tian
537671ab3a
- 模型表: ScenarioDrone(原DroneProfile) / ScenarioUnit(原EquipmentDeployment) - ScenarioConfig.Equipment→Units - 数据库旧表清理 + scenariosVersion 4→5 - 238 测试全过
202 lines
9.1 KiB
C#
202 lines
9.1 KiB
C#
using System.Collections.Generic;
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using CounterDrone.Core.Algorithms;
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using CounterDrone.Core.Models;
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using CounterDrone.Core.Simulation;
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using Xunit;
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namespace CounterDrone.Core.Tests
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{
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public class DroneEntityTests
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{
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private ScenarioDrone CreateConfig(float speed = 120, float altitude = 300)
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{
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return new ScenarioDrone
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{
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DroneType = (int)DroneType.FixedWing,
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PowerType = (int)PowerType.Piston,
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TypicalSpeed = speed,
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TypicalAltitude = altitude,
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Wingspan = 2.5,
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Quantity = 1,
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};
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}
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private List<Waypoint> CreateRoute(float fromX, float toX, float alt, float speed)
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{
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return new List<Waypoint>
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{
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new() { PosX = fromX, PosY = alt, PosZ = 0, Altitude = alt, Speed = speed },
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new() { PosX = toX, PosY = alt, PosZ = 0, Altitude = alt, Speed = speed },
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};
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}
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[Fact]
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public void InitialPosition_IsFirstWaypoint()
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{
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var drone = new DroneEntity("d1", "g1", CreateConfig(),
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CreateRoute(100, 500, 300, 120), 0, 50, 0, 0, FormationMode.Single);
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Assert.Equal(100, drone.PosX, 1);
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Assert.Equal(300, drone.PosY, 1);
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}
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[Fact]
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public void Update_MovesTowardTarget()
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{
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var drone = new DroneEntity("d1", "g1", CreateConfig(),
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CreateRoute(0, 1000, 300, 120), 0, 50, 0, 0, FormationMode.Single);
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float prevX = drone.PosX;
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drone.Update(1f);
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Assert.True(drone.PosX > prevX);
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}
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[Fact]
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public void Update_ReachesTarget_StatusChanges()
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{
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var drone = new DroneEntity("d1", "g1", CreateConfig(360),
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CreateRoute(0, 100, 300, 360), 0, 50, 0, 0, FormationMode.Single);
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drone.Update(2f);
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Assert.Equal(DroneStatus.ReachedTarget, drone.Status);
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}
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[Fact]
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public void Damage_ReducesHp()
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{
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var drone = new DroneEntity("d1", "g1", CreateConfig(),
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CreateRoute(0, 100, 300, 60), 0, 50, 0, 0, FormationMode.Single);
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drone.ApplyDamage(0.4f);
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Assert.Equal(0.6f, drone.Hp, 0.01f);
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}
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[Fact]
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public void Damage_ExceedingHp_Destroys()
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{
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var drone = new DroneEntity("d1", "g1", CreateConfig(),
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CreateRoute(0, 100, 300, 60), 0, 50, 0, 0, FormationMode.Single);
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drone.ApplyDamage(1.5f);
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Assert.True(drone.Hp <= 0);
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Assert.Equal(DroneStatus.Destroyed, drone.Status);
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}
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[Fact]
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public void Formation_Lateral_ZOffsetsDiffer()
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{
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var route = CreateRoute(0, 100, 300, 60);
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var d0 = new DroneEntity("d0", "g1", CreateConfig(), route, 0, 50, 0, 0, FormationMode.Formation);
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var d1 = new DroneEntity("d1", "g1", CreateConfig(), route, 1, 50, 0, 0, FormationMode.Formation);
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var d2 = new DroneEntity("d2", "g1", CreateConfig(), route, 2, 50, 0, 0, FormationMode.Formation);
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// 起始Z不同
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Assert.NotEqual(d0.PosZ, d1.PosZ);
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Assert.NotEqual(d1.PosZ, d2.PosZ);
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// 航点Z不同（偏移持久化到航点）
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Assert.NotEqual(d0.Route[0].PosZ, d1.Route[0].PosZ);
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Assert.NotEqual(d0.Route[1].PosZ, d1.Route[1].PosZ);
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}
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[Fact]
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public void Formation_Longitudinal_XOffsetsDiffer()
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{
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var route = CreateRoute(0, 100, 300, 60);
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var d0 = new DroneEntity("d0", "g1", CreateConfig(), route, 0, 0, 0, 100, FormationMode.Formation);
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var d1 = new DroneEntity("d1", "g1", CreateConfig(), route, 0, 0, 1, 100, FormationMode.Formation);
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Assert.NotEqual(d0.PosX, d1.PosX);
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}
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[Fact]
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public void Formation_Mixed_2x2()
