private static void DrawArmature(Armature2D armature, IReadOnlyList <float> solution, Vector2 target)
{
var builder = new SvgBuilder(10);
builder.Outline(new[] {
new Vector2(-50, -50),
new Vector2(50, -50),
new Vector2(50, 50),
new Vector2(-50, 50),
});
var index = 0;
var pos = Vector2.Zero;
var parentTransform = Matrix4x4.Identity;
foreach (var bone in armature.Bones)
{
builder.Circle(pos, 0.5f, "yellow");
var localTransform = TriangulationSolver2D.CalculateLocalTransform(bone, ToRadians(solution[index]));
parentTransform = localTransform * parentTransform;
var end = Vector2.Transform(new Vector2(0, 0), parentTransform);
index++;
builder.Line(pos, end, 2, "red");
pos = end;
}
builder.Circle(target, 0.5f, "blue");
var str = Regex.Replace(builder.ToString(), "g transform=\"translate\\((.+?), (.+?)\\)\"", "g transform=\"translate(${1}, 100) scale(1, -1)\"");
Console.WriteLine(str);
}
public TriangulationSolver2D(Armature2D arm)
{
_arm = arm;
var length = 0f;
for (var i = arm.Bones.Count - 1; i >= 0; i--)
{
_armatureSubsequentLength[arm.Bones[i]] = length;
length += arm.Bones[i].Length;
}
}
public void SingleBonePointsToLeftTarget()
{
var arm = new Armature2D(new Bone(10, -90, 90));
var solver = new TriangulationSolver2D(arm);
//Target point is off to the left (and too close to actually reach).
//Should point almost at the target
var solution = solver.Solve(new Vector2(-5, 0)).ToArray();
DrawArmature(arm, solution, new Vector2(-5, 0));
Assert.AreEqual(-90, solution.Single(), 2);
}
public void TwoBonesPointToRightTarget()
{
var arm = new Armature2D(new Bone(10, -180, 180), new Bone(10, -180, 180));
var solver = new TriangulationSolver2D(arm);
//Target point is off to the right (and too close to actually reach).
//Should point almost at the target
var solution = solver.Solve(new Vector2(5, 0)).ToArray();
DrawArmature(arm, solution, new Vector2(5, 0));
Assert.AreEqual(14, solution[0], 2);
Assert.AreEqual(150, solution[1], 2);
}
public void TheFinalTest()
{
var arm = new Armature2D(
new Bone(7, 0, 80),
new Bone(7, -80, 80),
new Bone(7, -80, 80)
);
var solver = new TriangulationSolver2D(arm);
//Change this target point, grab the output from the test runner console
var target = new Vector2(-15, 0);
var solution = solver.Solve(target).ToArray();
DrawArmature(arm, solution, target);
}