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Merge pull request #613 from zackyancey/test-for-revolute-joints

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Add a test for revolute joints around an axis other than Z
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Roger Maitland 2024-06-07 19:08:13 -04:00 • committed by GitHub
commit 0f31eaa801
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tests/test_joints.py
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@ -161,6 +161,28 @@ class TestRevoluteJoint(DirectApiTestCase):
target_location.orientation, j2.location.orientation, 5
)
def test_revolute_joint_non_z_axis(self):
base_part = Box(6, 4, 2)
rotating_part = Cone(2, 1, 2)
j1 = RevoluteJoint("j1", base_part, Axis((3, 0, 1), (0, -1, 0)))
j2 = RigidJoint("j2", rotating_part, Location((-2, 0, -1), (90, 0, -90)))
base_part.joints["j1"].connect_to(rotating_part.joints["j2"], angle=30)
self.assertVectorAlmostEquals(base_part.location.position, (0, 0, 0), 5)
self.assertVectorAlmostEquals(base_part.location.orientation, (0, 0, 0), 5)
self.assertVectorAlmostEquals(
rotating_part.location.position, (4.23, 0, 2.87), 2
)
self.assertVectorAlmostEquals(
rotating_part.location.orientation, (0, -30, 0), 5
)
self.assertVectorAlmostEquals(j1.location.position, (3, 0, 1), 5)
self.assertVectorAlmostEquals(j1.location.orientation, (90, 0, -90), 5)
self.assertVectorAlmostEquals(j2.location.position, (3, 0, 1), 5)
self.assertVectorAlmostEquals(j2.location.orientation, (90, 0, -60), 5)
def test_revolute_joint_without_angle_reference(self):
revolute_base = Solid.make_cylinder(1, 1)
j1 = RevoluteJoint(