def test_detect_hit(self):
"""Test laser hit detection"""
T = Tank('LaserTankController', (0, 0, 0), (0, 0), (0, 0))
# Override the tank shape to make testing easier
T.body_length = 2.
T.body_width = 2.
T.tread_overlap = T.tread_width
T.tread_length = T.body_length
# Laser defined as tuple of origin x and y and angle
# A hit returns the distance to the impact, a miss returns None
def hit_test(laser, output):
if output is None:
self.assertEqual(T.detect_hit(laser), None)
else:
self.assertTrue(abs(T.detect_hit(laser) - output) < 1e-12,
"{} != {}".format(T.detect_hit(laser), output))
# To the right pointed right, a miss
hit_test((2, 0, 0), None)
hit_test((2, 0, 360), None)
hit_test((2, 0, -360), None)
# To the right pointed left, a hit
hit_test((2, 0, 180), 1)
# To the left pointed left, a miss
hit_test((-2, 0, 180), None)
# To the left pointed right, a hit
hit_test((-2, 0, 0), 1)
# Above pointed up, a miss
hit_test((0, 2, 90), None)
# Above pointed down, a hit
hit_test((0, 2, -90), 1)
# Below pointed down, a miss
hit_test((0, -2, -90), None)
# Below pointed up, a hit
hit_test((0, -2, 90), 1)
# Corner shot from NE
hit_test((2, 2, 45), None)
hit_test((2, 2, -135), np.sqrt(2))
# Corner shot from SW
hit_test((-2, -2, -45), None)
hit_test((-2, -2, 45), np.sqrt(2))
# Glancing blow
hit_test((1, 2, -90), 1)
hit_test((2, 1, 180), 1)
hit_test((-1, -2, 90), 1)
hit_test((-2, -1, 0), 1)
# Angled impact (not 0 or 90 degrees)
T.orientation[0] = 45.0
hit_test((2, 2, -135), 2*np.sqrt(2) - 1)
T.orientation[0] = 45.0
hit_test((-2, -2, 45), 2*np.sqrt(2) - 1)
# With target not on origin
T.position = np.array([1/2, -1/2])
T.orientation[0] = 45.0
hit_test((2, 2, -135), 2*np.sqrt(2) - 1)
T.orientation[0] = 45.0
hit_test((-2, -2, 45), 2*np.sqrt(2) - 1)
