[UnityTest, Order(0)] // テストの実行の優先度を指定する(昇順)
public IEnumerator a_ToTarget1()
{
Start();
var handle = new CubeHandle(test.CreateCube(150, 300, 90));
var navigator = new CubeNavigator(handle, mode: Navigator.Mode.AVOID);
var start_time = Time.time;
var last_time = start_time;
test.init = (() =>
{
});
test.update = (() =>
{
var now = Time.time;
if (now - last_time > 0.05)
{
navigator.Update();
navigator.Navi2Target(250, 250, maxSpd: 80).Exec();
last_time = now;
}
if (2.5 < Time.time - start_time)
{
Debug.LogFormat("handle.pos-target.pos = {0}", handle.pos - new Vector(250, 250));
return(true);
}
return(false);
});
yield return(new MonoBehaviourTest <test>());
}
[UnityTest, Order(2)] // テストの実行の優先度を指定する(昇順)
public IEnumerator e_TranslateByDist()
{
Start();
var handle0 = new CubeHandle(test.CreateCube(150, 200, 90));
var handle1 = new CubeHandle(test.CreateCube(250, 200, 90));
var handle2 = new CubeHandle(test.CreateCube(350, 200, 90));
var start_time = Time.time;
test.init = (() =>
{
handle0.Update(); handle1.Update(); handle2.Update();
handle0.Move(handle0.TranslateByDist(dist: 150, translate: 20));
handle1.Move(handle1.TranslateByDist(dist: 150, translate: 60));
handle2.Move(handle2.TranslateByDist(dist: 150, translate: 100));
});
test.update = (() =>
{
if (5 < Time.time - start_time)
{
Debug.LogFormat("handle0.y-target.y = {0}", handle0.y - 350);
Debug.LogFormat("handle1.y-target.y = {0}", handle1.y - 350);
Debug.LogFormat("handle2.y-target.y = {0}", handle2.y - 350);
return(true);
}
return(false);
});
yield return(new MonoBehaviourTest <test>());
}
public static void ResetCubeManager(CubeManager cubeManager)
{
CubeNavigator.ClearGNavigators();
cubeManager.handles.Clear();
cubeManager.navigators.Clear();
foreach (var cube in cubeManager.cubes)
{
// note 良くない
cube.buttonCallback.ClearListener();
cube.slopeCallback.ClearListener();
cube.collisionCallback.ClearListener();
cube.idCallback.ClearListener();
cube.standardIdCallback.ClearListener();
cube.idMissedCallback.ClearListener();
cube.standardIdMissedCallback.ClearListener();
cube.doubleTapCallback.ClearListener();
cube.poseCallback.ClearListener();
cube.targetMoveCallback.ClearListener();
cube.shakeCallback.ClearListener();
cube.motorSpeedCallback.ClearListener();
var handle = new CubeHandle(cube);
cubeManager.handles.Add(handle);
cubeManager.navigators.Add(new CubeNavigator(handle));
}
}
[UnityTest, Order(2)] // テストの実行の優先度を指定する(昇順)
public IEnumerator f_RotateByRad()
{
Start();
var handle0 = new CubeHandle(test.CreateCube(150, 300, 90));
var handle1 = new CubeHandle(test.CreateCube(250, 300, 90));
var handle2 = new CubeHandle(test.CreateCube(350, 300, 90));
var start_time = Time.time;
var drad = 360 * Mathf.Deg2Rad;
var tarRad = Rad(drad + Deg2Rad(90));
test.init = (() =>
{
handle0.Update(); handle1.Update(); handle2.Update();
handle0.Move(handle0.RotateByRad(drad: drad, rotate: 20));
handle1.Move(handle1.RotateByRad(drad: drad, rotate: 100));
handle2.Move(handle2.RotateByRad(drad: drad, rotate: 200));
});
test.update = (() =>
{
if (5 < Time.time - start_time)
{
Debug.LogFormat("handle0.rad-target.rad = {0}", handle0.rad - tarRad);
Debug.LogFormat("handle1.rad-target.rad = {0}", handle1.rad - tarRad);
Debug.LogFormat("handle2.rad-target.rad = {0}", handle2.rad - tarRad);
return(true);
}
return(false);
});
yield return(new MonoBehaviourTest <test>());
}
[UnityTest, Order(0)] // テストの実行の優先度を指定する(昇順)
public IEnumerator a_moveRaw()
{
Start();
var handle = new CubeHandle(test.CreateCube(250, 250));
handle.MoveRaw(100, 100);
test.update = TestUntil_Seconds(2);
