565 lines
20 KiB
C#
565 lines
20 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Linq;
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using Microsoft.VisualStudio.TestTools.UnitTesting;
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namespace NavisworksTransport.UnitTests.Core
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{
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#region 简单的几何类型（不依赖 Navisworks API）
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/// <summary>
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/// 简单的 3D 点结构体（用于测试）
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/// </summary>
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public struct TestPoint3D : IEquatable<TestPoint3D>
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{
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public double X { get; set; }
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public double Y { get; set; }
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public double Z { get; set; }
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public TestPoint3D(double x, double y, double z)
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{
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X = x;
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Y = y;
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Z = z;
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}
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public static TestPoint3D operator +(TestPoint3D p, TestVector3D v)
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{
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return new TestPoint3D(p.X + v.X, p.Y + v.Y, p.Z + v.Z);
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}
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public static TestPoint3D operator -(TestPoint3D p1, TestPoint3D p2)
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{
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return new TestPoint3D(p1.X - p2.X, p1.Y - p2.Y, p1.Z - p2.Z);
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}
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public static TestPoint3D operator *(TestPoint3D p, double scalar)
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{
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return new TestPoint3D(p.X * scalar, p.Y * scalar, p.Z * scalar);
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}
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public double Length
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{
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get { return Math.Sqrt(X * X + Y * Y + Z * Z); }
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}
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public bool Equals(TestPoint3D other)
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{
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return Math.Abs(X - other.X) < 1e-10 &&
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Math.Abs(Y - other.Y) < 1e-10 &&
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Math.Abs(Z - other.Z) < 1e-10;
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}
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public override bool Equals(object obj)
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{
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return obj is TestPoint3D && Equals((TestPoint3D)obj);
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}
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public override int GetHashCode()
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{
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return X.GetHashCode() ^ Y.GetHashCode() ^ Z.GetHashCode();
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}
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public static bool operator ==(TestPoint3D p1, TestPoint3D p2)
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{
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return p1.Equals(p2);
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}
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public static bool operator !=(TestPoint3D p1, TestPoint3D p2)
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{
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return !p1.Equals(p2);
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}
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}
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/// <summary>
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/// 简单的 3D 向量结构体（用于测试）
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/// </summary>
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public struct TestVector3D
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{
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public double X { get; set; }
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public double Y { get; set; }
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public double Z { get; set; }
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public TestVector3D(double x, double y, double z)
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{
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X = x;
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Y = y;
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Z = z;
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}
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public TestVector3D(TestPoint3D point)
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{
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X = point.X;
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Y = point.Y;
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Z = point.Z;
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}
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public static TestVector3D operator +(TestVector3D v1, TestVector3D v2)
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{
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return new TestVector3D(v1.X + v2.X, v1.Y + v2.Y, v1.Z + v2.Z);
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}
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public static TestVector3D operator -(TestVector3D v1, TestVector3D v2)
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{
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return new TestVector3D(v1.X - v2.X, v1.Y - v2.Y, v1.Z - v2.Z);
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}
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public static TestVector3D operator *(TestVector3D v, double scalar)
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{
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return new TestVector3D(v.X * scalar, v.Y * scalar, v.Z * scalar);
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}
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public static TestVector3D operator *(double scalar, TestVector3D v)
