New tes

.github/workflows/setup_environment.yml

@@ -98,6 +98,7 @@ jobs:
       run: |
           git config --global core.symlinks true
           git config --global core.autocrlf input
+          echo "BUILD_DIR=${{ github.workspace }}/build" >> $GITHUB_ENV
 
     - name: Checkout repository
       uses: actions/checkout@v4
@@ -146,7 +147,7 @@ jobs:
       if: ${{ inputs.build }}
 
     - name: Build
-      run: buildScripts/github/build.sh
+      run: "$GITHUB_WORKSPACE/buildScripts/github/build.sh"
       env:
         TRIK_QT_VERSION: ${{ inputs.trik_qt_version }}
         TRIK_PYTHON3_VERSION_MINOR: ${{ inputs.trik_python3_version_minor }}
@@ -157,6 +158,8 @@ jobs:
         EXECUTOR: ${{ inputs.executor }}
         QMAKE_EXTRA: ${{ inputs.qmake_extra }}
         NEED_COMPILE_DATABASE: ${{ inputs.lint_clazy }}
+        BUILD_DIR: ${{ env.BUILD_DIR }}
+        ROOT_DIR: ${{ github.workspace }}
       if: ${{ inputs.build }}
 
     - name: Save build cache
@@ -167,17 +170,18 @@ jobs:
       if: ${{ inputs.build }}
 
     - name: Run tests
-      run: ${{ inputs.executor }} buildScripts/github/run_tests.sh
+      run: ${{ inputs.executor }} "$GITHUB_WORKSPACE/buildScripts/github/run_tests.sh"
+      working-directory: ${{ env.BUILD_DIR }}
       env:
         TRIK_PYTHON3_VERSION_MINOR: ${{ inputs.trik_python3_version_minor }}
         TESTS: ${{ inputs.tests }}
       if: ${{ inputs.build == true }}
 
     - name: Clazy-standalone
-      uses: MinyazevR/clazy-standalone-action@v0.3.2
+      uses: MinyazevR/clazy-standalone-action@f586d952ec72bb7ea5910e9e78903cc4ed4510d7
       with:
         checks: 'level0,level1,level2'
-        database: './compile_commands.json'
+        database: 'build'
         fail-on-warning: true
         install-stable: true
         only-diff: true
@@ -186,7 +190,8 @@ jobs:
 
     - name: Build Installer
       run: |
-        buildScripts/github/build_installer.sh
+         "$GITHUB_WORKSPACE/buildScripts/github/build_installer.sh"
+      working-directory: ${{ env.BUILD_DIR }}
       env:
         TRIK_QT_VERSION: ${{ inputs.trik_qt_version }}
         TRIK_PYTHON3_VERSION_MINOR: ${{ inputs.trik_python3_version_minor }}
@@ -199,6 +204,7 @@ jobs:
         ssh_key: ${{ secrets.DL_PRIVATE_SSH_KEY }}
         username: ${{ secrets.DL_USERNAME }}
         host: ${{ secrets.DL_HOST }}
+        ROOT_DIR: ${{ github.workspace }}
       if: ${{ inputs.build_installer }}
 
     - name: Evaluate artifact name

buildScripts/github/build.sh

@@ -38,6 +38,8 @@ CCACHE_DIR="$CCACHE_DIR" \
 CONFIG="$CONFIG" \
 QMAKE_EXTRA="$QMAKE_EXTRA" \
 PROJECT="$PROJECT" \
+BUILD_DIR="$BUILD_DIR" \
+ROOT_DIR="$ROOT_DIR" \
 RUNNER_OS="$RUNNER_OS" \
 buildScripts/github/build_internal.sh
 

buildScripts/github/build_installer.sh

@@ -33,10 +33,13 @@ if [[ "$RUNNER_OS" == Linux ]] ; then
 fi
 
 echo Start build installer
-$EXECUTOR bash -c "installer/build-trik-studio.sh $QTBIN $QTIFWBIN ."
+$EXECUTOR bash -c "$ROOT_DIR/installer/build-trik-studio.sh $QTBIN $QTIFWBIN ."
+
+pushd "$ROOT_DIR/installer"
 
