public static txVector2 CalculateForceFromPenetrationDepth(double stiffness_, double penetrationDepth, txVector2 normal_)
{
// using Lottery;
txVector2 rtnvec2;
rtnvec2 = stiffness_ * penetrationDepth * (-1.0) * normal_;
return rtnvec2;
}
public void TickTest()
{
const double Length = 10.0;
txVector2 v0_ = new txVector2(); // TODO: Initialize to an appropriate value
v0_.x = -Length;
v0_.y = -Length;
txVector2 v1_ = new txVector2(); // TODO: Initialize to an appropriate value
v1_.x = Length;
v1_.y = -Length;
txVector2 v2_ = new txVector2(); // TODO: Initialize to an appropriate value
v2_.x = Length;
v2_.y = Length;
txVector2 v3_ = new txVector2(); // TODO: Initialize to an appropriate value
v3_.x = -Length;
v3_.y = Length;
double omega = Math.PI / 60.0;
txRectangle target = new txRectangle(v0_, v1_, v2_, v3_, omega); // TODO: Initialize to an appropriate value
double t = 0F; // TODO: Initialize to an appropriate value
t = 60.0;
target.Tick(t);
Assert.IsTrue(target.LeftBottomV == v2_);
Assert.IsTrue(target.RightBottomV == v3_);
Assert.IsTrue(target.RightTopV == v0_);
Assert.IsTrue(target.LeftTopV == v1_);
//Assert.Inconclusive("A method that does not return a value cannot be verified.");
}
private void RenderRectangle(txRectangle rect, Graphics dc, txMatrix2 rotation, txVector2 translation)
{
// Draw Rectangle
Pen redPen = new Pen(Color.Red,5);
txVector2 lb = translation + rotation * rect.LeftBottomV;
txVector2 rb = translation + rotation * rect.RightBottomV;
txVector2 rt = translation + rotation * rect.RightTopV;
txVector2 lt = translation + rotation * rect.LeftTopV;
//int width = (int)(rect.RightTopV.x - rect.LeftBottomV.x);
//int height = (int)(rect.RightTopV.y - rect.LeftBottomV.y);
//Trace.Assert(width > 0);
//Trace.Assert(height > 0);
//double xlb = lb.x;
//double ylb = lb.y;
//dc.DrawRectangle(redPen,(int)xlb,(int)ylb,width,height);
//dc.DrawRectangle(redPen, 100, 200, 800, 600);
Point[] points =
{
new Point((int)lb.x,(int)lb.y),
new Point((int)rb.x,(int)rb.y),
new Point((int)rt.x,(int)rt.y),
new Point((int)lt.x,(int)lt.y),
new Point((int)lb.x,(int)lb.y)
};
dc.DrawLines(redPen, points);
}
private void RenderCoordinateFrame(Graphics dc, txMatrix2 rotation, txVector2 translation)
{
Pen yellopen = new Pen(Color.Yellow, 1);
txVector2 origin = txVector2.Zero();
origin = translation + rotation * origin;
int X = (int) origin.x;
int Y = (int) origin.y;
dc.DrawLine(yellopen,new Point(-10000, Y),new Point(10000, Y));
dc.DrawLine(yellopen, new Point(X, 10000), new Point(X, -10000));
}
public void LengthTest()
{
txVector2 target = new txVector2(); // TODO: Initialize to an appropriate value
target.x = 3.0;
target.y = 4.0;
double expected = 0F; // TODO: Initialize to an appropriate value
expected = 5.0;
double actual;
actual = target.Length();
Assert.AreEqual(expected, actual);
//Assert.Inconclusive("Verify the correctness of this test method.");
}
private void RenderDisk(List<txPhysicalShpere> disklist, Graphics dc, txMatrix2 rotation, txVector2 translation)
{
// Draw disklist
Pen grayPen = new Pen(Color.Gray,2);
foreach ( txPhysicalShpere disk in disklist)
{
txVector2 ob = translation + rotation * disk.Position;
double xlb = ob.x-txPhysicalShpere.RADIUS;
double ylb = ob.y-txPhysicalShpere.RADIUS;
dc.DrawEllipse(grayPen,(int)xlb,(int)ylb,(int)txPhysicalShpere.DIAMETER,(int)txPhysicalShpere.DIAMETER);
}
}
public txRectangle(txVector2 v0_, txVector2 v1_, txVector2 v2_, txVector2 v3_, double omega_)
{
leftBottomV = v0_;
rightBottomV = v1_;
rightTopV = v2_;
leftTopV = v3_;
omega = omega_;
met = new txMatrix2(1.0,0.0,0.0,1.0);
constleftBottomV = leftBottomV;
constrightBottomV = rightBottomV;
constrightTopV = rightTopV;
constleftTopV = leftTopV;
AssemblyLineSegmentList();
}
public void op_MultiplyTest()
{
txMatrix2 m = new txMatrix2(); // TODO: Initialize to an appropriate value
m.m00 = 1.0;
m.m01 = 2.0;
m.m10 = 3.0;
m.m11 = 4.0;
txVector2 v = new txVector2(); // TODO: Initialize to an appropriate value
v.x = 1.0;
v.y = 2.0;
txVector2 expected = new txVector2(); // TODO: Initialize to an appropriate value
expected.x = 5.0;
expected.y = 11.0;
txVector2 actual;
actual = (m * v);
Assert.AreEqual(expected, actual);
//Assert.Inconclusive("Verify the correctness of this test method.");
}
public void txRectangleConstructorTest()
{
const double Length = 10.0;
txVector2 v0_ = new txVector2(); // TODO: Initialize to an appropriate value
v0_.x = -Length;
v0_.y = -Length;
txVector2 v1_ = new txVector2(); // TODO: Initialize to an appropriate value
v1_.x = Length;
v1_.y = -Length;
txVector2 v2_ = new txVector2(); // TODO: Initialize to an appropriate value
v2_.x = Length;
v2_.y = Length;
txVector2 v3_ = new txVector2(); // TODO: Initialize to an appropriate value
v3_.x = -Length;
v3_.y = Length;
double omega_ = 0F; // TODO: Initialize to an appropriate value
omega_ = Math.PI;
txRectangle target = new txRectangle(v0_, v1_, v2_, v3_, omega_);
Assert.AreEqual(target.LeftBottomV, v0_);
Assert.AreEqual(target.RightBottomV, v1_);
Assert.AreEqual(target.RightTopV, v2_);
Assert.AreEqual(target.LeftTopV, v3_);
//Assert.Inconclusive("TODO: Implement code to verify target");
}
public void AddForcToDisk(txVector2 f)
{
force = force + f;
}
public double Distance(txVector2 v_)
{
return Math.Sqrt(SquareDistance(v_));
}
public void NormalizeTest()
{
txVector2 target = new txVector2(); // TODO: Initialize to an appropriate value
//target.x = 5;
//target.y = 12;
target.x = 3;
target.y = 4;
txVector2 expected = new txVector2(); // TODO: Initialize to an appropriate value
expected.x = .6;
expected.y = .8;
txVector2 actual;
actual = target.Normalize();
double deltax = Math.Abs(expected.x - actual.x);
double deltay = Math.Abs(expected.y - actual.y);
Assert.IsTrue(deltax < txVector2.VECTOR_PRECISION);
Assert.IsTrue(deltay < txVector2.VECTOR_PRECISION);
///??????
/// Why here the expected and actual don't equal???
Assert.AreEqual(expected, actual);
//Assert.Inconclusive("Verify the correctness of this test method.");
}
private void TestOrientationCaseRight()
{
txVector2 pa = new txVector2(); // TODO: Initialize to an appropriate value
pa.x = 0.0;
pa.y = 0.0;
txVector2 pb = new txVector2(); // TODO: Initialize to an appropriate value
pb.x = 2.0;
pb.y = 2.0;
txVector2 pc = new txVector2(); // TODO: Initialize to an appropriate value
pc.x = 1.0;
pc.y = 1.0;
txOrientationState expected = new txOrientationState(); // TODO: Initialize to an appropriate value
expected = txOrientationState.COLLINEAR;
txOrientationState actual;
actual = txVector2.PointOrientationTest(pa, pb, pc);
Assert.AreEqual(expected, actual);
}
public void op_MultiplyTest5()
{
double a = 0F; // TODO: Initialize to an appropriate value
txVector2 v = new txVector2(); // TODO: Initialize to an appropriate value
v.x = 4.0;
v.y = 5.0;
txVector2 expected = new txVector2(); // TODO: Initialize to an appropriate value
expected.x = 0.0;
expected.y = 0.0;
txVector2 actual;
actual = (a * v);
Assert.AreEqual(expected, actual);
//Assert.Inconclusive("Verify the correctness of this test method.");
}
public void op_SubtractionTest1()
{
txVector2 l = new txVector2(); // TODO: Initialize to an appropriate value
l.x = 0.0;
l.y = .0;
txVector2 r = new txVector2(); // TODO: Initialize to an appropriate value
