public void TargetIsLongerThanChain_EndPointIsAtClosestPointToTarget()
{
var targetPosition = new Vector3(0.0f, 12.0f, 0.0f);
var result = CCD2D.Solve(targetPosition, Vector3.forward, kIterations, kTolerance, kVelocity, ref positions);
Assert.AreEqual(true, result);
Assert.That(targetPosition, Is.Not.EqualTo(positions[positions.Length - 1]).Using(vec3Compare));
Assert.That(2.0f, Is.EqualTo((targetPosition - positions[positions.Length - 1]).magnitude).Using(floatCompare));
}
public void TargetIsReachableForChain_EndPointReachesTarget()
{
var targetPosition = new Vector3(9.0f, 1.0f, 0.0f);
var result = CCD2D.Solve(targetPosition, Vector3.forward, kIterations, kTolerance, kVelocity, ref positions);
Assert.AreEqual(true, result);
Assert.That(targetPosition, Is.EqualTo(positions[positions.Length - 1]).Using(vec3Compare));
Assert.That(0.0f, Is.EqualTo((targetPosition - positions[positions.Length - 1]).magnitude).Using(floatCompare));
}
public void TargetHasReached_SolverDoesNotIterate()
{
var targetPosition = new Vector3(9.0f, 1.0f, 0.0f);
var result = CCD2D.Solve(targetPosition, Vector3.forward, kIterations, kTolerance, kVelocity, ref positions);
Assert.AreEqual(true, result);
result = CCD2D.Solve(targetPosition, Vector3.forward, kIterations, kTolerance, kVelocity, ref positions);
Assert.AreEqual(false, result);
}
