.allclose(pr.get_position(), [1.1, 1.2, 1.3]))
self.assertTrue(np.allclose(pr.get_orientation(), [0.1, 0.2, 0.3]))
self.assertTrue(np.allclose(pr.get_color(), [0.7, 0.8, 0.9]))
def test_import_shape(self):
ob = Shape.import_shape(
path.join(ASSET_DIR, 'cracker_box/textured_simple.obj'))
self.assertIsInstance(ob, Shape)
def test_import_mesh(self):
ob = Shape.import_mesh(
path.join(ASSET_DIR, 'test_mesh_bowl.obj'))
self.assertIsInstance(ob, Shape)
def test_create_mesh(self):
ob = Shape.create_mesh(
vertices=[-0.1, -0.1, 0.0,
-0.1, 0.1, 0.0,
0.1, 0.0, 0.0], indices=[0, 1, 2])
self.assertIsInstance(ob, Shape)
def test_convex_decompose(self):
ob = Shape.import_mesh(
path.join(ASSET_DIR, 'test_mesh_bowl.obj'))
self.assertIsInstance(ob, Shape)
cd_1 = ob.get_convex_decomposition()
self.assertIsInstance(cd_1, Shape)
self.assertNotEqual(ob, cd_1)
cd_2 = ob.get_convex_decomposition(morph=True)
self.assertIsInstance(cd_2, Shape)
self.assertEqual(ob, cd_2)
def test_get_set_color(self):
self.dynamic_cube.set_color([.5] * 3)
self.assertEqual(self.dynamic_cube.get_color(), [.5] * 3)
def test_get_set_transparency(self):
self.dynamic_cube.set_transparency(0.6)
self.assertAlmostEqual(self.dynamic_cube.get_transparency(), 0.6)
def test_get_set_mass(self):
self.dynamic_cube.set_mass(3.5)
self.assertEqual(self.dynamic_cube.get_mass(), 3.5)
def test_get_set_respondable(self):
self.dynamic_cube.set_respondable(False)
self.assertFalse(self.dynamic_cube.is_respondable())
self.dynamic_cube.set_respondable(True)
self.assertTrue(self.dynamic_cube.is_respondable())
def test_get_set_dynamic(self):
self.dynamic_cube.set_dynamic(False)
self.assertFalse(self.dynamic_cube.is_dynamic())
self.dynamic_cube.set_dynamic(True)
self.assertTrue(self.dynamic_cube.is_dynamic())
def test_get_mesh_data(self):
vertices, indices, normals = self.dynamic_cube.get_mesh_data()
n_vertices = 8
n_faces = 12
self.assertEqual(vertices.shape, (n_vertices, 3))
self.assertEqual(indices.shape, (n_faces, 3))
self.assertEqual(normals.shape, (n_faces * 3, 3))
def test_set_texture(self):
_, texture = self.pyrep.create_texture(
path.join(ASSET_DIR, 'wood_texture.jpg'))
self.dynamic_cube.set_texture(texture, TextureMappingMode.CUBE)
self.assertEqual(texture.get_texture_id(),
self.dynamic_cube.get_texture().get_texture_id())
def test_get_shape_viz(self):
visual = Shape('cracker_box_visual')
info = visual.get_shape_viz(index=0)
self.assertIsInstance(info.vertices, np.ndarray)
self.assertEqual(info.vertices.shape[1], 3)
self.assertIsInstance(info.indices, np.ndarray)
self.assertEqual(info.indices.shape[1], 3)
self.assertIsInstance(info.normals, np.ndarray)
self.assertEqual(info.normals.shape[1], 3)
self.assertIsInstance(info.shading_angle, float)
self.assertIsInstance(info.colors, np.ndarray)
self.assertTupleEqual(info.colors.shape, (9,))
self.assertIsInstance(info.texture, np.ndarray)
self.assertTupleEqual(info.texture.shape, (512, 512, 4))
self.assertIsInstance(info.texture_id, int)
self.assertIsInstance(info.texture_coords, np.ndarray)
self.assertEqual(info.texture_coords.shape[1], 2)
self.assertIsInstance(info.texture_apply_mode, int)
self.assertIsInstance(info.texture_options, int)
def test_apply_texture(self):
visual = Shape('cracker_box_visual')
info = visual.get_shape_viz(index=0)
self.assertNotEqual(info.texture_coords.size, 0)
self.assertNotEqual(info.texture.size, 0)
texture = info.texture[:, :, [2, 1, 0, 3]] # rgba -> bgra
visual.apply_texture(info.texture_coords, texture, is_rgba=True)
def test_decimate_mesh(self):
visual = Shape('cracker_box_visual')
_, old_indices, _ = visual.get_mesh_data()
new_mesh = visual.decimate_mesh(0.2)
_, new_indices, _ = new_mesh.get_mesh_data()
self.assertLess(len(new_indices), len(old_indices) * 0.3)
def test_compute_mass_and_inertia(self):
before = self.dynamic_cube.get_mass()
self.dynamic_cube.compute_mass_and_inertia(2000)
after = self.dynamic_cube.get_mass()
self.assertNotEqual(before, after)
def test_add_force(self):
before = self.dynamic_cube.get_position()
self.dynamic_cube.add_force([0, 0, 0], [100, 100, 100])
self.pyrep.step()
after = self.dynamic_cube.get_position()
self.assertTrue(np.all(before != after))
def test_add_force_and_torque(self):
before = self.dynamic_cube.get_position()
self.dynamic_cube.add_force_and_torque([100, 100, 100], [100, 100, 100])
self.pyrep.step()
after = self.dynamic_cube.get_position()
self.assertTrue(np.all(before != after))
if __name__ == '__main__':
unittest.main()
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