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import platform
import pytest
import dartpy as dart
def test_empty_world():
world = dart.simulation.World('my world')
assert world.getNumSkeletons() is 0
assert world.getNumSimpleFrames() is 0
def test_collision_detector_change():
world = dart.simulation.World('world')
solver = world.getConstraintSolver()
assert solver is not None
assert solver.getCollisionDetector().getType() == dart.collision.FCLCollisionDetector().getStaticType()
solver.setCollisionDetector(dart.collision.DARTCollisionDetector())
assert solver.getCollisionDetector().getType() == dart.collision.DARTCollisionDetector().getStaticType()
if hasattr(dart.collision, 'BulletCollisionDetector'):
solver.setCollisionDetector(dart.collision.BulletCollisionDetector())
assert solver.getCollisionDetector().getType() == dart.collision.BulletCollisionDetector().getStaticType()
if hasattr(dart.collision, 'OdeCollisionDetector'):
solver.setCollisionDetector(dart.collision.OdeCollisionDetector())
assert solver.getCollisionDetector().getType() == dart.collision.OdeCollisionDetector().getStaticType()
if __name__ == "__main__":
pytest.main()
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