yield return(new MonoBehaviourTest <test>());
}
[UnityTest, Order(1)] // テストの実行の優先度を指定する(昇順)
public IEnumerator b_move()
{
Start();
var handle = new CubeHandle(test.CreateCube(100, 350));
test.init = (() =>
{
handle.Update();
handle.Move(80, 25, 2000);
});
test.update = TestUntil_Seconds(2);
yield return(new MonoBehaviourTest <test>());
}
public CubeNavigator(CubeHandle handle, Mode mode = Mode.AVOID)
{
this.cube = handle.cube; this.mode = mode;
this.handle = handle;
this.ego = new CubeEntity(handle);
this.boids = new Boids(ego); this.avoid = new HLAvoid(ego);
// Add borders
AddBorder(70);
// Auto appending of others' _other
foreach (var o in gNavigators)
{
o.AddOther(this);
}
this.AddOther(gNavigators);
gNavigators.Add(this);
}
bool initFlag = false; // 初期化フラグ
// 初期化時に呼ばれる
public async override void Initialize()
{
// キューブの複数台接続
cubeManager = new CubeManager();
await cubeManager.MultiConnect(2);
// 参照の取得
this.playerHandle = cubeManager.handles[0];
this.targetHandle = cubeManager.handles[1];
this.playerCube = GameObject.FindGameObjectWithTag("PlayerCube");
this.targetCube = GameObject.FindGameObjectWithTag("TargetCube");
// LED色の指定
this.playerHandle.cube.TurnLedOn(255, 0, 0, 0);
this.targetHandle.cube.TurnLedOn(0, 0, 255, 0);
// 初期化フラグ
this.initFlag = true;
}
[UnityTest, Order(1)] // テストの実行の優先度を指定する(昇順)
public IEnumerator g_AwayTarget()
{
Start();
var handle0 = new CubeHandle(test.CreateCube(150, 150, 0));
var handle1 = new CubeHandle(test.CreateCube(250, 350, 0));
var navigator0 = new CubeNavigator(handle0, mode: Navigator.Mode.AVOID);
var navigator1 = new CubeNavigator(handle1, mode: Navigator.Mode.AVOID);
navigator0.ClearOther();
var start_time = Time.time;
var last_time = start_time;
test.init = (() =>
{
});
test.update = (() =>
{
var now = Time.time;
if (now - last_time > 0.05)
{
navigator0.Update(); navigator1.Update();
navigator0.NaviAwayTarget(navigator1.handle.pos, maxSpd: 80).Exec();
navigator1.Navi2Target(navigator0.handle.pos, maxSpd: 40).Exec();
last_time = now;
}
if (6 < Time.time - start_time)
{
return(true);
}
return(false);
});
yield return(new MonoBehaviourTest <test>());
}
public async void Connect()
{
// キューブの複数台接続
await cubeManager.SingleConnect();
if (cubeManager.handles.Count == 2)
{
// 参照の取得
this.playerHandle = cubeManager.handles[0];
this.targetHandle = cubeManager.handles[1];
this.playerCube = GameObject.FindGameObjectWithTag("PlayerCube");
this.targetCube = GameObject.FindGameObjectWithTag("TargetCube");
// LED色の指定
this.playerHandle.cube.TurnLedOn(255, 0, 0, 0);
this.targetHandle.cube.TurnLedOn(0, 0, 255, 0);
// 初期化フラグ
this.initFlag = true;
}
}
[UnityTest, Order(1)] // テストの実行の優先度を指定する(昇順)
public IEnumerator f_SideCollision()
{
Start();
var handle0 = new CubeHandle(test.CreateCube(150, 235, 10));
var handle1 = new CubeHandle(test.CreateCube(150, 265, -10));
var navigator0 = new CubeNavigator(handle0, mode: Navigator.Mode.AVOID);
var navigator1 = new CubeNavigator(handle1, mode: Navigator.Mode.AVOID);
var start_time = Time.time;
var last_time = start_time;
test.init = (() =>
{
});
test.update = (() =>
{
var now = Time.time;
if (now - last_time > 0.05)
{
navigator0.Update(); navigator1.Update();
navigator0.Navi2Target(400, 250, maxSpd: 80).Exec();
navigator1.Navi2Target(400, 250, maxSpd: 80).Exec();
last_time = now;
}
if (3 < Time.time - start_time)
{
return(true);
}
return(false);
});
yield return(new MonoBehaviourTest <test>());
}
[UnityTest, Order(2)] // テストの実行の優先度を指定する(昇順)
public IEnumerator d_Rotate2Rad()
{
Start();
var handle0 = new CubeHandle(test.CreateCube(150, 300, -90));
