forked from bit/DotRecastNetSim
180 lines
8.4 KiB
C#
180 lines
8.4 KiB
C#
/*
|
|
recast4j Copyright (c) 2015-2019 Piotr Piastucki piotr@jtilia.org
|
|
|
|
This software is provided 'as-is', without any express or implied
|
|
warranty. In no event will the authors be held liable for any damages
|
|
arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it
|
|
freely, subject to the following restrictions:
|
|
1. The origin of this software must not be misrepresented; you must not
|
|
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.
|
|
2. Altered source versions must be plainly marked as such, and must not be
|
|
misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
using DotRecast.Core;
|
|
|
|
using NUnit.Framework;
|
|
|
|
namespace DotRecast.Detour.Test;
|
|
|
|
[Parallelizable]
|
|
public class FindPolysAroundShapeTest : AbstractDetourTest
|
|
{
|
|
private static readonly long[][] REFS =
|
|
{
|
|
new[]
|
|
{
|
|
281474976710696L, 281474976710695L, 281474976710694L, 281474976710691L, 281474976710697L,
|
|
281474976710693L, 281474976710692L, 281474976710703L, 281474976710706L, 281474976710699L,
|
|
281474976710705L, 281474976710698L, 281474976710700L, 281474976710704L
|
|
},
|
|
new[]
|
|
{
|
|
281474976710773L, 281474976710769L, 281474976710772L, 281474976710768L, 281474976710771L,
|
|
281474976710754L, 281474976710755L, 281474976710753L, 281474976710751L, 281474976710756L,
|
|
281474976710749L
|
|
},
|
|
new[]
|
|
{
|
|
281474976710680L, 281474976710679L, 281474976710684L, 281474976710683L, 281474976710688L,
|
|
281474976710678L, 281474976710676L, 281474976710687L, 281474976710690L, 281474976710686L,
|
|
281474976710689L, 281474976710685L, 281474976710697L, 281474976710695L, 281474976710694L,
|
|
281474976710691L, 281474976710696L, 281474976710693L, 281474976710692L, 281474976710703L,
|
|
281474976710706L, 281474976710699L, 281474976710705L, 281474976710700L, 281474976710704L
|
|
},
|
|
new[] { 281474976710753L, 281474976710748L, 281474976710752L, 281474976710731L },
|
|
new[]
|
|
{
|
|
281474976710733L, 281474976710735L, 281474976710736L, 281474976710742L, 281474976710734L,
|
|
281474976710739L, 281474976710738L, 281474976710740L, 281474976710746L, 281474976710743L,
|
|
281474976710745L, 281474976710741L, 281474976710747L, 281474976710737L, 281474976710732L,
|
|
281474976710728L, 281474976710724L, 281474976710744L, 281474976710725L, 281474976710717L,
|
|
281474976710729L, 281474976710726L, 281474976710721L, 281474976710719L, 281474976710731L,
|
|
281474976710720L, 281474976710752L, 281474976710748L, 281474976710753L, 281474976710755L,
|
|
281474976710756L, 281474976710750L, 281474976710749L, 281474976710754L, 281474976710751L,
|
|
281474976710768L, 281474976710772L, 281474976710773L, 281474976710771L, 281474976710769L
|
|
}
|
|
};
|
|
|
|
private static readonly long[][] PARENT_REFS =
|
|
{
|
|
new[]
|
|
{
|
|
0L, 281474976710696L, 281474976710695L, 281474976710695L, 281474976710695L, 281474976710695L,
|
|
281474976710693L, 281474976710694L, 281474976710703L, 281474976710706L, 281474976710706L,
|
|
281474976710705L, 281474976710705L, 281474976710705L
|
|
},
|
|
new[]
|
|
{
|
|
0L, 281474976710773L, 281474976710773L, 281474976710772L, 281474976710772L, 281474976710768L,
|
|
281474976710754L, 281474976710755L, 281474976710755L, 281474976710753L, 281474976710756L
|
|
},
|
|
new[]
|
|
{
|
|
0L, 281474976710680L, 281474976710680L, 281474976710680L, 281474976710684L, 281474976710679L,
|
|
281474976710678L, 281474976710688L, 281474976710687L, 281474976710687L, 281474976710687L,
|
|
281474976710687L, 281474976710686L, 281474976710697L, 281474976710695L, 281474976710695L,