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{
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return v * scalar;
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}
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public double Length
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{
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get { return Math.Sqrt(X * X + Y * Y + Z * Z); }
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}
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public TestVector3D Normalize()
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{
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double len = Length;
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if (len < 1e-10)
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return new TestVector3D(0, 0, 0);
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return new TestVector3D(X / len, Y / len, Z / len);
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}
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public static double DotProduct(TestVector3D v1, TestVector3D v2)
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{
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return v1.X * v2.X + v1.Y * v2.Y + v1.Z * v2.Z;
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}
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public static TestVector3D CrossProduct(TestVector3D v1, TestVector3D v2)
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{
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return new TestVector3D(
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v1.Y * v2.Z - v1.Z * v2.Y,
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v1.Z * v2.X - v1.X * v2.Z,
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v1.X * v2.Y - v1.Y * v2.X
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);
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}
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}
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/// <summary>
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/// 测试用圆弧轨迹数据
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/// </summary>
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public class TestArcTrajectory
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{
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public TestPoint3D Ts { get; set; } // 进入切点
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public TestPoint3D Te { get; set; } // 退出切点
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public TestPoint3D ArcCenter { get; set; } // 圆心
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public double RequestedRadius { get; set; } // 请求半径
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public double ActualRadius { get; set; } // 实际半径
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public double DeflectionAngle { get; set; } // 偏转角（弧度）
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public double ArcLength { get; set; } // 圆弧长度
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}
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#endregion
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/// <summary>
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/// PathCurveEngine 独立测试版本（不依赖 Navisworks API）
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/// 用于测试核心算法逻辑的正确性
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/// </summary>
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public static class TestPathCurveEngine
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{
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private static double Clamp(double value, double min, double max)
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{
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if (value < min) return min;
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if (value > max) return max;
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return value;
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}
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/// <summary>
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/// 计算圆弧切点和轨迹参数
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/// </summary>
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public static TestArcTrajectory CalculateFillet(
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TestPoint3D pPrev,
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TestPoint3D pCurr,
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TestPoint3D pNext,
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double turnRadius)
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{
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// 1. 计算单位向量
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TestVector3D v1 = new TestVector3D(pPrev - pCurr).Normalize();
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TestVector3D v2 = new TestVector3D(pNext - pCurr).Normalize();
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// 2. 计算夹角 α
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double cosAlpha = TestVector3D.DotProduct(v1, v2);
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double angleRad = Math.Acos(Clamp(cosAlpha, -1.0, 1.0));
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// 如果几乎共线，返回无效轨迹
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if (angleRad < 0.01 || angleRad > Math.PI - 0.01)
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{
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return new TestArcTrajectory
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{
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Ts = pCurr,
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Te = pCurr,
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ArcCenter = pCurr,
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RequestedRadius = turnRadius,
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ActualRadius = 0,
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DeflectionAngle = angleRad,
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ArcLength = 0
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};
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}
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// 3. 计算切线长 Lt = R / tan(α/2)
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double Lt = turnRadius / Math.Tan(angleRad / 2.0);
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// 4. 安全截断检查（限制为边长的45%）
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double seg1Length = (pPrev - pCurr).Length;
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double seg2Length = (pNext - pCurr).Length;
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double maxAllowedLt = Math.Min(seg1Length, seg2Length) * 0.45;
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double actualRadius = turnRadius;
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if (Lt > maxAllowedLt)
