File size: 1,565 Bytes
cf8614b | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 | import unittest
from pyrep.const import ObjectType
from tests.core import TestCore
from pyrep.objects.object import Object
from pyrep.objects.shape import Shape
from pyrep.objects.octree import Octree
class TestOctrees(TestCore):
def setUp(self):
super().setUp()
self.octree = Octree.create(0.025)
self.shape = Shape('Panda_link0_visual')
def test_octree_insert_and_remove_voxels(self):
point = [0.0, 0.0, 0.0]
self.octree.insert_voxels(point)
voxels = self.octree.get_voxels()
# As many as 8 voxels may be added from a single point insertion.
self.assertTrue(1 <= len(voxels)//3 and len(voxels)/3 <= 8)
self.assertTrue(self.octree.check_point_occupancy(point))
self.octree.remove_voxels(point)
voxels = self.octree.get_voxels()
self.assertTrue(len(voxels)//3 is 0)
self.assertFalse(self.octree.check_point_occupancy(point))
def test_octree_insert_and_subtract_object(self):
self.octree.insert_object(self.shape)
voxels = self.octree.get_voxels()
self.assertTrue(1 <= len(voxels)//3)
self.octree.subtract_object(self.shape)
voxels = self.octree.get_voxels()
self.assertTrue(len(voxels)//3 is 0)
def test_octree_insert_and_clear(self):
self.octree.insert_object(self.shape)
voxels = self.octree.get_voxels()
self.assertTrue(1 <= len(voxels)//3)
self.octree.clear_voxels()
voxels = self.octree.get_voxels()
self.assertTrue(len(voxels)//3 is 0)
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