Added better error checking and tests for appropriate failures.
This commit is contained in:
Patrick Marsee
parent
600fd0c276
commit
fbf1a9214b
5 changed files with 444 additions and 143 deletions
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@ -14,6 +14,12 @@ fn new_looking_at(direction: Vector3, up: Vector3, _positive_z_forward: bool) ->
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Basis::from_cols(x, y, z)
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}
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/**
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* A simple segment with one alignment sampler and one elevation sampler.
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* This necessarily has exactly 2 endpoints and 1 sub-segment.
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* Despite the sub-segment being unambiguous, it shall still fail if the incorrect index is used.
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* This is also true of its float state.
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*/
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pub struct SimpleSegment<A: AlignmentSampler, E: ElevationSampler> {
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alignment: A,
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elevation: E,
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@ -25,11 +31,12 @@ pub struct SimpleSegment<A: AlignmentSampler, E: ElevationSampler> {
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// cache some stuff
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//endpoint0: Option<Transform3D>,
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//endpoint1: Option<Transform3D>,
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//length: Option<f32>,
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length: f32,
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}
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impl<A: AlignmentSampler, E: ElevationSampler> SimpleSegment<A, E> {
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pub fn new(alignment: A, elevation: E) -> Self {
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let length = elevation.length();
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Self {
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alignment,
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elevation,
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@ -37,27 +44,25 @@ impl<A: AlignmentSampler, E: ElevationSampler> SimpleSegment<A, E> {
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upper_connection: Option::None,
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//endpoint0: None,
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//endpoint1: None,
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//length: None,
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length,
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}
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}
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}
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impl<A: AlignmentSampler, E: ElevationSampler> RailSegment for SimpleSegment<A, E> {
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fn get_length(&self, _index: usize) -> Result<f32, rail_segment::Error> {
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/*match self.length {
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Some(length) => Ok(length),
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None => {
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let result = self.elevation.length();
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self.length = Some(result);
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Ok(result)
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},
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}*/
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Ok(self.elevation.length())
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fn get_length(&self, index: usize) -> Result<f32, rail_segment::Error> {
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if index == 0 {
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Ok(self.length)
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} else {
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Err(rail_segment::Error::IndexError(index))
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}
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}
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fn sample(&self, _index: usize, offset: f32) -> Result<Vector3, rail_segment::Error> {
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if offset < 0.0 || offset > self.get_length(1).unwrap() {
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return Err(rail_segment::Error::OffsetError);
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fn sample(&self, index: usize, offset: f32) -> Result<Vector3, rail_segment::Error> {
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if index != 0 {
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return Err(rail_segment::Error::IndexError(index));
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} else if offset < 0.0 || offset > self.length {
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return Err(rail_segment::Error::OffsetError(offset));
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}
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let top_down_t = self.elevation.to_top_down_normalized(offset / self.elevation.length());
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let xz = self.alignment.sample_normalized(top_down_t);
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@ -65,9 +70,11 @@ impl<A: AlignmentSampler, E: ElevationSampler> RailSegment for SimpleSegment<A,
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Ok(Vector3::new(xz.x, y, xz.y))
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}
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fn sample_with_rotation(&self, _index: usize, offset: f32) -> Result<Transform3D, rail_segment::Error> {
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if offset < 0.0 || offset > self.get_length(1).unwrap() {
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return Err(rail_segment::Error::OffsetError);
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fn sample_with_rotation(&self, index: usize, offset: f32) -> Result<Transform3D, rail_segment::Error> {
