mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-14 05:40:05 +00:00
0cec85626f
return Py_None if no user data found, to pass the test. enable m_deterministicOverlappingPairs by default. if m_deterministicOverlappingPairs, sort the collision pairs.
145 lines
3.3 KiB
Python
145 lines
3.3 KiB
Python
import unittest
|
|
import pybullet as p
|
|
import math, time
|
|
import difflib,sys
|
|
|
|
from utils import allclose, dot
|
|
|
|
class TestPybulletSaveRestoreMethods(unittest.TestCase):
|
|
|
|
def setupWorld(self):
|
|
numObjects = 50
|
|
|
|
|
|
maximalCoordinates = False
|
|
|
|
p.resetSimulation()
|
|
p.setPhysicsEngineParameter(deterministicOverlappingPairs=1)
|
|
p.loadURDF("planeMesh.urdf",useMaximalCoordinates=maximalCoordinates)
|
|
kukaId = p.loadURDF("kuka_iiwa/model_free_base.urdf",[0,0,10], useMaximalCoordinates=maximalCoordinates)
|
|
for i in range (p.getNumJoints(kukaId)):
|
|
p.setJointMotorControl2(kukaId,i,p.POSITION_CONTROL,force=0)
|
|
for i in range (numObjects):
|
|
cube = p.loadURDF("cube_small.urdf",[0,i*0.02,(i+1)*0.2])
|
|
#p.changeDynamics(cube,-1,mass=100)
|
|
p.stepSimulation()
|
|
p.setGravity(0,0,-10)
|
|
|
|
|
|
def dumpStateToFile(self, file):
|
|
for i in range (p.getNumBodies()):
|
|
pos,orn = p.getBasePositionAndOrientation(i)
|
|
linVel,angVel = p.getBaseVelocity(i)
|
|
txtPos = "pos="+str(pos)+"\n"
|
|
txtOrn = "orn="+str(orn)+"\n"
|
|
txtLinVel = "linVel"+str(linVel)+"\n"
|
|
txtAngVel = "angVel"+str(angVel)+"\n"
|
|
file.write(txtPos)
|
|
file.write(txtOrn)
|
|
file.write(txtLinVel)
|
|
file.write(txtAngVel)
|
|
|
|
def compareFiles(self, file1,file2):
|
|
diff = difflib.unified_diff(
|
|
file1.readlines(),
|
|
file2.readlines(),
|
|
fromfile='saveFile.txt',
|
|
tofile='restoreFile.txt',
|
|
)
|
|
numDifferences = 0
|
|
for line in diff:
|
|
numDifferences = numDifferences+1
|
|
sys.stdout.write(line)
|
|
self.assertEqual(numDifferences,0)
|
|
|
|
|
|
def testSaveRestoreState(self):
|
|
numSteps = 500
|
|
numSteps2 = 30
|
|
|
|
|
|
verbose = 0
|
|
self.setupWorld()
|
|
|
|
|
|
for i in range (numSteps):
|
|
p.stepSimulation()
|
|
p.saveBullet("state.bullet")
|
|
if verbose:
|
|
p.setInternalSimFlags(1)
|
|
p.stepSimulation()
|
|
if verbose:
|
|
p.setInternalSimFlags(0)
|
|
print("contact points=")
|
|
for q in p.getContactPoints():
|
|
print(q)
|
|
|
|
for i in range (numSteps2):
|
|
p.stepSimulation()
|
|
|
|
|
|
file = open("saveFile.txt","w")
|
|
self.dumpStateToFile(file)
|
|
file.close()
|
|
|
|
#################################
|
|
self.setupWorld()
|
|
|
|
#both restore from file or from in-memory state should work
|
|
p.restoreState(fileName="state.bullet")
|
|
stateId = p.saveState()
|
|
|
|
if verbose:
|
|
p.setInternalSimFlags(1)
|
|
p.stepSimulation()
|
|
if verbose:
|
|
p.setInternalSimFlags(0)
|
|
print("contact points restored=")
|
|
for q in p.getContactPoints():
|
|
print(q)
|
|
for i in range (numSteps2):
|
|
p.stepSimulation()
|
|
|
|
|
|
file = open("restoreFile.txt","w")
|
|
self.dumpStateToFile(file)
|
|
file.close()
|
|
|
|
p.restoreState(stateId)
|
|
if verbose:
|
|
p.setInternalSimFlags(1)
|
|
p.stepSimulation()
|
|
if verbose:
|
|
p.setInternalSimFlags(0)
|
|
print("contact points restored=")
|
|
for q in p.getContactPoints():
|
|
print(q)
|
|
for i in range (numSteps2):
|
|
p.stepSimulation()
|
|
|
|
|
|
file = open("restoreFile2.txt","w")
|
|
self.dumpStateToFile(file)
|
|
file.close()
|
|
|
|
file1 = open("saveFile.txt","r")
|
|
file2 = open("restoreFile.txt","r")
|
|
self.compareFiles(file1,file2)
|
|
file1.close()
|
|
file2.close()
|
|
|
|
file1 = open("saveFile.txt","r")
|
|
file2 = open("restoreFile2.txt","r")
|
|
self.compareFiles(file1,file2)
|
|
file1.close()
|
|
file2.close()
|
|
|
|
|
|
|
|
#while (p.getConnectionInfo()["isConnected"]):
|
|
# time.sleep(1)
|
|
|
|
if __name__ == '__main__':
|
|
p.connect(p.DIRECT)
|
|
unittest.main()
|