Saran Tunyasuvunakool
3577e2cf8b
PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
271 lines
10 KiB
C#
271 lines
10 KiB
C#
// Copyright 2019 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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using System;
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using System.Collections;
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using System.Collections.Generic;
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using NUnit.Framework;
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using UnityEngine;
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namespace Mujoco {
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[TestFixture]
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public class MjGizmosDrawArcTests {
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[SetUp]
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public void SetUp() {
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MjGizmos.DrawLine = MockDrawLine;
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MjGizmos.NumCircleSegments = 4;
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_lineFrom = new List<Vector3>();
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_lineTo = new List<Vector3>();
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}
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[TearDown]
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public void TearDown() {
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MjGizmos.DrawLine = Gizmos.DrawLine;
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MjGizmos.NumCircleSegments = 32;
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}
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private List<Vector3> _lineFrom;
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private List<Vector3> _lineTo;
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private void MockDrawLine(Vector3 from, Vector3 to) {
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_lineFrom.Add(from);
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_lineTo.Add(to);
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}
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[Test]
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public void LineCountOfDrawnCircle() {
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MjGizmos.DrawArc(Vector3.zero, 1.0f, Vector3.up, 1.0f, 0.0f);
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Assert.That(_lineFrom, Has.Count.EqualTo(MjGizmos.NumCircleSegments));
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Assert.That(_lineTo, Has.Count.EqualTo(MjGizmos.NumCircleSegments));
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}
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[Test]
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public void LineAdjacencyOfDrawnCircle() {
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MjGizmos.DrawArc(Vector3.zero, 1.0f, Vector3.up, 1.0f, 0.0f);
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Assert.That((_lineFrom[0] - _lineTo[3]).magnitude, Is.LessThan(1e-3f));
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Assert.That((_lineFrom[1] - _lineTo[0]).magnitude, Is.LessThan(1e-3f));
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Assert.That((_lineFrom[2] - _lineTo[1]).magnitude, Is.LessThan(1e-3f));
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Assert.That((_lineFrom[3] - _lineTo[2]).magnitude, Is.LessThan(1e-3f));
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}
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[Test]
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public void CircleVertexPositions() {
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MjGizmos.DrawArc(Vector3.zero, 1.0f, Vector3.up, 1.0f, 0.0f);
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Assert.That((_lineFrom[0] - new Vector3(0, 0, -1)).magnitude, Is.LessThan(1e-3f));
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Assert.That((_lineFrom[1] - new Vector3(-1, 0, 0)).magnitude, Is.LessThan(1e-3f));
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Assert.That((_lineFrom[2] - new Vector3(0, 0, 1)).magnitude, Is.LessThan(1e-3f));
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Assert.That((_lineFrom[3] - new Vector3(1, 0, 0)).magnitude, Is.LessThan(1e-3f));
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}
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[Test]
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public void VerticesOfOffsetCircle() {
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MjGizmos.DrawArc(Vector3.one, 1.0f, Vector3.up, 1.0f, 0.0f);
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Assert.That((_lineFrom[0] - new Vector3(1, 1, 0)).magnitude, Is.LessThan(1e-3f));
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Assert.That((_lineFrom[1] - new Vector3(0, 1, 1)).magnitude, Is.LessThan(1e-3f));
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Assert.That((_lineFrom[2] - new Vector3(1, 1, 2)).magnitude, Is.LessThan(1e-3f));
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Assert.That((_lineFrom[3] - new Vector3(2, 1, 1)).magnitude, Is.LessThan(1e-3f));
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}
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[Test]
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public void DrawingRotatedCircle() {
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MjGizmos.DrawArc(Vector3.zero, 1.0f, Vector3.right, 1.0f, 0.0f);
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Assert.That((_lineFrom[0] - new Vector3(0, 0, 1)).magnitude, Is.LessThan(1e-3f));
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Assert.That((_lineFrom[1] - new Vector3(0, -1, 0)).magnitude, Is.LessThan(1e-3f));
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Assert.That((_lineFrom[2] - new Vector3(0, 0, -1)).magnitude, Is.LessThan(1e-3f));
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Assert.That((_lineFrom[3] - new Vector3(0, 1, 0)).magnitude, Is.LessThan(1e-3f));
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}
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[Test]
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public void DrawingHalfCircle() {
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MjGizmos.DrawArc(Vector3.zero, 1.0f, Vector3.up, 0.25f, 0.0f);
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Assert.That(_lineFrom, Has.Count.EqualTo(1));
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Assert.That(_lineTo, Has.Count.EqualTo(1));
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Assert.That((_lineFrom[0] - new Vector3(0, 0, -1)).magnitude, Is.LessThan(1e-3f));
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Assert.That((_lineTo[0] - new Vector3(-1, 0, 0)).magnitude, Is.LessThan(1e-3f));
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}
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[Test]
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public void DrawingHalfCircleWithOffsetCircumference() {
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MjGizmos.DrawArc(Vector3.zero, 1.0f, Vector3.up, 0.25f, 90);
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Assert.That((_lineFrom[0] - new Vector3(-1, 0, 0)).magnitude, Is.LessThan(1e-3f));
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Assert.That((_lineTo[0] - new Vector3(0, 0, 1)).magnitude, Is.LessThan(1e-3f));
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}
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}
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[TestFixture]
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public class MjGizmosCapsuleTests {
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[SetUp]
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public void SetUp() {
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MjGizmos.DrawLine = MockDrawLine;
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MjGizmos.DrawArc = MockDrawArc;
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MjGizmos.NumCircleSegments = 4;
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_arc = new List<Tuple<Vector3, float, Vector3, float, float>>();
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}
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[TearDown]
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public void TearDown() {
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MjGizmos.DrawLine = Gizmos.DrawLine;
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MjGizmos.DrawArc = MjGizmos.DrawArcInternal;
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MjGizmos.NumCircleSegments = 32;
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}
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private List<Tuple<Vector3, float, Vector3, float, float>> _arc;
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private void MockDrawLine(Vector3 from, Vector3 to) {}
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private void MockDrawArc(Vector3 position, float radius, Vector3 axis, float length,
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float startAngle) {
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_arc.Add(Tuple.Create(position, radius, axis, length, startAngle));
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}
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[Test]
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public void NumberOfArcsUsedToDrawCapsule() {
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MjGizmos.DrawWireCapsule(Vector3.zero, 0.5f, 1.0f);
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Assert.That(_arc, Has.Count.EqualTo(6));
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}
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[Test]
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public void CapsuleBaseCirclesOrigins() {
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MjGizmos.DrawWireCapsule(Vector3.zero, 0.5f, 1.0f);
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Assert.That((_arc[0].Item1 - new Vector3(0, 0.5f, 0)).magnitude, Is.LessThan(1e-3f));
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Assert.That((_arc[1].Item1 - new Vector3(0, -0.5f, 0)).magnitude, Is.LessThan(1e-3f));
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}
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[Test]
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public void CapsuleBaseCirclesRadiuses() {
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MjGizmos.DrawWireCapsule(Vector3.zero, 0.5f, 1.0f);
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Assert.That(_arc[0].Item2, Is.EqualTo(0.5f));
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Assert.That(_arc[1].Item2, Is.EqualTo(0.5f));
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}
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[Test]
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public void CapsuleBaseArcsOrigins() {
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MjGizmos.DrawWireCapsule(Vector3.zero, 0.5f, 1.0f);
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Assert.That((_arc[2].Item1 - new Vector3(0, -0.5f, 0)).magnitude, Is.LessThan(1e-3f));
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Assert.That((_arc[3].Item1 - new Vector3(0, 0.5f, 0)).magnitude, Is.LessThan(1e-3f));
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Assert.That((_arc[4].Item1 - new Vector3(0, 0.5f, 0)).magnitude, Is.LessThan(1e-3f));
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Assert.That((_arc[5].Item1 - new Vector3(0, -0.5f, 0)).magnitude, Is.LessThan(1e-3f));
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}
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[Test]
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public void CapsuleBaseArcsRadiuses() {
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MjGizmos.DrawWireCapsule(Vector3.zero, 0.5f, 1.0f);
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Assert.That(_arc[2].Item2, Is.EqualTo(0.5f));
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Assert.That(_arc[3].Item2, Is.EqualTo(0.5f));
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Assert.That(_arc[4].Item2, Is.EqualTo(0.5f));
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Assert.That(_arc[5].Item2, Is.EqualTo(0.5f));
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}
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}
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[TestFixture]
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public class MjGizmosCylinderTests {
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[SetUp]
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public void SetUp() {
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MjGizmos.DrawLine = MockDrawLine;
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MjGizmos.DrawArc = MockDrawArc;
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MjGizmos.NumCircleSegments = 4;
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_arc = new List<Tuple<Vector3, float, Vector3, float, float>>();
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}
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[TearDown]
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public void TearDown() {
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MjGizmos.DrawLine = Gizmos.DrawLine;
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MjGizmos.DrawArc = MjGizmos.DrawArcInternal;
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MjGizmos.NumCircleSegments = 32;