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if index != 0 {
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return Err(rail_segment::Error::IndexError(index));
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} else if offset < 0.0 || offset > self.length {
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return Err(rail_segment::Error::OffsetError(offset));
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}
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let top_down_t = self.elevation.to_top_down_normalized(offset / self.elevation.length());
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let direction_xz = self.alignment.tangent_normalized(top_down_t);
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@ -79,9 +86,11 @@ impl<A: AlignmentSampler, E: ElevationSampler> RailSegment for SimpleSegment<A,
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Ok(Transform3D::new(basis, Vector3::new(xz.x, y, xz.y)))
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}
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fn sample_with_rotation_reverse(&self, _index: usize, offset: f32) -> Result<Transform3D, rail_segment::Error> {
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if offset < 0.0 || offset > self.get_length(1).unwrap() {
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return Err(rail_segment::Error::OffsetError);
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fn sample_with_rotation_reverse(&self, index: usize, offset: f32) -> Result<Transform3D, rail_segment::Error> {
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if index != 0 {
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return Err(rail_segment::Error::IndexError(index));
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} else if offset < 0.0 || offset > self.length {
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return Err(rail_segment::Error::OffsetError(offset));
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}
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let top_down_t = self.elevation.to_top_down_normalized(offset / self.elevation.length());
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let direction_zx = self.alignment.tangent_normalized(top_down_t);
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@ -93,9 +102,11 @@ impl<A: AlignmentSampler, E: ElevationSampler> RailSegment for SimpleSegment<A,
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Ok(Transform3D::new(basis, Vector3::new(xz.x, y, xz.y)))
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}
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fn sample_up_vector(&self, _index: usize, offset: f32) -> Result<Vector3, rail_segment::Error> {
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if offset < 0.0 || offset > self.get_length(1).unwrap() {
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return Err(rail_segment::Error::OffsetError);
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fn sample_up_vector(&self, index: usize, offset: f32) -> Result<Vector3, rail_segment::Error> {
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if index != 0 {
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return Err(rail_segment::Error::IndexError(index));
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} else if offset < 0.0 || offset > self.length {
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return Err(rail_segment::Error::OffsetError(offset));
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}
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let top_down_t = self.elevation.to_top_down_normalized(offset / self.elevation.length());
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let direction_xz = self.alignment.tangent_normalized(top_down_t);
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@ -105,35 +116,19 @@ impl<A: AlignmentSampler, E: ElevationSampler> RailSegment for SimpleSegment<A,
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Ok(direction.cross(normal).normalized())
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}
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fn segment_from_endpoint(&self, _endpoint: usize) -> Result<usize, rail_segment::Error> {
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Ok(1)
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fn segment_from_endpoint(&self, endpoint: usize) -> Result<usize, rail_segment::Error> {
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if endpoint > 1 {
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return Err(rail_segment::Error::EndpointError(endpoint));
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} else {
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Ok(0)
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}
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}
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fn get_endpoint_transform(&self, endpoint: usize) -> Result<Transform3D, rail_segment::Error> {
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match endpoint {
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/*0 => {
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match self.endpoint0 {
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Some(result) => Ok(result),
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None => {
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let result = self.sample_with_rotation_reverse(0, 0.0).unwrap();
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self.endpoint0 = Some(result);
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Ok(result)
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},
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}
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},
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1 => {
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match self.endpoint1 {
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Some(result) => Ok(result),
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None => {
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let result = self.sample_with_rotation(0, self.get_length(1).unwrap()).unwrap();
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self.endpoint1 = Some(result);
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Ok(result)
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},
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}
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},*/
