forked from bit/DotRecastNetSim
125 lines
8.1 KiB
C#
125 lines
8.1 KiB
C#
/*
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Copyright (c) 2009-2010 Mikko Mononen memon@inside.org
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recast4j copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
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DotRecast Copyright (c) 2023 Choi Ikpil ikpil@naver.com
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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 NUnit.Framework;
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namespace DotRecast.Detour.Crowd.Test;
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[Parallelizable]
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public class Crowd4VelocityTest : AbstractCrowdTest
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{
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static readonly float[][] EXPECTED_A1Q3TVTA =
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{
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new[] { 6.101694f, 10.197294f, -17.678480f, 0.000000f, 0.000000f, 0.000000f },
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new[] { 6.024141f, 10.197294f, -17.589798f, -0.107331f, 0.000000f, 0.098730f },
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new[] { 6.004839f, 10.197294f, -17.554886f, -0.096506f, 0.000000f, 0.174561f },
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new[] { 5.744515f, 10.197294f, -17.309479f, -2.590961f, 0.000000f, 2.353066f },
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new[] { 5.253671f, 10.197294f, -16.842125f, -2.534360f, 0.000000f, 2.413922f },
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new[] { 4.789658f, 10.197294f, -16.318014f, -2.320063f, 0.000000f, 2.620555f },
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new[] { 4.407527f, 10.197294f, -15.731520f, -1.910654f, 0.000000f, 2.932474f },
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new[] { 4.023476f, 10.197294f, -15.146280f, -1.920256f, 0.000000f, 2.926195f },
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new[] { 3.645756f, 10.197294f, -14.556935f, -1.888601f, 0.000000f, 2.946725f },
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new[] { 3.277534f, 10.197294f, -13.961610f, -1.841108f, 0.000000f, 2.976629f },
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new[] { 2.924562f, 10.197294f, -13.357118f, -1.764861f, 0.000000f, 3.022460f },
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new[] { 2.598673f, 10.197294f, -12.737605f, -1.629447f, 0.000000f, 3.097564f },
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new[] { 2.330214f, 10.197294f, -12.091130f, -1.342291f, 0.000000f, 3.232376f },
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new[] { 2.174726f, 10.197294f, -11.408617f, -0.777438f, 0.000000f, 3.412564f },
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new[] { 2.040282f, 10.197294f, -10.721649f, -0.672225f, 0.000000f, 3.434838f },
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new[] { 1.958181f, 10.197294f, -10.026481f, -0.410503f, 0.000000f, 3.475843f },
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new[] { 1.653389f, 10.197294f, -9.396320f, -1.523958f, 0.000000f, 3.150802f },
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new[] { 1.642715f, 10.197294f, -8.696402f, -0.053371f, 0.000000f, 3.499593f },
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new[] { 1.937517f, 10.197294f, -8.091795f, 2.033996f, 0.000000f, 2.848308f },
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new[] { 2.364934f, 10.197294f, -7.537435f, 2.137084f, 0.000000f, 2.771799f },
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new[] { 2.802262f, 10.197294f, -6.990860f, 2.186641f, 0.000000f, 2.732875f },
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new[] { 3.186367f, 10.197294f, -6.759828f, 1.617082f, 0.000000f, -0.643841f },
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new[] { 3.460433f, 10.197294f, -6.829281f, 1.002684f, 0.000000f, -1.351205f },
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new[] { 3.605715f, 10.197294f, -6.794649f, 0.726412f, 0.000000f, 0.173160f },
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new[] { 3.796394f, 10.197294f, -6.840563f, 0.953395f, 0.000000f, -0.229571f },
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new[] { 3.882745f, 10.197294f, -6.956440f, 0.431757f, 0.000000f, -0.579388f },
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new[] { 3.983807f, 10.197294f, -7.160242f, 0.505308f, 0.000000f, -1.019009f },
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new[] { 4.031534f, 10.197294f, -7.358752f, 0.238635f, 0.000000f, -0.992549f },
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new[] { 4.081295f, 10.197294f, -7.517536f, 0.248804f, 0.000000f, -0.793922f },
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new[] { 4.108567f, 10.197294f, -7.630970f, 0.136363f, 0.000000f, -0.567171f },
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new[] { 4.092495f, 10.197294f, -7.727181f, -0.080361f, 0.000000f, -0.481056f },
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new[] { 4.096027f, 10.197294f, -7.807384f, 0.017662f, 0.000000f, -0.401016f },
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new[] { 4.131466f, 10.197294f, -7.874563f, 0.177196f, 0.000000f, -0.335895f },
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new[] { 4.102508f, 10.197294f, -7.917174f, -0.144795f, 0.000000f, -0.213056f },
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new[] { 4.073549f, 10.197294f, -7.959785f, -0.144795f, 0.000000f, -0.213056f },
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new[] { 4.044590f, 10.197294f, -8.002397f, -0.144795f, 0.000000f, -0.213056f },
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new[] { 3.983432f, 10.197294f, -8.032723f, -0.305791f, 0.000000f, -0.151636f },
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new[] { 3.948404f, 10.197294f, -8.050093f, -0.175139f, 0.000000f, -0.086848f },
