forked from bit/DotRecastNetSim
79 lines
3.6 KiB
C#
79 lines
3.6 KiB
C#
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 DotRecast.Detour.QueryResults;
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using NUnit.Framework;
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namespace DotRecast.Detour.Dynamic.Test;
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[Parallelizable]
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public class DynamicNavMeshTest
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{
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private static readonly RcVec3f START_POS = RcVec3f.Of(70.87453f, 0.0010070801f, 86.69021f);
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private static readonly RcVec3f END_POS = RcVec3f.Of(-50.22061f, 0.0010070801f, -70.761444f);
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private static readonly RcVec3f EXTENT = RcVec3f.Of(0.1f, 0.1f, 0.1f);
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private static readonly RcVec3f SPHERE_POS = RcVec3f.Of(45.381645f, 0.0010070801f, 52.68981f);
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[Test]
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public void E2eTest()
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{
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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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DtNavMeshQuery query = new DtNavMeshQuery(mesh.NavMesh());
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IDtQueryFilter filter = new DtQueryDefaultFilter();
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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, DtNavMeshQuery.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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ICollider 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 DtNavMeshQuery(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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DtNavMeshQuery.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 DtNavMeshQuery(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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DtNavMeshQuery.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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} |