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0 => self.sample_with_rotation_reverse(0, 0.0),
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1 => self.sample_with_rotation(0, self.get_length(1).unwrap()),
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_ => Err(rail_segment::Error::EndpointError),
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_ => Err(rail_segment::Error::EndpointError(endpoint)),
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}
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}
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@ -141,7 +136,7 @@ impl<A: AlignmentSampler, E: ElevationSampler> RailSegment for SimpleSegment<A,
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match endpoint {
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0 => Ok(false),
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1 => Ok(true),
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_ => Err(rail_segment::Error::EndpointError),
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_ => Err(rail_segment::Error::EndpointError(endpoint)),
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}
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}
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@ -155,17 +150,37 @@ impl<A: AlignmentSampler, E: ElevationSampler> RailSegment for SimpleSegment<A,
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if let Some(ret) = &self.lower_connection {
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Ok(ret)
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} else {
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Err(rail_segment::Error::NeighborError)
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Err(rail_segment::Error::ConnectionError(endpoint))
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}
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},
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1 => {
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if let Some(ret) = &self.upper_connection {
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Ok(ret)
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} else {
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Err(rail_segment::Error::NeighborError)
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Err(rail_segment::Error::ConnectionError(endpoint))
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}
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},
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_ => Err(rail_segment::Error::EndpointError),
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_ => Err(rail_segment::Error::EndpointError(endpoint)),
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}
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}
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fn get_connection(&self, endpoint: usize) -> Result<RailConnector, rail_segment::Error> {
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match endpoint {
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0 => {
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if let Some(ret) = self.lower_connection {
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Ok(ret)
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} else {
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Err(rail_segment::Error::ConnectionError(endpoint))
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}
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},
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1 => {
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if let Some(ret) = self.upper_connection {
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Ok(ret)
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} else {
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Err(rail_segment::Error::ConnectionError(endpoint))
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}
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},
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_ => Err(rail_segment::Error::EndpointError(endpoint)),
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}
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}
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@ -183,7 +198,7 @@ impl<A: AlignmentSampler, E: ElevationSampler> RailSegment for SimpleSegment<A,
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None => Ok(false),
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}
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},
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_ => Err(rail_segment::Error::EndpointError),
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_ => Err(rail_segment::Error::EndpointError(endpoint)),
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}
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}
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@ -201,7 +216,7 @@ impl<A: AlignmentSampler, E: ElevationSampler> RailSegment for SimpleSegment<A,
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self.upper_connection = Option::Some(connector);
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Ok(true)
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},
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_ => Err(rail_segment::Error::EndpointError),
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_ => Err(rail_segment::Error::EndpointError(endpoint)),
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}
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}
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@ -215,7 +230,7 @@ impl<A: AlignmentSampler, E: ElevationSampler> RailSegment for SimpleSegment<A,
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self.upper_connection = Option::None;
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Ok(true)
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},
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_ => Err(rail_segment::Error::EndpointError),
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_ => Err(rail_segment::Error::EndpointError(endpoint)),
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}
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}
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@ -228,8 +243,8 @@ impl<A: AlignmentSampler, E: ElevationSampler> RailSegment for SimpleSegment<A,
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0.0
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}
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fn set_state(&mut self, _: f32) {
