public void TargetIsReachableForChain_EndPointReachesTarget()
{
var targetPosition = new Vector2(9.0f, 1.0f);
var result = FABRIK2D.Solve(targetPosition, kIterations, kTolerance, lengths, ref positions);
Assert.AreEqual(true, result);
Assert.That(targetPosition, Is.EqualTo(positions[positions.Length - 1]).Using(vec2Compare));
Assert.That(0.0f, Is.EqualTo((targetPosition - positions[positions.Length - 1]).magnitude).Using(floatCompare));
}
public void TargetHasReached_SolverDoesNotIterate()
{
var targetPosition = new Vector2(9.0f, 1.0f);
var result = FABRIK2D.Solve(targetPosition, kIterations, kTolerance, lengths, ref positions);
Assert.AreEqual(true, result);
result = FABRIK2D.Solve(targetPosition, kIterations, kTolerance, lengths, ref positions);
Assert.AreEqual(false, result);
}
public void TargetIsReachableForChain_EndPointReachesTarget()
{
var targetPosition1 = new Vector2(-9.0f, 1.0f);
var targetPosition2 = new Vector2(9.0f, 1.0f);
chains[1].target = targetPosition1;
chains[2].target = targetPosition2;
var result = FABRIK2D.SolveChain(kIterations, ref chains);
Assert.AreEqual(true, result);
Assert.That(targetPosition1, Is.EqualTo(chains[1].positions[chains[1].positions.Length - 1]).Using(vec2Compare));
Assert.That(0.0f, Is.EqualTo((targetPosition1 - chains[1].positions[chains[1].positions.Length - 1]).magnitude).Using(floatCompare));
Assert.That(targetPosition2, Is.EqualTo(chains[2].positions[chains[2].positions.Length - 1]).Using(vec2Compare));
Assert.That(0.0f, Is.EqualTo((targetPosition2 - chains[2].positions[chains[2].positions.Length - 1]).magnitude).Using(floatCompare));
}
public void TargetHasReached_SolverDoesNotIterate()
{
var targetPosition1 = new Vector2(-9.0f, 1.0f);
var targetPosition2 = new Vector2(9.0f, 1.0f);
chains[1].target = targetPosition1;
chains[2].target = targetPosition2;
var result = FABRIK2D.SolveChain(kIterations, ref chains);
Assert.AreEqual(true, result);
result = FABRIK2D.SolveChain(kIterations, ref chains);
Assert.AreEqual(false, result);
}
public void TargetIsLongerThanChain_EndPointIsAtClosestPointToTarget()
{
var targetPosition1 = new Vector2(0f, 12.0f);
var targetPosition2 = new Vector2(0f, 12.0f);
chains[1].target = targetPosition1;
chains[2].target = targetPosition2;
var result = FABRIK2D.SolveChain(kIterations, ref chains);
Assert.AreEqual(true, result);
Assert.That(targetPosition1, Is.Not.EqualTo(chains[1].positions[chains[1].positions.Length - 1]).Using(vec2Compare));
Assert.That(2.0f, Is.EqualTo((targetPosition1 - chains[1].positions[chains[1].positions.Length - 1]).magnitude).Using(floatCompare));
Assert.That(targetPosition2, Is.Not.EqualTo(chains[2].positions[chains[2].positions.Length - 1]).Using(vec2Compare));
Assert.That(2.0f, Is.EqualTo((targetPosition2 - chains[2].positions[chains[2].positions.Length - 1]).magnitude).Using(floatCompare));
}
