public void Handmaid2()
{
int x1 = -2;
int x2 = 2;
int y1 = 2;
int y2 = 2;
int s = 10;
long __expected = 198L;
long __result = new RectangularObstacle().countReachable(x1, x2, y1, y2, s);
Assert.AreEqual(__expected, __result);
}
public void Example0()
{
int x1 = -5;
int x2 = 5;
int y1 = 3;
int y2 = 3;
int s = 2;
long __expected = 13L;
long __result = new RectangularObstacle().countReachable(x1, x2, y1, y2, s);
Assert.AreEqual(__expected, __result);
}
public void Example4()
{
int x1 = -100;
int x2 = 100;
int y1 = 42;
int y2 = 47;
int s = 0;
long __expected = 1L;
long __result = new RectangularObstacle().countReachable(x1, x2, y1, y2, s);
Assert.AreEqual(__expected, __result);
}
public void Example3()
{
int x1 = 0;
int x2 = 0;
int y1 = 1;
int y2 = 1;
int s = 4;
long __expected = 38L;
long __result = new RectangularObstacle().countReachable(x1, x2, y1, y2, s);
Assert.AreEqual(__expected, __result);
}
public void Handmaid3()
{
int x1 = 1;
int x2 = 1;
int y1 = 3;
int y2 = 3;
int s = 4;
long __expected = 40L;
long __result = new RectangularObstacle().countReachable(x1, x2, y1, y2, s);
Assert.AreEqual(__expected, __result);
}
/// <summary>
/// 检查仿真方形障碍物的尺寸和位置参数合法性 若超出场地则调整到场地内
/// </summary>
/// <param name="obj">待检查尺寸和位置参数合法性的方形障碍物对象</param>
public static void ParametersCheckingObstacle(ref RectangularObstacle obj)
{
Field f = Field.Instance();
// 确保障碍物长度不超过场地X方向长度
obj.LengthMm = (obj.LengthMm > f.FieldLengthXMm) ? f.FieldLengthXMm : obj.LengthMm;
// 确保障碍物宽度不超过场地Z方向长度
obj.WidthMm = (obj.WidthMm > f.FieldLengthZMm) ? f.FieldLengthZMm : obj.WidthMm;
// 根据新的位置坐标和尺寸参数更新碰撞检测参数即4个顶点构成的列表
obj.CalculateCollisionDetectionParas();
int tmp = 0;
int minX = (int)UrwpgSimHelper.Min(obj.PolygonVertices[0].X, obj.PolygonVertices[1].X,
obj.PolygonVertices[2].X, obj.PolygonVertices[3].X, ref tmp);
if (minX < Field.Instance().LeftMm)
{ // 出了左边界
obj.PositionMm.X += Field.Instance().LeftMm - minX; // 右移超出的距离
}
else
{// 没出左边界
int maxX = (int)UrwpgSimHelper.Max(obj.PolygonVertices[0].X, obj.PolygonVertices[1].X,
obj.PolygonVertices[2].X, obj.PolygonVertices[3].X, ref tmp);
if (maxX > Field.Instance().RightMm)
{ // 出了右边界
obj.PositionMm.X -= maxX - Field.Instance().RightMm; // 左移超出的距离
}
}
int minZ = (int)UrwpgSimHelper.Min(obj.PolygonVertices[0].Z, obj.PolygonVertices[1].Z,
obj.PolygonVertices[2].Z, obj.PolygonVertices[3].Z, ref tmp);
if (minZ < Field.Instance().TopMm)
{ // 出了上边界
obj.PositionMm.Z += Field.Instance().TopMm - minZ; // 下移超出的距离
}
else
{// 没出上边界
int maxZ = (int)UrwpgSimHelper.Max(obj.PolygonVertices[0].Z, obj.PolygonVertices[1].Z,
obj.PolygonVertices[2].Z, obj.PolygonVertices[3].Z, ref tmp);
if (maxZ > Field.Instance().BottomMm)
{ // 出了下边界
obj.PositionMm.Z -= maxZ - Field.Instance().BottomMm; // 上移超出的距离
}
}
}