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// This does nothing for simple segments.
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fn set_state(&mut self, state: f32) -> Result<f32, rail_segment::Error> {
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Err(rail_segment::Error::StateError(state))
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}
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}
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@ -264,8 +279,14 @@ mod tests {
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let alignment = TangentAlignmentSampler::new(Vector2::new(1.0, 1.0), Vector2::new(10.0, 13.0));
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let elevation = TangentElevationSampler::new(1.0, 9.0, 15.0);
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let test_segment = SimpleSegment::new(alignment, elevation);
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assert_eq!(test_segment.get_length(1).unwrap(), 17.0,
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"Segment length was incorrect.");
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// test success
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assert!(match test_segment.get_length(0) { Ok(17.0)=>true, _=>false, },
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"Segment length was incorrect.");
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// test failure
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assert!(match test_segment.get_length(1) { Err(rail_segment::Error::IndexError(1))=>true, _=>false, },
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"Got length of non-existant sub-segment.");
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}
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#[test]
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@ -273,12 +294,22 @@ mod tests {
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let alignment = TangentAlignmentSampler::new(Vector2::new(1.0, 1.0), Vector2::new(10.0, 13.0));
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let elevation = TangentElevationSampler::new(1.0, 9.0, 15.0);
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let test_segment = SimpleSegment::new(alignment, elevation);
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assert_eq!(test_segment.sample(1, 0.0).unwrap(), Vector3::new(1.0, 1.0, 1.0),
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// test successes
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assert_eq!(test_segment.sample(0, 0.0).unwrap(), Vector3::new(1.0, 1.0, 1.0),
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"Segment begins at the wrong location.");
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assert_eq!(test_segment.sample(1, 17.0).unwrap(), Vector3::new(10.0, 9.0, 13.0),
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assert_eq!(test_segment.sample(0, 17.0).unwrap(), Vector3::new(10.0, 9.0, 13.0),
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"Segment ends at the wrong location.");
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assert_eq!(test_segment.sample(1, 8.5).unwrap(), Vector3::new(5.5, 5.0, 7.0),
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assert_eq!(test_segment.sample(0, 8.5).unwrap(), Vector3::new(5.5, 5.0, 7.0),
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"Segment passes through the wrong location.");
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// test failures
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assert!(match test_segment.sample(1, 0.0) { Err(rail_segment::Error::IndexError(1))=>true, _=>false, },
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"Sampled non-existant sub-segment.");
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assert!(match test_segment.sample(0, -1.0) { Err(rail_segment::Error::OffsetError(-1.0))=>true, _=>false, },
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"Sampled segment with negative offset.");
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assert!(match test_segment.sample(0, 18.0) { Err(rail_segment::Error::OffsetError(18.0))=>true, _=>false, },
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"Sampled segment with excess offset.");
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}
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#[test]
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@ -289,8 +320,10 @@ mod tests {
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let direction_forward = Vector3::new(-9.0 / 17.0, -8.0 / 17.0, -12.0 / 17.0);
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let direction_right = Vector3::new(-0.8, 0.0, 0.6);
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let direction_up = direction_forward.cross(direction_right);
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let transform1 = test_segment.sample_with_rotation(1, 0.0).unwrap();
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let transform1 = test_segment.sample_with_rotation(0, 0.0).unwrap();
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let epsilon = 1e-6;
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// test successes
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assert_eq!(transform1.origin, Vector3::new(1.0, 1.0, 1.0),
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"Segment begins at the wrong location.");
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compare_vectors(transform1.basis.col_c(), direction_forward, epsilon,
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@ -299,16 +332,16 @@ mod tests {
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"Segment begins with the wrong right direction.");
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compare_vectors(transform1.basis.col_b(), direction_up, epsilon,
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"Segment begins with the wrong up direction.");
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let transform2 = test_segment.sample_with_rotation(1, 17.0).unwrap();
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let transform2 = test_segment.sample_with_rotation(0, 17.0).unwrap();
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assert_eq!(transform2.origin, Vector3::new(10.0, 9.0, 13.0),
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"Segment ends at the wrong location.");
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compare_vectors(transform2.basis.col_c(), direction_forward, epsilon,
