forked from bit/DotRecastNetSim
208 lines
10 KiB
C#
208 lines
10 KiB
C#
/*
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recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
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This software is provided 'as-is', without any express or implied
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warranty. In no event will the authors be held liable for any damages
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arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it
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freely, subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not
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claim that you wrote the original software. If you use this software
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in a product, an acknowledgment in the product documentation would be
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appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be
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misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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using System.Collections.Generic;
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using DotRecast.Core.Numerics;
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using NUnit.Framework;
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namespace DotRecast.Detour.Test;
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[Parallelizable]
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public class FindPathTest : AbstractDetourTest
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{
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private static readonly DtStatus[] STATUSES =
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{
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DtStatus.DT_SUCCESS,
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DtStatus.DT_SUCCESS | DtStatus.DT_PARTIAL_RESULT,
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DtStatus.DT_SUCCESS,
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DtStatus.DT_SUCCESS,
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DtStatus.DT_SUCCESS
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};
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private static readonly long[][] RESULTS =
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{
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new[]
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{
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281474976710696L, 281474976710695L, 281474976710694L, 281474976710703L, 281474976710706L,
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281474976710705L, 281474976710702L, 281474976710701L, 281474976710714L, 281474976710713L,
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281474976710712L, 281474976710727L, 281474976710730L, 281474976710717L, 281474976710721L
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},
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new[]
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{
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281474976710773L, 281474976710772L, 281474976710768L, 281474976710754L, 281474976710755L,
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281474976710753L, 281474976710748L, 281474976710752L, 281474976710731L, 281474976710729L,
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281474976710717L, 281474976710724L, 281474976710728L, 281474976710737L, 281474976710738L,
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281474976710736L, 281474976710733L, 281474976710735L, 281474976710742L, 281474976710740L,
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281474976710746L, 281474976710745L, 281474976710744L
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},
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new[]
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{
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281474976710680L, 281474976710684L, 281474976710688L, 281474976710687L, 281474976710686L,
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281474976710697L, 281474976710695L, 281474976710694L, 281474976710703L, 281474976710706L,
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281474976710705L, 281474976710702L, 281474976710701L, 281474976710714L, 281474976710713L,
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281474976710712L, 281474976710727L, 281474976710730L, 281474976710717L, 281474976710729L,
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281474976710731L, 281474976710752L, 281474976710748L, 281474976710753L, 281474976710755L,
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281474976710754L, 281474976710768L, 281474976710772L, 281474976710773L, 281474976710770L,
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281474976710757L, 281474976710761L, 281474976710758L
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},
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new[] { 281474976710753L, 281474976710748L, 281474976710752L, 281474976710731L },
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new[]
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{
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281474976710733L, 281474976710736L, 281474976710738L, 281474976710737L, 281474976710728L,
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281474976710724L, 281474976710717L, 281474976710729L, 281474976710731L, 281474976710752L,
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281474976710748L, 281474976710753L, 281474976710755L, 281474976710754L, 281474976710768L,
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281474976710772L
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}
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};
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private static readonly DtStraightPath[][] STRAIGHT_PATHS =
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{
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new[]
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{
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new DtStraightPath(new RcVec3f(22.606520f, 10.197294f, -45.918674f), 1, 281474976710696L),
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new DtStraightPath(new RcVec3f(3.484785f, 10.197294f, -34.241272f), 0, 281474976710713L),
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new DtStraightPath(new RcVec3f(1.984785f, 10.197294f, -31.241272f), 0, 281474976710712L),
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new DtStraightPath(new RcVec3f(1.984785f, 10.197294f, -29.741272f), 0, 281474976710727L),
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new DtStraightPath(new RcVec3f(2.584784f, 10.197294f, -27.941273f), 0, 281474976710730L),
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new DtStraightPath(new RcVec3f(6.457663f, 10.197294f, -18.334061f), 2, 0L)
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},
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new[]
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{
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new DtStraightPath(new RcVec3f(22.331268f, 10.197294f, -1.040187f), 1, 281474976710773L),
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new DtStraightPath(new RcVec3f(9.784786f, 10.197294f, -2.141273f), 0, 281474976710755L),
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new DtStraightPath(new RcVec3f(7.984783f, 10.197294f, -2.441269f), 0, 281474976710753L),
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new DtStraightPath(new RcVec3f(1.984785f, 10.197294f, -8.441269f), 0, 281474976710752L),
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new DtStraightPath(new RcVec3f(-4.315216f, 10.197294f, -15.341270f), 0, 281474976710724L),
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new DtStraightPath(new RcVec3f(-8.215216f, 10.197294f, -17.441269f), 0, 281474976710728L),
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new DtStraightPath(new RcVec3f(-10.015216f, 10.197294f, -17.741272f), 0, 281474976710738L),
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new DtStraightPath(new RcVec3f(-11.815216f, 9.997294f, -17.441269f), 0, 281474976710736L),
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new DtStraightPath(new RcVec3f(-17.815216f, 5.197294f, -11.441269f), 0, 281474976710735L),
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new DtStraightPath(new RcVec3f(-17.815216f, 5.197294f, -8.441269f), 0, 281474976710746L),
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new DtStraightPath(new RcVec3f(-11.815216f, 0.197294f, 3.008419f), 2, 0L)
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},
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new[]
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{
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new DtStraightPath(new RcVec3f(18.694363f, 15.803535f, -73.090416f), 1, 281474976710680L),
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new DtStraightPath(new RcVec3f(17.584785f, 10.197294f, -49.841274f), 0, 281474976710697L),