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{
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Lt = maxAllowedLt;
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actualRadius = Lt * Math.Tan(angleRad / 2.0);
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}
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// 5. 计算切点
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TestPoint3D ts = pCurr + v1 * Lt;
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TestPoint3D te = pCurr + v2 * Lt;
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// 6. 计算圆心（使用角平分线）
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TestVector3D bisector = (v1 + v2).Normalize();
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double distToCenter = actualRadius / Math.Sin(angleRad / 2.0);
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TestPoint3D arcCenter = pCurr + bisector * distToCenter;
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// 7. 计算圆弧长度
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double arcLength = actualRadius * angleRad;
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return new TestArcTrajectory
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{
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Ts = ts,
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Te = te,
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ArcCenter = arcCenter,
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RequestedRadius = turnRadius,
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ActualRadius = actualRadius,
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DeflectionAngle = angleRad,
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ArcLength = arcLength
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};
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}
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/// <summary>
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/// 采样圆弧为离散点序列
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/// </summary>
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public static List<TestPoint3D> SampleArc(TestArcTrajectory trajectory, double samplingStep)
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{
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var points = new List<TestPoint3D>();
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if (trajectory.ActualRadius < 1e-10 || trajectory.ArcLength < 1e-10)
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{
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points.Add(trajectory.Ts);
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points.Add(trajectory.Te);
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return points;
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}
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// 计算采样点数量
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int numSamples = Math.Max(2, (int)Math.Ceiling(trajectory.ArcLength / samplingStep));
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// 计算起始和结束角度
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TestVector3D vStart = new TestVector3D(trajectory.Ts - trajectory.ArcCenter).Normalize();
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TestVector3D vEnd = new TestVector3D(trajectory.Te - trajectory.ArcCenter).Normalize();
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// 计算旋转轴（使用叉积）
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TestVector3D axis = TestVector3D.CrossProduct(vStart, vEnd).Normalize();
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// 生成采样点
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for (int i = 0; i <= numSamples; i++)
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{
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double t = (double)i / numSamples;
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double angle = t * trajectory.DeflectionAngle;
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TestPoint3D p = RotatePointAroundAxis(trajectory.Ts, trajectory.ArcCenter, axis, angle);
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points.Add(p);
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}
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// 确保最后一个点是退出切点
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points[points.Count - 1] = trajectory.Te;
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return points;
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}
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/// <summary>
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/// 绕轴旋转点（罗德里格斯旋转公式）
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/// </summary>
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private static TestPoint3D RotatePointAroundAxis(
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TestPoint3D point,
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TestPoint3D center,
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TestVector3D axis,
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double angle)
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{
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TestVector3D v = new TestVector3D(point - center);
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TestVector3D kxv = TestVector3D.CrossProduct(axis, v);
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double kdv = TestVector3D.DotProduct(axis, v);
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TestVector3D vRot = v * Math.Cos(angle) + kxv * Math.Sin(angle) + axis * kdv * (1 - Math.Cos(angle));
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return center + vRot;
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}
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}
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/// <summary>
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/// PathCurveEngine 核心算法独立测试
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/// 测试路径曲线化算法的正确性（不依赖 Navisworks API）
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/// </summary>
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[TestClass]
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public class PathCurveEngineStandaloneTests
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{
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#region CalculateFillet 测试
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[TestMethod]
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public void Standalone_CalculateFillet_RightAngleTurn_ReturnsValidArc()
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{
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// Arrange - 创建90度直角转弯
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var pPrev = new TestPoint3D(0, 10, 0); // 上方点
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var pCurr = new TestPoint3D(0, 0, 0); // 转弯点
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var pNext = new TestPoint3D(10, 0, 0); // 右方点
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double turnRadius = 2.0;
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// Act
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var trajectory = TestPathCurveEngine.CalculateFillet(pPrev, pCurr, pNext, turnRadius);
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// Assert
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Assert.IsNotNull(trajectory, "轨迹不应该为null");
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Assert.AreEqual(turnRadius, trajectory.RequestedRadius, 0.01, "请求半径应该正确");
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Assert.IsTrue(trajectory.ActualRadius > 0, "实际半径应该大于0");
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Assert.IsTrue(trajectory.DeflectionAngle > 0, "偏转角应该大于0");
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Assert.IsTrue(trajectory.ArcLength > 0, "圆弧长度应该大于0");
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// 验证切点位置
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Assert.IsTrue(trajectory.Ts.Y > 0, "进入切点应该在转弯点上方");
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Assert.IsTrue(Math.Abs(trajectory.Ts.X) < 0.01, "进入切点X坐标应该接近0");
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Assert.IsTrue(trajectory.Te.X > 0, "退出切点应该在转弯点右侧");
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Assert.IsTrue(Math.Abs(trajectory.Te.Y) < 0.01, "退出切点Y坐标应该接近0");
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}
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[TestMethod]
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public void Standalone_CalculateFillet_AcuteAngleTurn_ReturnsValidArc()
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{
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// Arrange - 创建锐角转弯（约60度）
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var pPrev = new TestPoint3D(0, 10, 0);
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var pCurr = new TestPoint3D(0, 0, 0);
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var pNext = new TestPoint3D(8.66, 5, 0); // 60度方向
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double turnRadius = 2.0;
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// Act
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var trajectory = TestPathCurveEngine.CalculateFillet(pPrev, pCurr, pNext, turnRadius);
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// Assert
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Assert.IsNotNull(trajectory, "轨迹不应该为null");
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Assert.IsTrue(trajectory.ActualRadius > 0, "实际半径应该大于0");
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Assert.IsTrue(trajectory.DeflectionAngle > 0.5 && trajectory.DeflectionAngle < 1.5, "偏转角应该在60度左右");
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}
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[TestMethod]
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public void Standalone_CalculateFillet_ObtuseAngleTurn_ReturnsValidArc()
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{
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// Arrange - 创建钝角转弯（约120度）
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var pPrev = new TestPoint3D(0, 10, 0);
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var pCurr = new TestPoint3D(0, 0, 0);
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var pNext = new TestPoint3D(8.66, -5, 0); // 120度方向
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double turnRadius = 2.0;
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// Act
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var trajectory = TestPathCurveEngine.CalculateFillet(pPrev, pCurr, pNext, turnRadius);
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// Assert
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Assert.IsNotNull(trajectory, "轨迹不应该为null");
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Assert.IsTrue(trajectory.ActualRadius > 0, "实际半径应该大于0");
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Assert.IsTrue(trajectory.DeflectionAngle > 1.5 && trajectory.DeflectionAngle < 2.5, "偏转角应该在120度左右");
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}
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[TestMethod]
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public void Standalone_CalculateFillet_CollinearPoints_ReturnsInvalidArc()
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{
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// Arrange - 创建共线点（几乎直线）
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var pPrev = new TestPoint3D(0, 10, 0);
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var pCurr = new TestPoint3D(0, 0, 0);
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var pNext = new TestPoint3D(0, -10, 0); // 同一直线
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double turnRadius = 2.0;
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// Act
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var trajectory = TestPathCurveEngine.CalculateFillet(pPrev, pCurr, pNext, turnRadius);
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// Assert
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Assert.IsNotNull(trajectory, "轨迹不应该为null");
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Assert.AreEqual(0, trajectory.ActualRadius, 0.01, "实际半径应该为0");
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Assert.AreEqual(0, trajectory.ArcLength, 0.01, "圆弧长度应该为0");
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Assert.AreEqual(pCurr, trajectory.Ts, "切点应该与转弯点相同");
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}
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[TestMethod]
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public void Standalone_CalculateFillet_SafetyTruncation_AdjustsRadius()
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{
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// Arrange - 创建短边场景，需要安全截断
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var pPrev = new TestPoint3D(0, 1, 0); // 短边
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var pCurr = new TestPoint3D(0, 0, 0);
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var pNext = new TestPoint3D(1, 0, 0); // 短边
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double turnRadius = 2.0; // 半径大于边长
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// Act
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var trajectory = TestPathCurveEngine.CalculateFillet(pPrev, pCurr, pNext, turnRadius);
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// Assert
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Assert.IsNotNull(trajectory, "轨迹不应该为null");
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Assert.IsTrue(trajectory.ActualRadius < turnRadius, "实际半径应该小于请求半径");
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Assert.IsTrue(trajectory.ActualRadius > 0, "实际半径应该大于0");
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}
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[TestMethod]