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"Segment ends facing the wrong direction.");
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compare_vectors(transform2.basis.col_a(), direction_right, epsilon,
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"Segment ends with the wrong righ direction.");
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"Segment ends with the wrong right direction.");
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compare_vectors(transform2.basis.col_b(), direction_up, epsilon,
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"Segment ends with the wrong up direction.");
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let transform3 = test_segment.sample_with_rotation(1, 8.5).unwrap();
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let transform3 = test_segment.sample_with_rotation(0, 8.5).unwrap();
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assert_eq!(transform3.origin, Vector3::new(5.5, 5.0, 7.0),
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"Segment passes through the wrong location.");
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compare_vectors(transform3.basis.col_c(), direction_forward, epsilon,
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@ -317,6 +350,14 @@ mod tests {
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"Segment passes through with the wrong righ direction.");
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compare_vectors(transform3.basis.col_b(), direction_up, epsilon,
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"Segment passes through with the wrong up direction.");
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// test failures
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assert!(match test_segment.sample_with_rotation(1, 0.0) { Err(rail_segment::Error::IndexError(1))=>true, _=>false, },
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"Sampled non-existant sub-segment.");
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assert!(match test_segment.sample_with_rotation(0, -1.0) { Err(rail_segment::Error::OffsetError(-1.0))=>true, _=>false, },
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"Sampled segment with negative offset.");
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assert!(match test_segment.sample_with_rotation(0, 18.0) { Err(rail_segment::Error::OffsetError(18.0))=>true, _=>false, },
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"Sampled segment with excess offset.");
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}
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#[test]
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@ -327,8 +368,10 @@ mod tests {
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let direction_forward = Vector3::new(9.0 / 17.0, 8.0 / 17.0, 12.0 / 17.0);
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let direction_right = Vector3::new(0.8, 0.0, -0.6);
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let direction_up = direction_forward.cross(direction_right);
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let transform1 = test_segment.sample_with_rotation_reverse(1, 0.0).unwrap();
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let transform1 = test_segment.sample_with_rotation_reverse(0, 0.0).unwrap();
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let epsilon = 1e-6;
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// test successes
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assert_eq!(transform1.origin, Vector3::new(1.0, 1.0, 1.0),
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"Segment begins at the wrong location.");
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compare_vectors(transform1.basis.col_c(), direction_forward, epsilon,
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@ -337,16 +380,16 @@ mod tests {
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"Segment begins with the wrong right direction.");
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compare_vectors(transform1.basis.col_b(), direction_up, epsilon,
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"Segment begins with the wrong up direction.");
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let transform2 = test_segment.sample_with_rotation_reverse(1, 17.0).unwrap();
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let transform2 = test_segment.sample_with_rotation_reverse(0, 17.0).unwrap();
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assert_eq!(transform2.origin, Vector3::new(10.0, 9.0, 13.0),
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"Segment ends at the wrong location.");
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compare_vectors(transform2.basis.col_c(), direction_forward, epsilon,
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"Segment ends facing the wrong direction.");
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compare_vectors(transform2.basis.col_a(), direction_right, epsilon,
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"Segment ends with the wrong righ direction.");
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"Segment ends with the wrong right direction.");
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compare_vectors(transform2.basis.col_b(), direction_up, epsilon,
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"Segment ends with the wrong up direction.");
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let transform3 = test_segment.sample_with_rotation_reverse(1, 8.5).unwrap();
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let transform3 = test_segment.sample_with_rotation_reverse(0, 8.5).unwrap();
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assert_eq!(transform3.origin, Vector3::new(5.5, 5.0, 7.0),
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"Segment passes through the wrong location.");
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compare_vectors(transform3.basis.col_c(), direction_forward, epsilon,
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@ -355,6 +398,14 @@ mod tests {
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"Segment passes through with the wrong righ direction.");
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compare_vectors(transform3.basis.col_b(), direction_up, epsilon,
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"Segment passes through with the wrong up direction.");
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// test failures
