public void ShouldInterpolateByAngle(
float startValue, float endValue, float interpolateValue, int expectedSteps
)
{
var lerp = new LerpAngle(startValue);
lerp.SetEndValue(endValue);
Assert.That(
lerp.EvalAngle(0f), Is.EqualTo(lerp.StartValue).Within(1f),
"Fail to validate start value"
);
for (int i = 0; i < expectedSteps - 1; i++)
{
var value = lerp.EvalAngle(interpolateValue);
Assert.That(
value,
Is.Not.EqualTo(lerp.EndValue).Within(.1f),
$"Was equal on {i} interaction"
);
}
Assert.That(
lerp.EvalAngle(interpolateValue), Is.EqualTo(lerp.EndValue).Within(1f),
"Fail to validate end value"
);
}
public void ShouldInterpolateOriginalAngleWhenCheckMinPathIsDisabled()
{
var startValue = -135f;
var endValue = 135f;
var interpolateAmount = 1f;
var expectedSteps = 270;
var lerp = new LerpAngle(startValue)
{
CheckMinPath = false
};
lerp.SetEndValue(135f);
Assert.That(
lerp.EvalAngle(0f), Is.EqualTo(startValue).Within(1f),
"Fail to validate start value"
);
for (int i = 0; i < expectedSteps - 1; i++)
{
var value = lerp.EvalAngle(interpolateAmount);
Assert.That(
value,
Is.Not.EqualTo(endValue).Within(.1f),
$"Was equal on {i} interaction"
);
}
Assert.That(
lerp.EvalAngle(interpolateAmount), Is.EqualTo(endValue).Within(1f),
"Fail to validate end value"
);
}
public void ShouldRetainStateOfInterpolationWhenChangeEndValue()
{
var startValue = 0f;
var middleValue = 10f;
var endValue = 20f;
var interpolateAmount = 1f;
var lerp = new LerpAngle(startValue)
{
RetainState = true
};
lerp.SetEndValue(middleValue);
Assert.That(
lerp.EvalAngle(0f), Is.EqualTo(startValue).Within(1f),
"Fail to validate start value"
);
for (int i = 0; i < 5 - 1; i++)
{
var value = lerp.EvalAngle(interpolateAmount);
Assert.That(
value,
Is.Not.EqualTo(5f).Within(.1f),
$"Was equal on {i} interaction"
);
}
lerp.SetEndValue(20f);
Assert.That(
lerp.EvalAngle(interpolateAmount), Is.EqualTo(5f).Within(.1f),
"Fail to validate middle pathway value"
);
for (int i = 0; i < 15 - 1; i++)
{
var value = lerp.EvalAngle(interpolateAmount);
Assert.That(
value,
Is.Not.EqualTo(endValue).Within(.1f),
$"Was equal on {i} interaction"
);
}
Assert.That(
lerp.EvalAngle(interpolateAmount), Is.EqualTo(endValue).Within(1f),
"Fail to validate end value"
);
}
//IEnumerator MotionCheck(PivotController Base, PivotController Shoulder, PivotController Elbow, PivotController Wrist, PivotController Gripper, PivotController Pincer1, PivotController Pincer2)
IEnumerator MotionCheck(LerpAngle Base, LerpAngle Shoulder, LerpAngle Elbow, LerpAngle Wrist, LerpAngle Gripper, LerpAngle Pincer1, LerpAngle Pincer2)
{
//while (true)
//{
Shoulder.active = true;
yield return(new WaitForSeconds(4f));
Base.active = true;
yield return(new WaitForSeconds(11f));
Shoulder.active = false;
Base.active = false;
yield return(new WaitForSeconds(0.5f));
Elbow.active = true;
yield return(new WaitForSeconds(4.5f));
Gripper.active = true;
yield return(new WaitForSeconds(5.5f));
Elbow.active = false;
Gripper.active = false;
yield return(new WaitForSeconds(0.5f));
Wrist.active = true;
yield return(new WaitForSeconds(3.5f));
Wrist.active = false;
yield return(new WaitForSeconds(0.5f));
Pincer1.active = true;
Pincer2.active = true;
yield return(new WaitForSeconds(4.5f));
Pincer1.active = false;
Pincer2.active = false;
//yield return 0;
//}
}