var handle1 = new CubeHandle(test.CreateCube(250, 300, -90));
var handle2 = new CubeHandle(test.CreateCube(350, 300, -90));
var start_time = Time.time;
var last_time = start_time;
test.update = (() =>
{
var dt = Time.deltaTime;
var now = Time.time;
var tarRad = Deg2Rad(89);
if (now - last_time > 0.05)
{
handle0.Update(); handle1.Update(); handle2.Update();
handle0.Move(handle0.Rotate2Rad(tarRad, rotateTime: 200));
handle1.Move(handle1.Rotate2Rad(tarRad, rotateTime: 400));
handle2.Move(handle2.Rotate2Rad(tarRad, rotateTime: 800));
last_time = now;
}
if (3 < Time.time - start_time)
{
Debug.LogFormat("handle0.rad-target.rad = {0}", handle0.rad - tarRad);
Debug.LogFormat("handle1.rad-target.rad = {0}", handle1.rad - tarRad);
Debug.LogFormat("handle2.rad-target.rad = {0}", handle2.rad - tarRad);
return(true);
}
return(false);
});
yield return(new MonoBehaviourTest <test>());
}
[UnityTest, Order(1)] // テストの実行の優先度を指定する(昇順)
public IEnumerator c_Intersect1v1Longitudinal()
{
Start();
var handle0 = new CubeHandle(test.CreateCube(100, 100, 45));
var handle1 = new CubeHandle(test.CreateCube(400, 400, -135));
var navigator0 = new CubeNavigator(handle0, mode: Navigator.Mode.AVOID);
var navigator1 = new CubeNavigator(handle1, mode: Navigator.Mode.AVOID);
var start_time = Time.time;
var last_time = start_time;
test.init = (() =>
{
});
test.update = (() =>
{
var now = Time.time;
if (now - last_time > 0.05)
{
navigator0.Update(); navigator1.Update();
navigator0.Navi2Target(400, 400, maxSpd: 80).Exec();
navigator1.Navi2Target(100, 100, maxSpd: 80).Exec();
last_time = now;
}
if (4 < Time.time - start_time)
{
return(true);
}
return(false);
});
yield return(new MonoBehaviourTest <test>());
}
[UnityTest, Order(0)] // テストの実行の優先度を指定する(昇順)
public IEnumerator b_BorderSingleOut()
{
Start();
var handle = new CubeHandle(test.CreateCube(150, 420, 135));
var navigator = new CubeNavigator(handle, mode: Navigator.Mode.AVOID);
var start_time = Time.time;
var last_time = start_time;
test.init = (() =>
{
});
test.update = (() =>
{
var now = Time.time;
if (now - last_time > 0.05)
{
navigator.Update();
var res = navigator.Navi2Target(400, 500, 80).Exec();
last_time = now;
}
if (3 < Time.time - start_time)
{
Debug.LogFormat("handle.pos-target.pos = {0}", handle.pos - new Vector(400, 500));
return(true);
}
return(false);
});
yield return(new MonoBehaviourTest <test>());
}
[UnityTest, Order(2)] // テストの実行の優先度を指定する(昇順)
public IEnumerator c_Move2Target_Back()
{
Start();
var handle0 = new CubeHandle(test.CreateCube(150, 330, -90));
var handle1 = new CubeHandle(test.CreateCube(250, 310, -90));
var handle2 = new CubeHandle(test.CreateCube(350, 290, -90));
var start_time = Time.time;
var last_time = start_time;
test.update = (() =>
{
var dt = Time.deltaTime;
var now = Time.time;
if (now - last_time > 0.05)
{
handle0.Update(); handle1.Update(); handle2.Update();
handle0.Move(handle0.Move2Target(150, 350, maxSpd: 100));
handle1.Move(handle1.Move2Target(250, 350, maxSpd: 100));
handle2.Move(handle2.Move2Target(350, 350, maxSpd: 100));
last_time = now;
}
if (4 < Time.time - start_time)
{
Debug.LogFormat("handle0.pos-target.pos = {0}", handle0.pos - new Vector(150, 350));
Debug.LogFormat("handle1.pos-target.pos = {0}", handle1.pos - new Vector(250, 350));
Debug.LogFormat("handle2.pos-target.pos = {0}", handle2.pos - new Vector(350, 350));
return(true);
}
return(false);
});
yield return(new MonoBehaviourTest <test>());
}
/// <summary>
/// margin >= 16, which is the real size (dot)
/// </summary>
public CubeEntity(CubeHandle handle, double margin = 16)
{
this.handle = handle; this.margin = margin;
}