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{
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var route = CreateRoute(0, 100, 300, 60);
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var d0 = new DroneEntity("d0", "g1", CreateConfig(), route, 0, 50, 0, 100, FormationMode.Formation);
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var d1 = new DroneEntity("d1", "g1", CreateConfig(), route, 1, 50, 0, 100, FormationMode.Formation);
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var d2 = new DroneEntity("d2", "g1", CreateConfig(), route, 0, 50, 1, 100, FormationMode.Formation);
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var d3 = new DroneEntity("d3", "g1", CreateConfig(), route, 1, 50, 1, 100, FormationMode.Formation);
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Assert.NotEqual(d0.PosZ, d1.PosZ); // lateral
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Assert.NotEqual(d0.PosX, d2.PosX); // longitudinal
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}
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[Fact]
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public void Swarm_ProducesRandomOffsets()
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{
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var route = CreateRoute(0, 100, 300, 60);
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var d0 = new DroneEntity("d0", "g1", CreateConfig(), route, 0, 30, 0, 0, FormationMode.Swarm);
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var d1 = new DroneEntity("d1", "g1", CreateConfig(), route, 1, 30, 0, 0, FormationMode.Swarm);
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Assert.True(d0.PosX != d1.PosX || d0.PosZ != d1.PosZ);
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}
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// ═══════════════════════════════════════
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// RouteGeometry 驱动的多 waypoint 折线运动
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// 验证无人机沿 L 形航路（X 段→Z 段）正确移动并最终到达终点
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// ═══════════════════════════════════════
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[Fact]
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public void MultiWaypoint_LShape_MovesAlongBothSegments()
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{
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// L 形航路：(0,0) → (100,0) → (100,100)，总长 200m，速度 60km/h≈16.67m/s
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var route = new List<Waypoint>
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{
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new() { PosX = 0, PosY = 300, PosZ = 0, Altitude = 300, Speed = 60 },
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new() { PosX = 100, PosY = 300, PosZ = 0, Altitude = 300, Speed = 60 },
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new() { PosX = 100, PosY = 300, PosZ = 100, Altitude = 300, Speed = 60 },
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};
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var drone = new DroneEntity("d1", "g1", CreateConfig(speed: 60), route,
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0, 0, 0, 0, FormationMode.Single);
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// 推进到第一段中点（弧长 50）：应在 X=50, Z=0
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drone.Update(50f / (60f / 3.6f));
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Assert.Equal(50f, drone.PosX, 1);
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Assert.Equal(0f, drone.PosZ, 1);
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Assert.Equal(DroneStatus.Flying, drone.Status);
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// 推进到拐点（弧长 100）：应在 X=100, Z=0
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drone.Update(50f / (60f / 3.6f));
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Assert.Equal(100f, drone.PosX, 1);
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Assert.Equal(0f, drone.PosZ, 1);
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Assert.Equal(DroneStatus.Flying, drone.Status);
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// 推进到第二段中点（弧长 150）：应在 X=100, Z=50
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drone.Update(50f / (60f / 3.6f));
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Assert.Equal(100f, drone.PosX, 1);
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Assert.Equal(50f, drone.PosZ, 1);
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Assert.Equal(DroneStatus.Flying, drone.Status);
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// 推进到终点（弧长 200）：应在 X=100, Z=100，状态 ReachedTarget
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drone.Update(50f / (60f / 3.6f));
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Assert.Equal(100f, drone.PosX, 1);
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Assert.Equal(100f, drone.PosZ, 1);
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Assert.Equal(DroneStatus.ReachedTarget, drone.Status);
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}
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// ═══════════════════════════════════════
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// 弧长缓存一致性：多段航路上非整段边界处的位置必须与 RouteGeometry.PositionAt 精确一致
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// 防止 Update() 内段长缓存引入的数值偏差
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// ═══════════════════════════════════════
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[Fact]
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public void MultiWaypoint_SubSegmentPositions_MatchGeometry()
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{
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// 不规则三段折线，段长各异（50, 120, 80），避免整段边界凑巧对齐
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var route = new List<Waypoint>
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{
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new() { PosX = 0, PosY = 300, PosZ = 0, Altitude = 300, Speed = 60 },
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new() { PosX = 50, PosY = 300, PosZ = 0, Altitude = 300, Speed = 60 }, // 段1: 50m
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new() { PosX = 50, PosY = 300, PosZ = 120, Altitude = 300, Speed = 60 }, // 段2: 120m
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new() { PosX = 130, PosY = 300, PosZ = 120, Altitude = 300, Speed = 60 }, // 段3: 80m
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};
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const float speed = 60f;
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float speedMs = speed / 3.6f;
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// 取若干非整段边界的弧长采样点，验证每一步位置 = RouteGeometry.PositionAt
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float[] sampleArcs = { 17f, 50f, 73f, 170f, 200f, 249f };
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foreach (var arc in sampleArcs)
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{
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var drone = new DroneEntity("d", "g", CreateConfig(speed), route,
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0, 0, 0, 0, FormationMode.Single);
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drone.Update(arc / speedMs);
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var (ex, ey, ez) = RouteGeometry.PositionAt(route, arc);
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Assert.True(System.Math.Abs(drone.PosX - ex) < 0.5f, $"arc={arc}: X {drone.PosX} vs {ex}");
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Assert.True(System.Math.Abs(drone.PosY - ey) < 0.5f, $"arc={arc}: Y {drone.PosY} vs {ey}");
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Assert.True(System.Math.Abs(drone.PosZ - ez) < 0.5f, $"arc={arc}: Z {drone.PosZ} vs {ez}");
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}
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}
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}
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}
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