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assert!(match test_segment.sample_with_rotation_reverse(1, 0.0) { Err(rail_segment::Error::IndexError(1))=>true, _=>false, },
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"Sampled non-existant sub-segment.");
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assert!(match test_segment.sample_with_rotation_reverse(0, -1.0) { Err(rail_segment::Error::OffsetError(-1.0))=>true, _=>false, },
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"Sampled segment with negative offset.");
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assert!(match test_segment.sample_with_rotation_reverse(0, 18.0) { Err(rail_segment::Error::OffsetError(18.0))=>true, _=>false, },
|
||||
"Sampled segment with excess offset.");
|
||||
}
|
||||
|
||||
#[test]
|
||||
|
|
@ -365,15 +416,102 @@ mod tests {
|
|||
let direction_forward = Vector3::new(-9.0 / 17.0, -8.0 / 17.0, -12.0 / 17.0);
|
||||
let direction_right = Vector3::new(-0.8, 0.0, 0.6);
|
||||
let direction_up = direction_forward.cross(direction_right);
|
||||
let up1 = test_segment.sample_up_vector(1, 0.0).unwrap();
|
||||
let up1 = test_segment.sample_up_vector(0, 0.0).unwrap();
|
||||
let epsilon = 1e-6;
|
||||
|
||||
// test successes
|
||||
compare_vectors(up1, direction_up, epsilon,
|
||||
"Segment begins with the wrong up direction.");
|
||||
let up2 = test_segment.sample_up_vector(1, 17.0).unwrap();
|
||||
let up2 = test_segment.sample_up_vector(0, 17.0).unwrap();
|
||||
compare_vectors(up2, direction_up, epsilon,
|
||||
"Segment ends with the wrong up direction.");
|
||||
let up3 = test_segment.sample_up_vector(1, 8.5).unwrap();
|
||||
let up3 = test_segment.sample_up_vector(0, 8.5).unwrap();
|
||||
compare_vectors(up3, direction_up, epsilon,
|
||||
"Segment passes through with the wrong up direction.");
|
||||
|
||||
// test failures
|
||||
assert!(match test_segment.sample_up_vector(1, 0.0) { Err(rail_segment::Error::IndexError(1))=>true, _=>false, },
|
||||
"Sampled non-existant sub-segment.");
|
||||
assert!(match test_segment.sample_up_vector(0, -1.0) { Err(rail_segment::Error::OffsetError(-1.0))=>true, _=>false, },
|
||||
"Sampled segment with negative offset.");
|
||||
assert!(match test_segment.sample_up_vector(0, 18.0) { Err(rail_segment::Error::OffsetError(18.0))=>true, _=>false, },
|
||||
"Sampled segment with excess offset.");
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_segment_from_endpoint() {
|
||||
let alignment = TangentAlignmentSampler::new(Vector2::new(1.0, 1.0), Vector2::new(10.0, 13.0));
|
||||
let elevation = TangentElevationSampler::new(1.0, 9.0, 15.0);
|
||||
let test_segment = SimpleSegment::new(alignment, elevation);
|
||||
|
||||
// test successes
|
||||
assert_eq!(test_segment.segment_from_endpoint(0).unwrap(), 0, "Endpoint 0 points to incorrect internal segment.");
|
||||
assert_eq!(test_segment.segment_from_endpoint(1).unwrap(), 0, "Endpoint 1 points to incorrect internal segment.");
|
||||
|
||||
// test failures
|
||||
assert!(match test_segment.segment_from_endpoint(2) { Err(rail_segment::Error::EndpointError(2))=>true, _=>false, },
|
||||
"Endpoint 2 points to an internal segment.");
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_get_endpoint_transform() {
|
||||
let alignment = TangentAlignmentSampler::new(Vector2::new(1.0, 1.0), Vector2::new(10.0, 13.0));
|
||||
let elevation = TangentElevationSampler::new(1.0, 9.0, 15.0);
|
||||
let test_segment = SimpleSegment::new(alignment, elevation);
|
||||
let direction_forward = Vector3::new(9.0 / 17.0, 8.0 / 17.0, 12.0 / 17.0);
|
||||
let direction_right = Vector3::new(0.8, 0.0, -0.6);
|
||||
let direction_up = direction_forward.cross(direction_right);
|
||||
|
||||
// test successes
|
||||
let transform1 = test_segment.get_endpoint_transform(0).unwrap();
|
||||
let epsilon = 1e-6;
|
||||
assert_eq!(transform1.origin, Vector3::new(1.0, 1.0, 1.0),
|
||||
"Segment begins at the wrong location.");
|
||||
compare_vectors(transform1.basis.col_c(), direction_forward, epsilon,
|
||||
"Segment begins facing the wrong direction.");
|
||||
compare_vectors(transform1.basis.col_a(), direction_right, epsilon,
|
||||
"Segment begins with the wrong right direction.");
|
||||
compare_vectors(transform1.basis.col_b(), direction_up, epsilon,
|
||||
"Segment begins with the wrong up direction.");
|
||||
|
||||
let transform2 = test_segment.sample_with_rotation(0, 17.0).unwrap();
|
||||
assert_eq!(transform2.origin, Vector3::new(10.0, 9.0, 13.0),
|
||||
"Segment ends at the wrong location.");
|
||||
compare_vectors(transform2.basis.col_c(), -direction_forward, epsilon,
|
||||
"Segment ends facing the wrong direction.");
|
||||
compare_vectors(transform2.basis.col_a(), -direction_right, epsilon,
|
||||
"Segment ends with the wrong right direction.");
|
||||
compare_vectors(transform2.basis.col_b(), direction_up, epsilon,
|
||||
"Segment ends with the wrong up direction.");
|
||||
|
||||
// test failures
|
||||
assert!(match test_segment.get_endpoint_transform(2) { Err(rail_segment::Error::EndpointError(2))=>true, _=>false, },
|
||||
"Endpoint 2 has a transform.");
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_is_endpoint_upper() {
|
||||
let alignment = TangentAlignmentSampler::new(Vector2::new(1.0, 1.0), Vector2::new(10.0, 13.0));
|
||||
let elevation = TangentElevationSampler::new(1.0, 9.0, 15.0);
|
||||
let test_segment = SimpleSegment::new(alignment, elevation);
|
||||
|
||||
// test successes
|
||||
assert_eq!(test_segment.is_endpoint_upper(0).unwrap(), false, "Endpoint 0 is upper.");
|
||||
assert_eq!(test_segment.is_endpoint_upper(1).unwrap(), true, "Endpoint 1 is lower.");
|
||||
|
||||
// test failures
|
||||
assert!(match test_segment.is_endpoint_upper(2) { Err(rail_segment::Error::EndpointError(2))=>true, _=>false, },
|
||||
"Endpoint 2 should not be upper or lower.");
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_num_endpoints() {
|
||||
// By far the most critical and intricate test.
|
||||
let alignment = TangentAlignmentSampler::new(Vector2::new(1.0, 1.0), Vector2::new(10.0, 13.0));
|
||||
let elevation = TangentElevationSampler::new(1.0, 9.0, 15.0);
|
||||
let test_segment = SimpleSegment::new(alignment, elevation);
|
||||
assert_eq!(test_segment.num_endpoints(), 2, "Incorrect number of endpoints.");
|
||||
}
|
||||
|
||||
// For now, I'm not going to write tests for most of the connection methods since they're basically all getters and setters.
|
||||
}
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue