public void LegPositionsShouldBeImmutable()
{
// Arrange
LegPositions positions = new LegPositions(Vector3.UnitX, Vector3.UnitX, Vector3.UnitX, Vector3.UnitX);
// Act
positions.Rotate(new Angle(90));
positions.Transform(new Vector3(10, 10, 10));
positions.Rotate(new Rotation(30, 60, 70));
// Assert
positions.RightFront.ShouldBeEquivalentTo(Vector3.UnitX);
positions.LeftRear.ShouldBeEquivalentTo(Vector3.UnitX);
positions.RightRear.ShouldBeEquivalentTo(Vector3.UnitX);
positions.LeftFront.ShouldBeEquivalentTo(Vector3.UnitX);
}
public void RotatingLegPositionBy0ShouldNotChangeIt()
{
// Arrange
LegPositions positions = new LegPositions(Vector3.UnitX, Vector3.UnitX, Vector3.UnitX, Vector3.UnitX);
// Act
positions = positions.Rotate(new Angle(0), LegFlags.RfLrCross);
// Assert
positions.RightFront.ShouldBeEquivalentTo(Vector3.UnitX);
positions.LeftRear.ShouldBeEquivalentTo(Vector3.UnitX);
positions.RightRear.ShouldBeEquivalentTo(Vector3.UnitX);
positions.LeftFront.ShouldBeEquivalentTo(Vector3.UnitX);
}
public void RotatingLegPositionShouldOnlyMoveCorrectLegs()
{
// Arrange
LegPositions positions = new LegPositions(Vector3.UnitX, Vector3.UnitX, Vector3.UnitX, Vector3.UnitX);
// Act
positions = positions.Rotate(new Angle(90), LegFlags.RfLrCross);
// Assert
positions.RightFront.X.Should().BeApproximately(0, FloatComparasionPrecision);
positions.RightFront.Y.Should().BeApproximately(1, FloatComparasionPrecision);
positions.LeftRear.X.Should().BeApproximately(0, FloatComparasionPrecision);
positions.LeftRear.Y.Should().BeApproximately(1, FloatComparasionPrecision);
positions.RightRear.X.Should().BeApproximately(1, FloatComparasionPrecision);
positions.RightRear.Y.Should().BeApproximately(0, FloatComparasionPrecision);
positions.LeftFront.X.Should().BeApproximately(1, FloatComparasionPrecision);
positions.LeftFront.Y.Should().BeApproximately(0, FloatComparasionPrecision);
}