public void TestStrategyWithObstacles()
{
var planB = new Strategy()
.MoveTo(300, 300)
.MoveTo(400, 400)
.StopAt(500, 500, 90)
.End();
var strategy = new Strategy(new StrategyTesterTranslator())
.MoveTo(100, 100)
.MoveTo(200, 100)
.Else(planB)
.MoveTo(200, 200)
.StopAt(100, 200, 0)
.End();
var start = new StrategyTesterReport(0, new PointD(20, 20), true);
var environment = new World(start.Coords, 0);
environment.Objects.Add(new Polygon(new Point(150, 90), new Size(10, 20)));
TestStrategy(
strategy,
environment,
start,
new List<PointD>
{
new PointD(100, 100),
new PointD(100, 100),
new PointD(300, 300),
new PointD(400, 400),
new PointD(500, 500)
},
new List<double>
{
Math.PI * 2 - Math.PI / 4,
Math.PI * 2 - Math.PI / 4,
Math.PI * 2 - Math.PI / 4,
Math.PI * 2 - Math.PI / 4,
Math.PI / 2
},
new List<bool> { true, false, true, true, true }
);
environment = new World(start.Coords, 0);
environment.Objects.Add(new Polygon(new Point(182, 140), new Size(30, 10)));
strategy.GoToPreviousState(6);
TestStrategy(
strategy,
environment,
start,
new List<PointD>
{
new PointD(100, 100),
new PointD(200, 100),
new PointD(200, 100),
new PointD(300, 300),
new PointD(400, 400),
new PointD(500, 500)
},
new List<double>
{
Math.PI * 2 - Math.PI / 4,
0,
0,
AngleCaculator.CalculateAngle(new PointD(200, 100), new PointD(300, 300)),
Math.PI * 2 - Math.PI / 4,
Math.PI / 2
},
new List<bool> { true, true, false, true, true, true }
);
}
