public void WheelBase()
{
var transformer = new Program.CoordinatesTransformer(this.controller);
MockMotorSuspension frontLeftWheel = GetSuspension(new Vector3D(-1, 0, -4), true);
var frontLeft = new Program.PowerWheel(frontLeftWheel, this.wheelBase, transformer);
MockMotorSuspension frontRightWheel = GetSuspension(new Vector3D(1, 0, -4), false);
var frontRight = new Program.PowerWheel(frontRightWheel, this.wheelBase, transformer);
MockMotorSuspension middleLeftWheel = GetSuspension(new Vector3D(-1, 0, -1), true);
var middleLeft = new Program.PowerWheel(middleLeftWheel, this.wheelBase, transformer);
MockMotorSuspension middleRightWheel = GetSuspension(new Vector3D(1, 0, -1), false);
var middleRight = new Program.PowerWheel(middleRightWheel, this.wheelBase, transformer);
MockMotorSuspension rearLeftWheel = GetSuspension(new Vector3D(-1, 0, 0), true);
var rearLeft = new Program.PowerWheel(rearLeftWheel, this.wheelBase, transformer);
MockMotorSuspension rearRightWheel = GetSuspension(new Vector3D(1, 0, 0), false);
var rearRight = new Program.PowerWheel(rearRightWheel, this.wheelBase, transformer);
var powerWheels = new List <Tuple <Program.PowerWheel, MockMotorSuspension> > {
Tuple.Create(frontLeft, frontLeftWheel),
Tuple.Create(frontRight, frontRightWheel),
Tuple.Create(middleLeft, middleLeftWheel),
Tuple.Create(middleRight, middleRightWheel),
Tuple.Create(rearLeft, rearLeftWheel),
Tuple.Create(rearRight, rearRightWheel)
};
Assert.AreEqual(-4, this.wheelBase.MinZ);
Assert.AreEqual(0, this.wheelBase.MaxZ);
Assert.AreEqual(-2, this.wheelBase.CenterOfTurnZ);
Assert.AreEqual(5.5, this.wheelBase.TurnRadius);
Assert.AreEqual(new Vector3D(-5.5, 0, -2), this.wheelBase.LeftCenterOfTurn);
Assert.AreEqual(new Vector3D(5.5, 0, -2), this.wheelBase.RightCenterOfTurn);
int nInverted = 0;
foreach (Tuple <Program.PowerWheel, MockMotorSuspension> p in powerWheels)
{
Program.PowerWheel powerWheel = p.Item1;
MockMotorSuspension wheel = p.Item2;
powerWheel.Turn(-2);
Assert.IsFalse(wheel.InvertSteer, $"Wheel {powerWheel.Position}");
powerWheel.Turn(-0.5);
if (powerWheel.Position.Z == -1)
{
++nInverted;
Assert.IsTrue(wheel.InvertSteer, $"Wheel {powerWheel.Position}");
}
else
{
Assert.IsFalse(wheel.InvertSteer, $"Wheel {powerWheel.Position}");
}
}
Assert.AreEqual(2, nInverted);
}
public void Create()
{
var transformer = new Program.CoordinatesTransformer(this.controller);
MockMotorSuspension leftWheel = GetSuspension(new Vector3D(-1, 0, 1), true);
MockMotorSuspension rightWheel = GetSuspension(new Vector3D(1, 0, 1), false);
(rightWheel.Top as MockAttachableTopBlock).WorldPosition = new Vector3D(1, 1, 1);
var leftPowerWheel = new Program.PowerWheel(leftWheel, this.wheelBase, transformer);
var rightPowerWheel = new Program.PowerWheel(rightWheel, this.wheelBase, transformer);
Assert.AreEqual(3, leftPowerWheel.WheelSize);
// We are in the wheel's referential, so it should be -1, 0, 1 but it is offset to take into account the point around which the wheel actually rotates
Assert.AreEqual(new Vector3D(-1.5, 0, 1), leftPowerWheel.Position);
Assert.AreEqual(205, leftPowerWheel.Mass);
Assert.AreEqual(0.25, leftPowerWheel.GetCompressionRatio());
Assert.AreEqual(new Vector3D(1.5, 0, 1), rightPowerWheel.Position);
Assert.AreEqual(0.75, rightPowerWheel.GetCompressionRatio());
// to go forward, we need to invert the power on the right wheels
