DotRecastNetSim/test/DotRecast.Detour.Dynamic.Test/VoxelQueryTest.cs

/*
recast4j copyright (c) 2021 Piotr Piastucki piotr@jtilia.org

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arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
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 claim that you wrote the original software. If you use this software
 in a product, an acknowledgment in the product documentation would be
 appreciated but is not required.
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 misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/

using System;
using System.IO;
using System.Threading.Tasks;
using System.Collections.Generic;
using DotRecast.Core;
using DotRecast.Detour.Dynamic.Io;
using DotRecast.Detour.Dynamic.Test.Io;
using DotRecast.Recast;
using Moq;
using NUnit.Framework;

namespace DotRecast.Detour.Dynamic.Test;

[Parallelizable]
public class VoxelQueryTest
{
    private const int TILE_WIDTH = 100;
    private const int TILE_DEPTH = 90;
    private static readonly RcVec3f ORIGIN = RcVec3f.Of(50, 10, 40);


    [Test]
    public void ShouldTraverseTiles()
    {
        var hfProvider = new Mock<Func<int, int, RcHeightfield>>();

        // Given
        List<int> captorX = new();
        List<int> captorZ = new();

        hfProvider
            .Setup(e => e.Invoke(It.IsAny<int>(), It.IsAny<int>()))
            .Returns((RcHeightfield)null)
            .Callback<int, int>((x, z) =>
            {
                captorX.Add(x);
                captorZ.Add(z);
            });

        VoxelQuery query = new VoxelQuery(ORIGIN, TILE_WIDTH, TILE_DEPTH, hfProvider.Object);
        RcVec3f start = RcVec3f.Of(120, 10, 365);
        RcVec3f end = RcVec3f.Of(320, 10, 57);

        // When
        query.Raycast(start, end, out var hit);
        // Then
        hfProvider.Verify(mock => mock.Invoke(It.IsAny<int>(), It.IsAny<int>()), Times.Exactly(6));
        Assert.That(captorX, Is.EqualTo(new[] { 0, 1, 1, 1, 2, 2 }));
        Assert.That(captorZ, Is.EqualTo(new[] { 3, 3, 2, 1, 1, 0 }));
    }

    [Test]
    public void ShouldHandleRaycastWithoutObstacles()
    {
        DynamicNavMesh mesh = CreateDynaMesh();
        VoxelQuery query = mesh.VoxelQuery();
        RcVec3f start = RcVec3f.Of(7.4f, 0.5f, -64.8f);
        RcVec3f end = RcVec3f.Of(31.2f, 0.5f, -75.3f);
        bool isHit = query.Raycast(start, end, out var hit);
        Assert.That(isHit, Is.EqualTo(false));
    }

    [Test]
    public void ShouldHandleRaycastWithObstacles()
    {
        DynamicNavMesh mesh = CreateDynaMesh();
        VoxelQuery query = mesh.VoxelQuery();
        RcVec3f start = RcVec3f.Of(32.3f, 0.5f, 47.9f);
        RcVec3f end = RcVec3f.Of(-31.2f, 0.5f, -29.8f);
        bool isHit = query.Raycast(start, end, out var hit);
        Assert.That(isHit, Is.EqualTo(true));
        Assert.That(hit, Is.EqualTo(0.5263836f).Within(1e-7f));
    }

    private DynamicNavMesh CreateDynaMesh()
    {
        var bytes = Loader.ToBytes("test_tiles.voxels");
        using var ms = new MemoryStream(bytes);
        using var bis = new BinaryReader(ms);

        // load voxels from file
        VoxelFileReader reader = new VoxelFileReader(DtVoxelTileLZ4ForTestCompressor.Shared);
        VoxelFile f = reader.Read(bis);
        // create dynamic navmesh
        var mesh = new DynamicNavMesh(f);
        // build navmesh asynchronously using multiple threads
        Task<bool> future = mesh.Build(Task.Factory);
        // wait for build to complete
        var _ = future.Result;
        return mesh;
    }
}