public Node <INode> GetNode(string nodeName)
{
switch (nodeName)
{
case Absolute.NAME:
INode nodeAbsolute = new Absolute() as INode;
return(new Node <INode>(nodeAbsolute));
case Approx.NAME:
INode nodeAprox = new Approx() as INode;
return(new Node <INode>(nodeAprox));
case ArcCos.NAME:
INode nodeArcCos = new ArcCos() as INode;
return(new Node <INode>(nodeArcCos));
case ArcSin.NAME:
INode nodeArcSin = new ArcSin() as INode;
return(new Node <INode>(nodeArcSin));
case ArcTan2.NAME:
INode nodeArcTan2 = new ArcTan2() as INode;
return(new Node <INode>(nodeArcTan2));
case Ceil.NAME:
INode nodeCeil = new Ceil() as INode;
return(new Node <INode>(nodeCeil));
case CeilToInt.NAME:
INode nodeCeilToInt = new CeilToInt() as INode;
return(new Node <INode>(nodeCeilToInt));
case Clamp.NAME:
INode nodeClamp = new Clamp() as INode;
return(new Node <INode>(nodeClamp));
case Clamp01.NAME:
INode nodeClamp01 = new Clamp01() as INode;
return(new Node <INode>(nodeClamp01));
case ClosestPowerOf2.NAME:
INode nodeClosestPowerOf2 = new ClosestPowerOf2() as INode;
return(new Node <INode>(nodeClosestPowerOf2));
case Cosinus.NAME:
INode nodeCosinus = new Cosinus() as INode;
return(new Node <INode>(nodeCosinus));
case DeltaAngle.NAME:
INode nodeDeltaAngle = new DeltaAngle() as INode;
return(new Node <INode>(nodeDeltaAngle));
case Exp.NAME:
INode nodeExp = new Exp() as INode;
return(new Node <INode>(nodeExp));
case Floor.NAME:
INode nodeFloor = new Floor() as INode;
return(new Node <INode>(nodeFloor));
case FloorToInt.NAME:
INode nodeFloorToInt = new FloorToInt() as INode;
return(new Node <INode>(nodeFloorToInt));
case Lerp.NAME:
INode nodeLerp = new Lerp() as INode;
return(new Node <INode>(nodeLerp));
case LerpAngle.NAME:
INode nodeLerpAngle = new LerpAngle() as INode;
return(new Node <INode>(nodeLerpAngle));
case Log10.NAME:
INode nodeLog10 = new Log10() as INode;
return(new Node <INode>(nodeLog10));
case Logarithm.NAME:
INode nodeLogarithm = new Logarithm() as INode;
return(new Node <INode>(nodeLogarithm));
case Sinus.NAME:
INode nodeSinus_ = new Sinus() as INode;
return(new Node <INode>(nodeSinus_));
case Max.NAME:
INode nodeMax = new Max() as INode;
return(new Node <INode>(nodeMax));
case Min.NAME:
INode nodeMin = new Min() as INode;
return(new Node <INode>(nodeMin));
case MoveTowards.NAME:
INode nodeMoveTowards = new MoveTowards() as INode;
return(new Node <INode>(nodeMoveTowards));
case MoveTowardsAngle.NAME:
INode nodeMoveTowardsAngle = new MoveTowardsAngle() as INode;
return(new Node <INode>(nodeMoveTowardsAngle));
case NextPowerOfTwo.NAME:
INode nodeNextPowerOfTwo = new NextPowerOfTwo() as INode;
return(new Node <INode>(nodeNextPowerOfTwo));
case PerlinNoise.NAME:
INode nodePerlinNoise = new PerlinNoise() as INode;
return(new Node <INode>(nodePerlinNoise));
case PingPong.NAME:
INode nodePingPong = new PingPong() as INode;
return(new Node <INode> (nodePingPong));
case Pow.NAME:
INode nodePow = new Pow() as INode;
return(new Node <INode>(nodePow));
case SquareRoot.NAME:
INode nodeSqrt = new SquareRoot() as INode;
return(new Node <INode>(nodeSqrt));
case Tan.NAME:
INode nodeTan = new Tan() as INode;
return(new Node <INode>(nodeTan));
case Random.NAME:
INode nodeRandom = new Random() as INode;
return(new Node <INode>(nodeRandom));
default:
return(null);
}
}