leftPowerWheel.Power = 1;
rightPowerWheel.Power = 1;
Assert.AreEqual(1, leftWheel.PropulsionOverride);
Assert.AreEqual(-1, rightWheel.PropulsionOverride);
// center of mass is forward of the wheels
leftPowerWheel.Strafe(-1);
rightPowerWheel.Strafe(-1);
Assert.IsTrue(leftWheel.InvertSteer);
Assert.IsTrue(rightWheel.InvertSteer);
leftPowerWheel.Strafe(1);
rightPowerWheel.Strafe(1);
Assert.IsFalse(leftWheel.InvertSteer);
Assert.IsFalse(rightWheel.InvertSteer);
// Test GetPointOfContactW
Assert.AreEqual(new Vector3D(-1, -1.75, 1), leftPowerWheel.GetPointOfContactW());
Assert.AreEqual(new Vector3D(1, 0.25, 1), rightPowerWheel.GetPointOfContactW());
// Test roll
leftPowerWheel.Roll(0.25f);
rightPowerWheel.Roll(0.25f);
Assert.AreEqual(-2, leftWheel.Height);
Assert.AreEqual(-1.75f, rightWheel.Height);
leftPowerWheel.Roll(0);
rightPowerWheel.Roll(0);
Assert.AreEqual(-2, leftWheel.Height);
Assert.AreEqual(-2, rightWheel.Height);
}
public void WheelBaseTurn()
{
var transformer = new Program.CoordinatesTransformer(this.controller);
MockMotorSuspension frontLeftWheel = GetSuspension(new Vector3D(-1.5, 0, -2), true);
var frontLeft = new Program.PowerWheel(frontLeftWheel, this.wheelBase, transformer);
MockMotorSuspension frontRightWheel = GetSuspension(new Vector3D(1.5, 0, -2), false);
var frontRight = new Program.PowerWheel(frontRightWheel, this.wheelBase, transformer);
MockMotorSuspension middleLeftWheel = GetSuspension(new Vector3D(-1.5, 0, 0), true);
var middleLeft = new Program.PowerWheel(middleLeftWheel, this.wheelBase, transformer);
MockMotorSuspension middleRightWheel = GetSuspension(new Vector3D(1.5, 0, 0), false);
var middleRight = new Program.PowerWheel(middleRightWheel, this.wheelBase, transformer);
MockMotorSuspension rearLeftWheel = GetSuspension(new Vector3D(-1.5, 0, 2), true);
var rearLeft = new Program.PowerWheel(rearLeftWheel, this.wheelBase, transformer);
MockMotorSuspension rearRightWheel = GetSuspension(new Vector3D(1.5, 0, 2), false);
var rearRight = new Program.PowerWheel(rearRightWheel, this.wheelBase, transformer);
Assert.AreEqual(6, this.wheelBase.TurnRadius);
Assert.AreEqual(new Vector3D(-6, 0, 0), this.wheelBase.LeftCenterOfTurn);
Assert.AreEqual(new Vector3D(6, 0, 0), this.wheelBase.RightCenterOfTurn);
this.wheelBase.TurnRadiusOverride = 4;
Assert.AreEqual(4, this.wheelBase.TurnRadius);
Assert.AreEqual(new Vector3D(-4, 0, 0), this.wheelBase.LeftCenterOfTurn);
Assert.AreEqual(new Vector3D(4, 0, 0), this.wheelBase.RightCenterOfTurn);
Asserts.AreClose(18.43f, 0.01f, this.wheelBase.GetAngle(frontLeft, false));
Assert.AreEqual(0, this.wheelBase.GetAngle(middleLeft, false));
Asserts.AreClose(18.43f, 0.01f, this.wheelBase.GetAngle(rearLeft, false));
Assert.AreEqual(45, this.wheelBase.GetAngle(frontRight, false));
Assert.AreEqual(0, this.wheelBase.GetAngle(middleRight, false));
Assert.AreEqual(45, this.wheelBase.GetAngle(rearRight, false));
Assert.AreEqual(45, this.wheelBase.GetAngle(frontLeft, true));
Assert.AreEqual(0, this.wheelBase.GetAngle(middleLeft, true));
Assert.AreEqual(45, this.wheelBase.GetAngle(rearLeft, true));
Asserts.AreClose(18.43f, 0.01f, this.wheelBase.GetAngle(frontRight, true));
Assert.AreEqual(0, this.wheelBase.GetAngle(middleRight, true));
Asserts.AreClose(18.43f, 0.01f, this.wheelBase.GetAngle(rearRight, true));
}