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new DtStraightPath(new RcVec3f(17.284786f, 10.197294f, -48.041275f), 0, 281474976710695L),
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new DtStraightPath(new RcVec3f(16.084785f, 10.197294f, -45.341274f), 0, 281474976710694L),
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new DtStraightPath(new RcVec3f(3.484785f, 10.197294f, -34.241272f), 0, 281474976710713L),
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new DtStraightPath(new RcVec3f(1.984785f, 10.197294f, -31.241272f), 0, 281474976710712L),
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new DtStraightPath(new RcVec3f(1.984785f, 10.197294f, -8.441269f), 0, 281474976710753L),
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new DtStraightPath(new RcVec3f(7.984783f, 10.197294f, -2.441269f), 0, 281474976710755L),
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new DtStraightPath(new RcVec3f(9.784786f, 10.197294f, -2.141273f), 0, 281474976710768L),
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new DtStraightPath(new RcVec3f(38.423977f, 10.197294f, -0.116067f), 2, 0L)
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},
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new[]
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{
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new DtStraightPath(new RcVec3f(0.745335f, 10.197294f, -5.940050f), 1, 281474976710753L),
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new DtStraightPath(new RcVec3f(0.863553f, 10.197294f, -10.310320f), 2, 0L)
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},
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new[]
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{
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new DtStraightPath(new RcVec3f(-20.651257f, 5.904126f, -13.712508f), 1, 281474976710733L),
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new DtStraightPath(new RcVec3f(-11.815216f, 9.997294f, -17.441269f), 0, 281474976710738L),
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new DtStraightPath(new RcVec3f(-10.015216f, 10.197294f, -17.741272f), 0, 281474976710728L),
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new DtStraightPath(new RcVec3f(-8.215216f, 10.197294f, -17.441269f), 0, 281474976710724L),
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new DtStraightPath(new RcVec3f(-4.315216f, 10.197294f, -15.341270f), 0, 281474976710729L),
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new DtStraightPath(new RcVec3f(1.984785f, 10.197294f, -8.441269f), 0, 281474976710753L),
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new DtStraightPath(new RcVec3f(7.984783f, 10.197294f, -2.441269f), 0, 281474976710755L),
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new DtStraightPath(new RcVec3f(18.784092f, 10.197294f, 3.054368f), 2, 0L)
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}
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};
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[Test]
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public void TestFindPath()
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{
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IDtQueryFilter filter = new DtQueryDefaultFilter();
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var path = new List<long>();
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for (int i = 0; i < startRefs.Length; i++)
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{
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long startRef = startRefs[i];
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long endRef = endRefs[i];
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RcVec3f startPos = startPoss[i];
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RcVec3f endPos = endPoss[i];
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var status = query.FindPath(startRef, endRef, startPos, endPos, filter, ref path, DtFindPathOption.NoOption);
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Assert.That(status, Is.EqualTo(STATUSES[i]));
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Assert.That(path.Count, Is.EqualTo(RESULTS[i].Length));
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for (int j = 0; j < RESULTS[i].Length; j++)
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{
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Assert.That(path[j], Is.EqualTo(RESULTS[i][j]));
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}
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}
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}
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[Test]
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public void TestFindPathSliced()
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{
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IDtQueryFilter filter = new DtQueryDefaultFilter();
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var path = new List<long>();
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for (int i = 0; i < startRefs.Length; i++)
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{
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long startRef = startRefs[i];
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long endRef = endRefs[i];
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var startPos = startPoss[i];
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var endPos = endPoss[i];
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query.InitSlicedFindPath(startRef, endRef, startPos, endPos, filter, DtFindPathOptions.DT_FINDPATH_ANY_ANGLE);
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DtStatus status = DtStatus.DT_IN_PROGRESS;
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while (status.InProgress())
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{
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status = query.UpdateSlicedFindPath(10, out var _);
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}
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status = query.FinalizeSlicedFindPath(ref path);
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Assert.That(status, Is.EqualTo(STATUSES[i]), $"index({i})");
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Assert.That(path.Count, Is.EqualTo(RESULTS[i].Length));
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for (int j = 0; j < RESULTS[i].Length; j++)
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{
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Assert.That(path[j], Is.EqualTo(RESULTS[i][j]));
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}
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}
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}
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[Test]
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public void TestFindPathStraight()
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{
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IDtQueryFilter filter = new DtQueryDefaultFilter();
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var path = new List<long>();
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for (int i = 0; i < STRAIGHT_PATHS.Length; i++)
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{
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// startRefs.Length; i++) {
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long startRef = startRefs[i];
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long endRef = endRefs[i];
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var startPos = startPoss[i];
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var endPos = endPoss[i];
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var status = query.FindPath(startRef, endRef, startPos, endPos, filter, ref path, DtFindPathOption.NoOption);
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var straightPath = new List<DtStraightPath>();
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query.FindStraightPath(startPos, endPos, path, ref straightPath, int.MaxValue, 0);
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Assert.That(straightPath.Count, Is.EqualTo(STRAIGHT_PATHS[i].Length));
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for (int j = 0; j < STRAIGHT_PATHS[i].Length; j++)
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{
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Assert.That(straightPath[j].refs, Is.EqualTo(STRAIGHT_PATHS[i][j].refs));
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Assert.That(straightPath[j].pos.X, Is.EqualTo(STRAIGHT_PATHS[i][j].pos.X).Within(0.01f));
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Assert.That(straightPath[j].pos.Y, Is.EqualTo(STRAIGHT_PATHS[i][j].pos.Y).Within(0.01f));
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Assert.That(straightPath[j].pos.Z, Is.EqualTo(STRAIGHT_PATHS[i][j].pos.Z).Within(0.01f));
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Assert.That(straightPath[j].flags, Is.EqualTo(STRAIGHT_PATHS[i][j].flags));
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}
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}
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}
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} |