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public void Standalone_CalculateFillet_3DTurn_ReturnsValidArc()
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{
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// Arrange - 创建3D空间中的转弯
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var pPrev = new TestPoint3D(0, 10, 0);
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var pCurr = new TestPoint3D(0, 0, 0);
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var pNext = new TestPoint3D(10, 0, 5); // 有Z轴变化
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double turnRadius = 2.0;
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// Act
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var trajectory = TestPathCurveEngine.CalculateFillet(pPrev, pCurr, pNext, turnRadius);
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// Assert
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Assert.IsNotNull(trajectory, "轨迹不应该为null");
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Assert.IsTrue(trajectory.ActualRadius > 0, "实际半径应该大于0");
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Assert.IsTrue(Math.Abs(trajectory.ArcCenter.Z) > 0.01, "圆心Z坐标应该不为0");
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}
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#endregion
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#region SampleArc 测试
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[TestMethod]
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public void Standalone_SampleArc_WithValidTrajectory_ReturnsSampledPoints()
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{
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// Arrange
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var trajectory = new TestArcTrajectory
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{
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Ts = new TestPoint3D(0, 2, 0),
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Te = new TestPoint3D(2, 0, 0),
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ArcCenter = new TestPoint3D(0, 0, 0),
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ActualRadius = 2.0,
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DeflectionAngle = Math.PI / 2, // 90度
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ArcLength = Math.PI // 半圆周长
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};
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double samplingStep = 0.5;
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// Act
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var sampledPoints = TestPathCurveEngine.SampleArc(trajectory, samplingStep);
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// Assert
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Assert.IsNotNull(sampledPoints, "采样点列表不应该为null");
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Assert.IsTrue(sampledPoints.Count >= 2, "采样点数量应该至少为2");
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Assert.AreEqual(trajectory.Ts, sampledPoints.First(), "第一个点应该是进入切点");
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Assert.AreEqual(trajectory.Te, sampledPoints.Last(), "最后一个点应该是退出切点");
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}
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[TestMethod]
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public void Standalone_SampleArc_SmallArcLength_ReturnsThreePoints()
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{
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// Arrange
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var trajectory = new TestArcTrajectory
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{
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Ts = new TestPoint3D(0, 0.1, 0),
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Te = new TestPoint3D(0.1, 0, 0),
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ArcCenter = new TestPoint3D(0, 0, 0),
|
||
ActualRadius = 0.1,
|
||
DeflectionAngle = 0.1,
|
||
ArcLength = 0.01 // 非常小的圆弧
|
||
};
|
||
double samplingStep = 0.05;
|
||
|
||
// Act
|
||
var sampledPoints = TestPathCurveEngine.SampleArc(trajectory, samplingStep);
|
||
|
||
// Assert
|
||
Assert.IsNotNull(sampledPoints, "采样点列表不应该为null");
|
||
Assert.AreEqual(3, sampledPoints.Count, "小圆弧应该返回3个点（起点、中间点、终点）");
|
||
}
|
||
|
||
[TestMethod]
|
||
public void Standalone_SampleArc_SamplingStep0_05_ReturnsCorrectCount()
|
||
{
|
||
// Arrange
|
||
var trajectory = new TestArcTrajectory
|
||
{
|
||
Ts = new TestPoint3D(0, 2, 0),
|
||
Te = new TestPoint3D(2, 0, 0),
|
||
ArcCenter = new TestPoint3D(0, 0, 0),
|
||
ActualRadius = 2.0,
|
||
DeflectionAngle = Math.PI / 2,
|
||
ArcLength = Math.PI
|
||
};
|
||
double samplingStep = 0.05;
|
||
|
||
// Act
|
||
var sampledPoints = TestPathCurveEngine.SampleArc(trajectory, samplingStep);
|
||
|
||
// Assert
|
||
int expectedCount = (int)Math.Ceiling(Math.PI / 0.05) + 1;
|
||
Assert.IsTrue(sampledPoints.Count >= expectedCount - 2 && sampledPoints.Count <= expectedCount + 2,
|
||
$"采样点数量应该在 {expectedCount - 2} 到 {expectedCount + 2} 之间");
|
||
}
|
||
|
||
#endregion
|
||
|
||
#region 集成测试
|
||
|
||
[TestMethod]
|
||
public void FullWorkflow_RightAngleTurn_CalculatesCorrectTrajectory()
|
||
{
|
||
// Arrange - 创建一个90度转弯
|
||
var pPrev = new TestPoint3D(0, 10, 0);
|
||
var pCurr = new TestPoint3D(0, 0, 0);
|
||
var pNext = new TestPoint3D(10, 0, 0);
|
||
double turnRadius = 2.0;
|
||
|
||
// Act - 计算轨迹
|
||
var trajectory = TestPathCurveEngine.CalculateFillet(pPrev, pCurr, pNext, turnRadius);
|
||
|
||
// 采样圆弧
|
||
var sampledPoints = TestPathCurveEngine.SampleArc(trajectory, 0.5);
|
||
|
||
// Assert
|
||
Assert.IsNotNull(trajectory, "轨迹不应该为null");
|
||
Assert.IsTrue(trajectory.ActualRadius > 0, "实际半径应该大于0");
|
||
|
||
// 验证圆弧长度
|
||
Assert.IsTrue(trajectory.ArcLength > 0 && trajectory.ArcLength < 10, "圆弧长度应该合理");
|
||
|
||
// 验证采样点
|
||
Assert.IsNotNull(sampledPoints, "采样点不应该为null");
|
||
Assert.IsTrue(sampledPoints.Count > 2, "采样点数量应该大于2");
|
||
|
||
// 验证所有采样点到圆心的距离应该接近半径
|
||
foreach (var point in sampledPoints)
|
||
{
|
||
double dist = (point - trajectory.ArcCenter).Length;
|
||
Assert.IsTrue(Math.Abs(dist - trajectory.ActualRadius) < 0.1,
|
||
$"采样点到圆心的距离应该接近半径: {dist} vs {trajectory.ActualRadius}");
|
||
}
|
||
}
|
||
|
||
[TestMethod]
|
||
public void FullWorkflow_AcuteAngleTurn_CalculatesCorrectTrajectory()
|
||
{
|
||
// Arrange - 创建一个60度锐角转弯
|
||
var pPrev = new TestPoint3D(0, 10, 0);
|
||
var pCurr = new TestPoint3D(0, 0, 0);
|
||
var pNext = new TestPoint3D(8.66, 5, 0);
|
||
double turnRadius = 2.0;
|
||
|
||
// Act
|
||
var trajectory = TestPathCurveEngine.CalculateFillet(pPrev, pCurr, pNext, turnRadius);
|
||
var sampledPoints = TestPathCurveEngine.SampleArc(trajectory, 0.5);
|
||
|
||
// Assert
|
||
Assert.IsNotNull(trajectory, "轨迹不应该为null");
|
||
Assert.IsTrue(trajectory.DeflectionAngle > 0.5 && trajectory.DeflectionAngle < 1.5,
|
||
"偏转角应该在60度左右");
|
||
Assert.IsTrue(sampledPoints.Count > 2, "采样点数量应该大于2");
|
||
}
|
||
|
||
#endregion
|
||
}
|
||
} |