void LoadInteractionTests(LogicPart logic, DemoRules rules)
{
//для AlignmentRect пришлось увеличить delta на проверке угла поворота до 0,005
logic.Tests["Interaction_Rect_Alignment"] = new RectangularInteractionTestBase(
LocationTest((frame,asserter)=>
{
asserter.IsEqual(Angle.HalfPi.Grad,frame.Angle.Grad,1);
asserter.IsEqual(22.36, frame.Y, 1);
},
rules.Move(-10),
rules.Rotate(Angle.HalfPi / 2),
rules.Move(50)));
logic.Tests["Interaction_Round_Alignment"] = new RoundInteractionTestBase(
LocationTest((frame, asserter) => asserter.IsEqual(Angle.HalfPi.Grad / 2, frame.Angle.Grad, 1),
rules.Rotate(Angle.HalfPi / 2),
rules.Move(30)));
logic.Tests["Interaction_Round_Alignment2"] = new RoundInteractionTestBase(
LocationTest((frame, asserter) =>
{
asserter.IsEqual(Angle.HalfPi.Grad, frame.Angle.Grad % 360, 1);
asserter.IsEqual(22.45, frame.Y, 1e-3);
},
rules.Rotate(Angle.HalfPi / 2),
rules.Move(30),
rules.Rotate(Angle.HalfPi / 2),
rules.Rotate(Angle.Pi * 2),
rules.Move(10)));
logic.Tests["Interaction_Rect_Collision"] = new RectangularInteractionTestBase(LocationTest(
(frame, asserter) => asserter.True(frame.X < 100 && frame.X > 70),
rules.Move(100)));
logic.Tests["Interaction_Rect_BrickCollision"] = new RectangularInteractionTestBase(
LocationTest((frame, asserter) =>
{
asserter.IsEqual(0, frame.Angle.Grad % 360, 1);
asserter.IsEqual(-10, frame.Y, 1e-3);
asserter.IsEqual(100, frame.X, 1e-3);
},
rules.Rotate(-Angle.HalfPi),
rules.Move(10),
rules.Rotate(Angle.HalfPi),
rules.Move(100)));
}
void LoadGrippingTests(LogicPart logic, DemoRules rules)
{
logic.Tests["Gripping_Rect_Grip"] = new RectangularGrippingTestBase(GrippingTest(
true,
rules.Move(50),
rules.Stand(1),
rules.Grip(),
rules.Move(-10),
rules.Stand(5)
));
logic.Tests["Gripping_Round_Grip"] = new RoundGrippingTestBase(GrippingTest(
true,
rules.Move(50),
rules.Stand(1),
rules.Grip(),
rules.Move(-10),
rules.Stand(5)
));
logic.Tests["Gripping_Round_GripAndMove"] = new RoundGrippingTestBase(LocationTest(
0, 0, 0, 1,
rules.Move(50),
rules.Stand(1),
rules.Grip(),
rules.Move(-50),
rules.Rotate(-Angle.HalfPi),
rules.Move(50),
rules.Rotate(-Angle.HalfPi),
rules.Move(50),
rules.Rotate(-Angle.HalfPi),
rules.Move(50),
rules.Rotate(-Angle.HalfPi)
));
logic.Tests["Gripping_Rect_GripAndMove"] = new RectangularGrippingTestBase(LocationTest(
0, 0, 0, 1,
rules.Move(50),
rules.Stand(1),
rules.Grip(),
rules.Move(-50),
rules.Rotate(-Angle.HalfPi),
rules.Move(50),
rules.Rotate(-Angle.HalfPi),
rules.Move(50),
rules.Rotate(-Angle.HalfPi),
rules.Move(50),
rules.Rotate(-Angle.HalfPi)
));
logic.Tests["Gripping_Rect_GripAndMove2"] = new RectangularGrippingTestBase(LocationTest(
46.1, 0, 0, 1,
rules.Move(50),
rules.Stand(1),
rules.Grip(),
rules.Rotate(-Angle.HalfPi),
rules.Rotate(-Angle.HalfPi),
rules.Rotate(-Angle.HalfPi),
rules.Rotate(-Angle.HalfPi)
));
logic.Tests["Gripping_Rect_GripThroughWall"] = new RectangularGrippingTestBase(GrippingTest(
false,
rules.Rotate(Angle.HalfPi),
rules.Move(50),
rules.Grip(),
rules.Move(-50)));