r.x = 10.0;
r.y = 11.0;
txVector2 expected = new txVector2(); // TODO: Initialize to an appropriate value
expected.x = -10.0;
expected.y = -11.0;
txVector2 actual;
actual = (l - r);
Assert.AreEqual(expected, actual);
//Assert.Inconclusive("Verify the correctness of this test method.");
}
public void op_MultiplyTest3()
{
txVector2 l = new txVector2(); // TODO: Initialize to an appropriate value
l.x = 0.0;
l.y = 3.0;
txVector2 r = new txVector2(); // TODO: Initialize to an appropriate value
r.x = 0.0;
r.y = 4.0;
double expected = 0F; // TODO: Initialize to an appropriate value
expected = 12.0;
double actual;
actual = (l * r);
Assert.AreEqual(expected, actual);
//Assert.Inconclusive("Verify the correctness of this test method.");
}
public void op_InequalityTest()
{
txVector2 l = new txVector2(); // TODO: Initialize to an appropriate value
l.x = 0.0;
l.y = 1.0;
txVector2 r = new txVector2(); // TODO: Initialize to an appropriate value
l.x = 0.0;
l.y = 1.0000000000000000000009;
bool expected = false; // TODO: Initialize to an appropriate value
expected = false;
bool actual;
actual = (l != r);
Assert.AreEqual(expected, actual);
Assert.Inconclusive("Verify the correctness of this test method.");
}
public void op_AdditionTest()
{
txVector2 l = new txVector2(); // TODO: Initialize to an appropriate value
l.x = 10;
l.y = 5;
txVector2 r = new txVector2(); // TODO: Initialize to an appropriate value
r.x = 20;
r.y = 20;
txVector2 expected = new txVector2(); // TODO: Initialize to an appropriate value
expected.x = 30;
expected.y = 25;
txVector2 actual;
actual = (l + r);
Assert.AreEqual(expected, actual);
//Assert.Inconclusive("Verify the correctness of this test method.");
}
// See http://www.cs.cmu.edu/~quake/robust.html
public static txOrientationState PointOrientationTest(txVector2 pa, txVector2 pb, txVector2 pc)
{
double det = (pa.x - pc.x) * (pb.y - pc.y) - (pa.y - pc.y) * (pb.x - pc.x);
if (det > 0.0)
{
return txOrientationState.LEFT;
}
if (det < 0.0)
{
return txOrientationState.RIGHT;
}
return txOrientationState.COLLINEAR;
}
public void ZeroTest()
{
txVector2 expected = new txVector2(); // TODO: Initialize to an appropriate value
expected.x = 0.0;
expected.y = 0.0;
txVector2 actual;
actual = txVector2.Zero();
Assert.AreEqual(expected, actual);
//Assert.Inconclusive("Verify the correctness of this test method.");
}
public void SquareDistanceTest()
{
txVector2 target = new txVector2(); // TODO: Initialize to an appropriate value
target.x = 3.0;
target.y = 4.0;
txVector2 v_ = new txVector2(); // TODO: Initialize to an appropriate value
v_.x = 6.0;
v_.y = 8.0;
double expected = 0F; // TODO: Initialize to an appropriate value
expected = 25.0;
double actual;
actual = target.SquareDistance(v_);
Assert.AreEqual(expected, actual);
//Assert.Inconclusive("Verify the correctness of this test method.");
}
//public static void operator += (txVector2 r) {
// this = this + r;
//}
public double SquareDistance(txVector2 v_)
{
double xl = x-v_.x;
double yl = y-v_.y;
return xl * xl + yl * yl;
}
public void txVector2ConstructorTest()
{
double x_ = 0F; // TODO: Initialize to an appropriate value
double y_ = 0F; // TODO: Initialize to an appropriate value
txVector2 target = new txVector2(x_, y_);
txVector2 expected;
expected.x = 0.0;
expected.y = 0.0;
Assert.AreEqual(target, expected);
//Assert.Inconclusive("TODO: Implement code to verify target");
}
private void Rotate(double t)
{
met = new txMatrix2(t * omega);
leftBottomV = met * constleftBottomV;
rightBottomV = met * constrightBottomV;
rightTopV = met * constrightTopV;
leftTopV = met * constleftTopV;
AssemblyLineSegmentList();
}