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new[] { 3.935988f, 10.197294f, -8.078673f, -0.062080f, 0.000000f, -0.142903f },
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new[] { 3.943177f, 10.197294f, -8.091246f, 0.035943f, 0.000000f, -0.062864f },
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new[] { 3.950365f, 10.197294f, -8.103818f, 0.035943f, 0.000000f, -0.062864f },
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new[] { 3.957554f, 10.197294f, -8.116390f, 0.035943f, 0.000000f, -0.062864f },
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new[] { 3.964742f, 10.197294f, -8.128963f, 0.035943f, 0.000000f, -0.062864f },
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new[] { 4.003838f, 10.197294f, -8.128510f, 0.195477f, 0.000000f, 0.002258f },
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new[] { 4.042933f, 10.197294f, -8.128058f, 0.195477f, 0.000000f, 0.002258f },
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new[] { 4.082028f, 10.197294f, -8.127606f, 0.195477f, 0.000000f, 0.002258f },
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new[] { 4.121124f, 10.197294f, -8.127154f, 0.195477f, 0.000000f, 0.002258f },
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new[] { 4.160219f, 10.197294f, -8.126702f, 0.195477f, 0.000000f, 0.002258f },
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new[] { 4.199315f, 10.197294f, -8.126250f, 0.195477f, 0.000000f, 0.002258f },
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new[] { 4.206211f, 10.197294f, -8.113515f, 0.034481f, 0.000000f, 0.063677f },
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new[] { 4.213107f, 10.197294f, -8.100780f, 0.034481f, 0.000000f, 0.063677f },
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new[] { 4.230340f, 10.197294f, -8.092234f, 0.086165f, 0.000000f, 0.042728f },
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new[] { 4.247572f, 10.197294f, -8.083688f, 0.086165f, 0.000000f, 0.042728f },
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new[] { 4.246885f, 10.197294f, -8.098154f, -0.003438f, 0.000000f, -0.072332f },
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new[] { 4.264118f, 10.197294f, -8.089608f, 0.086165f, 0.000000f, 0.042728f },
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new[] { 4.281351f, 10.197294f, -8.081062f, 0.086165f, 0.000000f, 0.042728f },
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new[] { 4.280663f, 10.197294f, -8.095529f, -0.003438f, 0.000000f, -0.072332f },
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new[] { 4.297896f, 10.197294f, -8.086983f, 0.086165f, 0.000000f, 0.042728f },
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new[] { 4.315129f, 10.197294f, -8.078437f, 0.086165f, 0.000000f, 0.042728f },
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new[] { 4.332362f, 10.197294f, -8.069891f, 0.086165f, 0.000000f, 0.042728f },
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new[] { 4.322824f, 10.197294f, -8.046370f, -0.047688f, 0.000000f, 0.117607f },
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new[] { 4.322136f, 10.197294f, -8.060836f, -0.003438f, 0.000000f, -0.072332f },
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new[] { 4.321449f, 10.197294f, -8.075302f, -0.003438f, 0.000000f, -0.072332f },
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new[] { 4.320761f, 10.197294f, -8.089768f, -0.003438f, 0.000000f, -0.072332f },
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new[] { 4.337994f, 10.197294f, -8.081223f, 0.086165f, 0.000000f, 0.042728f },
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new[] { 4.328456f, 10.197294f, -8.057701f, -0.047688f, 0.000000f, 0.117607f },
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new[] { 4.327769f, 10.197294f, -8.072167f, -0.003438f, 0.000000f, -0.072332f }
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};
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[Test]
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public void testAgent1Quality3TVTA()
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{
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int updateFlags = CrowdAgentParams.DT_CROWD_ANTICIPATE_TURNS | CrowdAgentParams.DT_CROWD_OPTIMIZE_VIS
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| CrowdAgentParams.DT_CROWD_OPTIMIZE_TOPO | CrowdAgentParams.DT_CROWD_OBSTACLE_AVOIDANCE;
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addAgentGrid(2, 0.3f, updateFlags, 3, endPoss[0]);
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setMoveTarget(endPoss[4], false);
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for (int i = 0; i < EXPECTED_A1Q3TVTA.Length; i++)
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{
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crowd.update(1 / 5f, null);
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if (i == 20)
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{
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setMoveTarget(startPoss[2], true);
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}
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CrowdAgent ag = agents[1];
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Assert.That(ag.npos.x, Is.EqualTo(EXPECTED_A1Q3TVTA[i][0]).Within(0.001f));
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Assert.That(ag.npos.y, Is.EqualTo(EXPECTED_A1Q3TVTA[i][1]).Within(0.001f));
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Assert.That(ag.npos.z, Is.EqualTo(EXPECTED_A1Q3TVTA[i][2]).Within(0.001f));
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Assert.That(ag.nvel.x, Is.EqualTo(EXPECTED_A1Q3TVTA[i][3]).Within(0.001f));
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Assert.That(ag.nvel.y, Is.EqualTo(EXPECTED_A1Q3TVTA[i][4]).Within(0.001f));
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Assert.That(ag.nvel.z, Is.EqualTo(EXPECTED_A1Q3TVTA[i][5]).Within(0.001f));
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}
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}
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}
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