logic.Tests["Gripping_Rect_Release"] = new RectangularGrippingTestBase(GrippingTest(
false,
rules.Move(50),
rules.Stand(0.1d),
rules.Grip(),
rules.Move(-15),
rules.Release()));
logic.Tests["Gripping_Rect_GripUnGripable"] = new RectangularGrippingTestBase(GrippingTest(
false,
rules.Move(25),
rules.Rotate(Angle.HalfPi),
rules.Move(25),
rules.Grip(),
rules.Move(-25)));
logic.Tests["Gripping_Rect_GripFromBack"] = new RectangularGrippingTestBase(
GrippingTest(
false,
rules.Move(-40),
rules.Stand(1),
rules.Grip()));
}
void LoadMovementTests(LogicPart logic, DemoRules rules)
{
logic.Tests["Movement_Round_Forward"] = new RoundMovementTestBase(LocationTest(10,0, 0, 1, rules.Move(10)));
logic.Tests["Movement_Round_Backward"] = new RoundMovementTestBase(LocationTest(-10, 0, 0, 1, rules.Move(-10)));
logic.Tests["Movement_Rect_Forward"] = new RectangularMovementTestBase(LocationTest(10, 0, 0, 1, rules.Move(10)));
logic.Tests["Movement_Rect_Backward"] = new RectangularMovementTestBase(LocationTest(-10, 0, 0, 1, rules.Move(-10)));
logic.Tests["Movement_Rect_Square"] = new RectangularMovementTestBase(LocationTest(0, 0, 0, 50,
rules.Move(10),
rules.Rotate(Angle.HalfPi),
rules.Move(10),
rules.Rotate(Angle.HalfPi),
rules.Move(10),
rules.Rotate(Angle.HalfPi),
rules.Move(10),
rules.Rotate(Angle.HalfPi)));
logic.Tests["Movement_Round_Square"] = new RoundMovementTestBase(LocationTest(0, 0, 0, 10,
rules.Move(10),
rules.Rotate(Angle.HalfPi),
rules.Move(10),
rules.Rotate(Angle.HalfPi),
rules.Move(10),
rules.Rotate(Angle.HalfPi),
rules.Move(10),
rules.Rotate(Angle.HalfPi)));
logic.Tests["Movement_Rect_Rotate"] = new RectangularMovementTestBase(LocationTest(0, 0, 90, 10, rules.Rotate(Angle.HalfPi)));
logic.Tests["Movement_Round_Rotate"] = new RoundMovementTestBase(LocationTest(0, 0, 90, 10, rules.Rotate(Angle.HalfPi)));
logic.Tests["Movement_Limit_Linear"] = new RoundMovementTestBase(LocationTest(50, 0, 0, 1,
rules.MoveWithVelocityForTime(100000, 1)));
logic.Tests["Movement_Limit_Round"] = new RoundMovementTestBase(LocationTest(0, 0, 0, 1,
rules.MoveWithVelocityForTime(-100000, 1)));
logic.Tests["Movement_Limit_Round"] = new RoundMovementTestBase(LocationTest(0, 0, 0, 1,
rules.RotateWithVelocityForTime(Angle.Pi * 10, 4)));
logic.Tests["Movement_Limit_Round2"] = new RoundMovementTestBase(LocationTest(0, 0, 0, 1,
rules.RotateWithVelocityForTime(-Angle.Pi * 19 / 10, 4)));
}
private void LoadCollisionTests(LogicPart logic, DemoRules rules)
{
logic.Tests["Collision_Rect_NoCollision"] = new RectangularCollisionTestBase(CollisionTest(0, 0, 0,
rules.Grip(),
rules.MoveWithVelocityForTime(-50, 0.2),
rules.MoveWithVelocityForTime(50, 0.2)));
logic.Tests["Collision_Rect_CollisionCount"] = new RectangularCollisionTestBase(CollisionTest(3, 3, 0,
rules.MoveWithVelocityForTime(50, 1),
rules.MoveWithVelocityForTime(50, 0.8),
rules.MoveWithVelocityForTime(50, 0.3),
rules.MoveWithVelocityForTime(-50, 0.2),
rules.MoveWithVelocityForTime(50, 0.3),
rules.MoveWithVelocityForTime(-50, 0.2),
rules.MoveWithVelocityForTime(50, 0.3),