 INSTALLER_NAME=$(find installer -name "trik-studio*installer*" -print -quit | grep . ) 
 
 if "$NEED_DEPLOY" ; then
     $EXECUTOR bash -c "rsync -v --rsh='ssh -o StrictHostKeyChecking=no -vvv -i $HOME/.ssh/id_rsa' $INSTALLER_NAME $username@$host:~/dl/ts/fresh/installer/$TSNAME"
 fi
+popd

buildScripts/github/build_internal.sh

@@ -10,9 +10,12 @@ qmake -query
 ccache -sz
 { which python3 && python3 -V || true ; }
 { which python && python -V || true ; }
+mkdir -p build && cd build
 export PYTHON_DIR=$(python3.${TRIK_PYTHON3_VERSION_MINOR}-config --prefix)
 rm -f .qmake.cache
-qmake -Wall PYTHON_VERSION=3.$TRIK_PYTHON3_VERSION_MINOR PYTHON_PATH=/usr CONFIG+=$CONFIG $QMAKE_EXTRA $PROJECT.pro
+
+pushd "$BUILD_DIR"
+qmake -Wall PYTHON_VERSION=3.$TRIK_PYTHON3_VERSION_MINOR PYTHON_PATH=/usr CONFIG+=$CONFIG $QMAKE_EXTRA "$ROOT_DIR/$PROJECT.pro"
 make -j $(nproc) qmake_all 2>&1 | tee -a build.log
 ccache -s
 if [ "$NEED_COMPILE_DATABASE" = "true" ]; then

plugins/robots/common/twoDModel/src/engine/model/physics/box2DPhysicsEngine.cpp

@@ -78,8 +78,9 @@ qreal Box2DPhysicsEngine::rotation(model::RobotModel &robot) const
 		return 0;
 	}
 
-	auto angle = b2Rot_GetAngle(b2Body_GetRotation(mBox2DRobots[&robot]->getBodyId()));
-	return angleToScene(angle - mPrevAngle);
+	auto currentAngle = b2Rot_GetAngle(b2Body_GetRotation(mBox2DRobots[&robot]->getBodyId()));
+	const auto angle = countAngle(mPrevAngle, currentAngle);
+	return angleToScene(angle);
 }
 
 void Box2DPhysicsEngine::onPressedReleasedSelectedItems(bool active)

plugins/robots/common/twoDModel/src/engine/model/physics/box2DPhysicsEngine.h

@@ -77,6 +77,18 @@ class Box2DPhysicsEngine : public PhysicsEngineBase
 
 	b2WorldId box2DWorldId();
 
+	static inline qreal countAngle(const qreal previousAngle, const qreal currentAngle) {
+		qreal deltaAngle = currentAngle - previousAngle;
+
+		if (deltaAngle > mathUtils::pi) {
+			deltaAngle -= 2 * mathUtils::pi;
+		} else if (deltaAngle < -mathUtils::pi) {
+			deltaAngle += 2 * mathUtils::pi;
+		}
+
+		return deltaAngle;
+	}
+
 public slots:
 	void onItemDragged(graphicsUtils::AbstractItem *item);
 	void onRobotStartPositionChanged(const QPointF &newPos, twoDModel::model::RobotModel *robot);

plugins/robots/common/twoDModel/src/engine/model/physics/parts/box2DItem.cpp

@@ -114,8 +114,10 @@ b2BodyId Box2DItem::getBodyId() const
 
 bool Box2DItem::angleOrPositionChanged() const
 {
-	auto angle = b2Rot_GetAngle(b2Body_GetRotation(mBodyId));
+	auto currentAngle = b2Rot_GetAngle(b2Body_GetRotation(mBodyId));
 	auto position = b2Body_GetPosition(mBodyId);
+
+	auto angle = Box2DPhysicsEngine::countAngle(mPreviousRotation, currentAngle);
 	return b2Distance(mPreviousPosition, position) > FLT_EPSILON
-			|| qAbs(mPreviousRotation - angle) > FLT_EPSILON;
+	                || qAbs(angle) > FLT_EPSILON;
 }

plugins/robots/common/twoDModel/src/engine/model/physics/parts/box2DRobot.cpp

@@ -154,7 +154,7 @@ void Box2DRobot::setRotation(float angle)
 		b2Body_GetJoints(wheelBodyId, joints.data(), 1);
 		auto position = b2Joint_GetLocalFrameB(joints[0]);
 		auto point = b2Body_GetWorldPoint(b2Joint_GetBodyB(joints[0]), position.p);
-		b2Body_SetTransform(wheelBodyId, point , rotation);
+		b2Body_SetTransform(wheelBodyId, point, rotation);
 	}
 
 	reinitSensors();