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}
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private List<Tuple<Vector3, float, Vector3, float, float>> _arc;
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private void MockDrawLine(Vector3 from, Vector3 to) {}
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private void MockDrawArc(Vector3 position, float radius, Vector3 axis, float length,
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float startAngle) {
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_arc.Add(Tuple.Create(position, radius, axis, length, startAngle));
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}
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[Test]
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public void NumberOfArcsUsedToDrawCylinder() {
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MjGizmos.DrawWireCylinder(Vector3.zero, 0.5f, 1.0f);
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Assert.That(_arc, Has.Count.EqualTo(2));
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}
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[Test]
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public void CylinderBaseCirclesOrigins() {
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MjGizmos.DrawWireCylinder(Vector3.zero, 0.5f, 1.0f);
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Assert.That((_arc[0].Item1 - new Vector3(0, 0.5f, 0)).magnitude, Is.LessThan(1e-3f));
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Assert.That((_arc[1].Item1 - new Vector3(0, -0.5f, 0)).magnitude, Is.LessThan(1e-3f));
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}
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[Test]
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public void CylinderBaseCirclesRadiuses() {
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MjGizmos.DrawWireCylinder(Vector3.zero, 0.5f, 1.0f);
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Assert.That(_arc[0].Item2, Is.EqualTo(0.5f));
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Assert.That(_arc[1].Item2, Is.EqualTo(0.5f));
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}
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}
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[TestFixture]
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public class MjGizmosPlaneTests {
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[SetUp]
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public void SetUp() {
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MjGizmos.DrawLine = MockDrawLine;
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_lines = new List<Tuple<Vector3, Vector3>>();
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}
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[TearDown]
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public void TearDown() {
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MjGizmos.DrawLine = Gizmos.DrawLine;
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_lines.Clear();
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}
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private List<Tuple<Vector3, Vector3>> _lines;
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private void MockDrawLine(Vector3 start, Vector3 end) {
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_lines.Add(Tuple.Create(start, end));
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}
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[Test]
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public void DrawingPlaneAroundArbitraryCenter() {
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MjGizmos.DrawWirePlane(new Vector3(1, 2, 3), 1, 1);
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Assert.That(_lines, Has.Count.EqualTo(5));
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Assert.That(_lines[0].Item1, Is.EqualTo(new Vector3(0.5f, 2, 2.5f)));
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Assert.That(_lines[0].Item2, Is.EqualTo(new Vector3(1.5f, 2, 2.5f)));
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Assert.That(_lines[1].Item1, Is.EqualTo(new Vector3(1.5f, 2, 2.5f)));
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Assert.That(_lines[1].Item2, Is.EqualTo(new Vector3(1.5f, 2, 3.5f)));
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Assert.That(_lines[2].Item1, Is.EqualTo(new Vector3(1.5f, 2, 3.5f)));
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Assert.That(_lines[2].Item2, Is.EqualTo(new Vector3(0.5f, 2, 3.5f)));
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Assert.That(_lines[3].Item1, Is.EqualTo(new Vector3(0.5f, 2, 3.5f)));
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Assert.That(_lines[3].Item2, Is.EqualTo(new Vector3(0.5f, 2, 2.5f)));
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Assert.That(_lines[4].Item1, Is.EqualTo(new Vector3(0.5f, 2, 2.5f)));
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Assert.That(_lines[4].Item2, Is.EqualTo(new Vector3(1.5f, 2, 3.5f)));
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}
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[Test]
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public void DrawingPlaneWithCorrectDimensions() {
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MjGizmos.DrawWirePlane(Vector3.zero, width: 2, height: 4);
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Assert.That(_lines[0].Item1, Is.EqualTo(new Vector3(-1, 0, -2)));
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Assert.That(_lines[0].Item2, Is.EqualTo(new Vector3(1, 0, -2)));
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Assert.That(_lines[1].Item1, Is.EqualTo(new Vector3(1, 0, -2)));
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Assert.That(_lines[1].Item2, Is.EqualTo(new Vector3(1, 0, 2)));
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Assert.That(_lines[2].Item1, Is.EqualTo(new Vector3(1, 0, 2)));
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Assert.That(_lines[2].Item2, Is.EqualTo(new Vector3(-1, 0, 2)));
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Assert.That(_lines[3].Item1, Is.EqualTo(new Vector3(-1, 0, 2)));
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Assert.That(_lines[3].Item2, Is.EqualTo(new Vector3(-1, 0, -2)));
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Assert.That(_lines[4].Item1, Is.EqualTo(new Vector3(-1, 0, -2)));
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Assert.That(_lines[4].Item2, Is.EqualTo(new Vector3(1, 0, 2)));
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}
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}
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}
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