rules.MoveWithVelocityForTime(-50, 0.2)));
logic.Tests["Collision_Rect_CollisionBox"] = new RectangularCollisionTestBase(CollisionTest(1, 1, 0,
rules.Grip(),
rules.MoveWithVelocityForTime(50, 1.5),
rules.RotateWithVelocityForTime(Angle.HalfPi, 1),
rules.MoveWithVelocityForTime(50, 0.45)));
logic.Tests["Collision_Rect_NoBox"] = new RectangularCollisionTestBase(CollisionTest(3, 3, 0,
rules.MoveWithVelocityForTime(50, 1.05),
rules.RotateWithVelocityForTime(Angle.HalfPi, 1),
rules.MoveWithVelocityForTime(50, 0.8),
rules.MoveWithVelocityForTime(50, 0.3),
rules.MoveWithVelocityForTime(-50, 0.2),
rules.MoveWithVelocityForTime(50, 0.3),
rules.MoveWithVelocityForTime(-50, 0.2),
rules.MoveWithVelocityForTime(50, 0.3),
rules.MoveWithVelocityForTime(-50, 0.2)));
logic.Tests["Collision_Rect_RotateNoBox"] = new RectangularCollisionTestBase(CollisionTest(1, 1, 0,
rules.MoveWithVelocityForTime(50, 1.7),
rules.RotateWithVelocityForTime(Angle.HalfPi, 1),
rules.MoveWithVelocityForTime(50, 1.45),
rules.RotateWithVelocityForTime(Angle.HalfPi, 1),
rules.MoveWithVelocityForTime(50, 0.7),
rules.RotateWithVelocityForTime(Angle.HalfPi, 1)));
logic.Tests["Collision_Rect_RotateBox"] = new RectangularCollisionTestBase(CollisionTest(1, 1, 0,
rules.Grip(),
rules.MoveWithVelocityForTime(50, 1.7),
rules.RotateWithVelocityForTime(Angle.HalfPi, 1),
rules.MoveWithVelocityForTime(50, 1.6),
rules.RotateWithVelocityForTime(Angle.HalfPi, 1),
rules.MoveWithVelocityForTime(50, 0.7),
rules.RotateWithVelocityForTime(Angle.HalfPi, 1)));
logic.Tests["Collision_Rect_WallCollisionTime"] = new RectangularCollisionTestBase(ComplexCollisionTest(
2,
2.26,//вероятно после изменения размера робота эта велечина должна была измениться до 2,5-2,6
false,
false,
rules.Rotate(Angle.HalfPi),
rules.Move(50),
rules.Move(50)
));
logic.Tests["Collision_Rect_PushingWithBrick"] = new RectangularCollisionTestBase(ComplexCollisionTest(
2,
8.5,
true,
false,
rules.Rotate(Angle.Pi),
rules.Move(30),
rules.Stand(0.00001),
rules.Grip(),
rules.Move(-30),
rules.Rotate(Angle.HalfPi),
rules.Move(25),
rules.Rotate(Angle.HalfPi),
rules.Move(40),
rules.Rotate(Angle.HalfPi)
));
logic.Tests["Collision_Rect_RotateWallCollision"] = new RectangularCollisionTestBase2(ComplexCollisionTest(
2,
8.5, //при удалении костыля время надо тоже уменьшать на 2 сек
false,
false,
rules.Rotate(Angle.Pi),
rules.Move(30),
rules.Stand(0.00001),
rules.Grip(),
rules.Rotate(-Angle.HalfPi),
//rules.Stand(2), //костыль, чтоб тест прошел
rules.Move(70),
rules.Rotate(-Angle.Pi)
));
logic.Tests["Collision_Rect_BrickCollision"] = new RectangularCollisionTestBase2(
CollisionTest(
4,
true,
false,
rules.Rotate(Angle.HalfPi),
rules.Move(50),
rules.Rotate(-Angle.HalfPi),
rules.Move(45),
rules.Rotate(-Angle.HalfPi),
rules.Move(70)
));
logic.Tests["Collision_Rect_WallAndBrickCollision"] = new RectangularCollisionTestBase2(
CollisionTest(
4,
false,
false,
rules.Rotate(Angle.HalfPi),
rules.Move(15),
rules.Rotate(-Angle.HalfPi),
rules.Move(45),
rules.Rotate(Angle.HalfPi),
rules.Move(70)
));
}