forked from bit/DotRecastNetSim
77 lines
3.5 KiB
C#
77 lines
3.5 KiB
C#
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using System.Collections.Generic;
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using System.IO;
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using System.Threading.Tasks;
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using DotRecast.Core;
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using DotRecast.Detour.Dynamic.Colliders;
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using DotRecast.Detour.Dynamic.Io;
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using NUnit.Framework;
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namespace DotRecast.Detour.Dynamic.Test;
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public class DynamicNavMeshTest {
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private static readonly float[] START_POS = new float[] { 70.87453f, 0.0010070801f, 86.69021f };
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private static readonly float[] END_POS = new float[] { -50.22061f, 0.0010070801f, -70.761444f };
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private static readonly float[] EXTENT = new float[] { 0.1f, 0.1f, 0.1f };
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private static readonly float[] SPHERE_POS = new float[] { 45.381645f, 0.0010070801f, 52.68981f };
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[Test]
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public void e2eTest() {
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byte[] bytes = Loader.ToBytes("test_tiles.voxels");
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using var ms = new MemoryStream(bytes);
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using var bis = new BinaryReader(ms);
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// load voxels from file
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VoxelFileReader reader = new VoxelFileReader();
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VoxelFile f = reader.read(bis);
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// create dynamic navmesh
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DynamicNavMesh mesh = new DynamicNavMesh(f);
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// build navmesh asynchronously using multiple threads
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Task<bool> future = mesh.build(Task.Factory);
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// wait for build to complete
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bool _ = future.Result;
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// create new query
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NavMeshQuery query = new NavMeshQuery(mesh.navMesh());
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QueryFilter filter = new DefaultQueryFilter();
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// find path
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FindNearestPolyResult start = query.findNearestPoly(START_POS, EXTENT, filter).result;
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FindNearestPolyResult end = query.findNearestPoly(END_POS, EXTENT, filter).result;
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List<long> path = query.findPath(start.getNearestRef(), end.getNearestRef(), start.getNearestPos(),
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end.getNearestPos(), filter, NavMeshQuery.DT_FINDPATH_ANY_ANGLE, float.MaxValue).result;
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// check path length without any obstacles
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Assert.That(path.Count, Is.EqualTo(16));
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// place obstacle
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Collider colldier = new SphereCollider(SPHERE_POS, 20, SampleAreaModifications.SAMPLE_POLYAREA_TYPE_GROUND, 0.1f);
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long colliderId = mesh.addCollider(colldier);
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// update navmesh asynchronously
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future = mesh.update(Task.Factory);
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// wait for update to complete
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_ = future.Result;
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// create new query
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query = new NavMeshQuery(mesh.navMesh());
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// find path again
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start = query.findNearestPoly(START_POS, EXTENT, filter).result;
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end = query.findNearestPoly(END_POS, EXTENT, filter).result;
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path = query.findPath(start.getNearestRef(), end.getNearestRef(), start.getNearestPos(), end.getNearestPos(), filter,
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NavMeshQuery.DT_FINDPATH_ANY_ANGLE, float.MaxValue).result;
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// check path length with obstacles
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Assert.That(path.Count, Is.EqualTo(19));
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// remove obstacle
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mesh.removeCollider(colliderId);
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// update navmesh asynchronously
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future = mesh.update(Task.Factory);
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// wait for update to complete
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_ = future.Result;
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// create new query
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query = new NavMeshQuery(mesh.navMesh());
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// find path one more time
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start = query.findNearestPoly(START_POS, EXTENT, filter).result;
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end = query.findNearestPoly(END_POS, EXTENT, filter).result;
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path = query.findPath(start.getNearestRef(), end.getNearestRef(), start.getNearestPos(), end.getNearestPos(), filter,
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NavMeshQuery.DT_FINDPATH_ANY_ANGLE, float.MaxValue).result;
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// path length should be back to the initial value
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Assert.That(path.Count, Is.EqualTo(16));
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}
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}
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