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Split test code from lib code for dodgy_dd.
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@andriyDev
andriyDev committed Jul 2, 2024
1 parent b395ce6 commit 790d16c
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219 changes: 2 additions & 217 deletions crates/dodgy_3d/src/lib.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -248,220 +248,5 @@ impl Agent {
}

#[cfg(test)]
mod tests {
use super::*;

mod get_plane_for_neighbour_tests {
use glam::Vec3;

use crate::{tests::Plane, Agent};

macro_rules! assert_plane_eq {
($a: expr, $b: expr) => {{
let a = $a;
let b = $b;

assert!(
a.point.distance_squared(b.point) < 1e-5,
"\n left: {:?}\n right: {:?}",
a,
b
);
assert!(
a.normal.distance_squared(b.normal) < 1e-5,
"\n left: {:?}\n right: {:?}",
a,
b
);
}};
}

#[test]
fn velocity_projects_on_cutoff_sphere() {
let position = Vec3::new(1.0, 2.0, 0.0);
let radius = 2.0;

let agent = Agent {
position: Vec3::ZERO,
velocity: Vec3::ZERO,
radius: radius - 1.0,
avoidance_responsibility: 1.0,
};

let neighbour = Agent {
position: position,
velocity: Vec3::ZERO,
radius: 1.0,
avoidance_responsibility: 1.0,
};

let actual_plane = agent.get_plane_for_neighbour(
&neighbour, /* time_horizon= */ 1.0, /* time_step= */ 1.0,
);
// The agent's velocity projects directly onto the cut-off sphere.
assert_plane_eq!(
actual_plane,
Plane {
point: position.normalize() * (position.length() - radius),
normal: -position.normalize(),
}
);
}

#[test]
fn velocity_projects_to_shadow() {
let mut agent = Agent {
position: Vec3::ZERO,
velocity: Vec3::new(1.0, 3.0, 0.0),
radius: 1.0,
avoidance_responsibility: 1.0,
};

let neighbour = Agent {
position: Vec3::new(2.0, 2.0, 0.0),
velocity: Vec3::ZERO,
radius: 1.0,
avoidance_responsibility: 1.0,
};

let inside_shadow_plane = agent.get_plane_for_neighbour(
&neighbour, /* time_horizon= */ 1.0, /* time_step= */ 1.0,
);
assert_plane_eq!(
inside_shadow_plane,
Plane {
point: Vec3::new(0.5, 3.0, 0.0),
normal: Vec3::new(-1.0, 0.0, 0.0),
}
);

agent.velocity = Vec3::new(10.0, -1.0, 0.0);

let outside_shadow_plane = agent.get_plane_for_neighbour(
&neighbour, /* time_horizon= */ 1.0, /* time_step= */ 1.0,
);
assert_plane_eq!(
outside_shadow_plane,
Plane {
point: Vec3::new(10.0, 0.0, 0.0),
normal: Vec3::new(0.0, -1.0, 0.0),
}
);
}

#[test]
fn collision_uses_time_step() {
let agent = Agent {
position: Vec3::ZERO,
velocity: Vec3::ZERO,
radius: 2.0,
avoidance_responsibility: 1.0,
};

let neighbour = Agent {
position: Vec3::new(2.0, 2.0, 0.0),
velocity: Vec3::ZERO,
radius: 2.0,
avoidance_responsibility: 1.0,
};

let collision_plane = agent.get_plane_for_neighbour(
&neighbour, /* time_horizon= */ 1.0, /* time_step= */ 0.5,
);
assert_plane_eq!(
collision_plane,
Plane {
point: (Vec3::new(1.0, 1.0, 0.0).normalize() * -8.0
+ Vec3::new(4.0, 4.0, 0.0))
* 0.5,
normal: Vec3::new(-1.0, -1.0, 0.0).normalize(),
}
);
}

#[test]
fn no_collision_uses_time_horizon() {
let agent = Agent {
position: Vec3::ZERO,
velocity: Vec3::ZERO,
radius: 1.0,
avoidance_responsibility: 1.0,
};

let neighbour = Agent {
position: Vec3::new(2.0, 2.0, 0.0),
velocity: Vec3::ZERO,
radius: 1.0,
avoidance_responsibility: 1.0,
};

let collision_plane = agent.get_plane_for_neighbour(
&neighbour, /* time_horizon= */ 2.0, /* time_step= */ 0.5,
);
assert_plane_eq!(
collision_plane,
Plane {
point: -Vec3::new(1.0, 1.0, 0.0).normalize()
+ Vec3::new(1.0, 1.0, 0.0),
normal: Vec3::new(-1.0, -1.0, 0.0).normalize(),
}
);
}

#[test]
fn uses_avoidance_responsibility() {
let agent = Agent {
position: Vec3::ZERO,
velocity: Vec3::new(1.5, 0.0, 0.0),
radius: 1.0,
avoidance_responsibility: 1.0,
};

let neighbour = Agent {
position: Vec3::new(4.0, 0.0, 0.0),
velocity: Vec3::ZERO,
radius: 1.0,
avoidance_responsibility: 3.0,
};

let actual_plane = agent.get_plane_for_neighbour(
&neighbour, /* time_horizon= */ 2.0, /* time_step= */ 0.5,
);
assert_plane_eq!(
actual_plane,
Plane {
point: Vec3::new(1.375, 0.0, 0.0),
normal: Vec3::new(-1.0, 0.0, 0.0),
}
);
}

#[test]
fn uses_avoidance_responsibility_only_when_inside_vo() {
let agent = Agent {
position: Vec3::ZERO,
velocity: Vec3::new(0.5, 0.0, 0.0),
radius: 1.0,
avoidance_responsibility: 1.0,
};

let neighbour = Agent {
position: Vec3::new(4.0, 0.0, 0.0),
velocity: Vec3::ZERO,
radius: 1.0,
avoidance_responsibility: 3.0,
};

let actual_plane = agent.get_plane_for_neighbour(
&neighbour, /* time_horizon= */ 2.0, /* time_step= */ 0.5,
);
assert_plane_eq!(
actual_plane,
Plane {
point: Vec3::new(1.0, 0.0, 0.0),
normal: Vec3::new(-1.0, 0.0, 0.0),
}
);
}
}
}
#[path = "lib_test.rs"]
mod test;
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