|
|
281474976710695L, 281474976710695L, 281474976710693L, 281474976710694L, 281474976710703L,
|
|
281474976710706L, 281474976710706L, 281474976710705L, 281474976710705L
|
|
},
|
|
new[] { 0L, 281474976710753L, 281474976710748L, 281474976710752L },
|
|
new[]
|
|
{
|
|
0L, 281474976710733L, 281474976710733L, 281474976710735L, 281474976710736L, 281474976710736L,
|
|
281474976710736L, 281474976710742L, 281474976710740L, 281474976710746L, 281474976710746L,
|
|
281474976710746L, 281474976710746L, 281474976710738L, 281474976710738L, 281474976710737L,
|
|
281474976710728L, 281474976710745L, 281474976710724L, 281474976710724L, 281474976710717L,
|
|
281474976710717L, 281474976710717L, 281474976710729L, 281474976710729L, 281474976710721L,
|
|
281474976710731L, 281474976710752L, 281474976710748L, 281474976710753L, 281474976710753L,
|
|
281474976710753L, 281474976710756L, 281474976710755L, 281474976710755L, 281474976710754L,
|
|
281474976710768L, 281474976710772L, 281474976710772L, 281474976710773L
|
|
}
|
|
};
|
|
|
|
private static readonly float[][] COSTS =
|
|
{
|
|
new[]
|
|
{
|
|
0.000000f, 16.188787f, 22.561579f, 19.950766f, 19.519329f, 21.906523f, 22.806520f, 23.311579f, 25.124035f,
|
|
28.454576f, 26.084503f, 36.438854f, 30.526634f, 31.942192f
|
|
},
|
|
new[]
|
|
{
|
|
0.000000f, 16.618738f, 12.136283f, 20.387646f, 17.343250f, 22.037645f, 22.787645f, 27.178831f, 26.501472f,
|
|
31.691311f, 33.176235f
|
|
},
|
|
new[]
|
|
{
|
|
0.000000f, 36.657764f, 35.197689f, 37.484924f, 37.755524f, 37.132103f, 37.582104f, 38.816185f, 52.426109f,
|
|
55.945839f, 51.882935f, 44.879601f, 57.745838f, 59.402641f, 65.063034f, 64.934372f, 62.733185f,
|
|
62.756744f, 63.656742f, 65.813034f, 67.625488f, 70.956032f, 68.585960f, 73.028091f, 74.443649f
|
|
},
|
|
new[] { 0.000000f, 2.097958f, 3.158618f, 4.658618f },
|
|
new[]
|
|
{
|
|
0.000000f, 20.495766f, 21.352942f, 21.999096f, 25.531757f, 28.758514f, 30.264732f, 23.499096f, 24.670631f,
|
|
33.166218f, 35.651184f, 34.371792f, 30.012215f, 33.886887f, 33.855347f, 34.643524f, 36.300327f,
|
|
38.203144f, 40.339203f, 40.203213f, 47.254810f, 50.043945f, 49.054485f, 49.804810f, 49.204811f,
|
|
52.813477f, 51.004814f, 52.504814f, 53.565475f, 62.748611f, 61.504147f, 57.915474f, 62.989071f,
|
|
67.139801f, 66.507599f, 67.889801f, 69.539803f, 77.791168f, 75.186256f, 83.111412f
|
|
}
|
|
};
|
|
|
|
[Test]
|
|
public void TestFindPolysAroundShape()
|
|
{
|
|
IDtQueryFilter filter = new DtQueryDefaultFilter();
|
|
for (int i = 0; i < startRefs.Length; i++)
|
|
{
|
|
long startRef = startRefs[i];
|
|
RcVec3f startPos = startPoss[i];
|
|
query.FindPolysAroundShape(startRef, GetQueryPoly(startPos, endPoss[i]), filter, out var refs, out var parentRefs, out var costs);
|
|
Assert.That(refs.Count, Is.EqualTo(REFS[i].Length));
|
|
for (int v = 0; v < REFS[i].Length; v++)
|
|
{
|
|
bool found = false;
|
|
for (int w = 0; w < REFS[i].Length; w++)
|
|
{
|
|
if (REFS[i][v] == refs[w])
|
|
{
|
|
Assert.That(parentRefs[w], Is.EqualTo(PARENT_REFS[i][v]));
|
|
Assert.That(costs[w], Is.EqualTo(COSTS[i][v]).Within(0.01f));
|
|
found = true;
|
|
}
|
|
}
|
|
|
|
Assert.That(found, Is.True);
|
|
}
|
|
}
|
|
}
|
|
|
|
private float[] GetQueryPoly(RcVec3f m_spos, RcVec3f m_epos)
|
|
{
|
|
float nx = (m_epos.z - m_spos.z) * 0.25f;
|
|
float nz = -(m_epos.x - m_spos.x) * 0.25f;
|
|
float agentHeight = 2.0f;
|
|
|
|
float[] m_queryPoly = new float[12];
|
|
m_queryPoly[0] = m_spos.x + nx * 1.2f;
|
|
m_queryPoly[1] = m_spos.y + agentHeight / 2;
|
|
m_queryPoly[2] = m_spos.z + nz * 1.2f;
|
|
|
|
m_queryPoly[3] = m_spos.x - nx * 1.3f;
|
|
m_queryPoly[4] = m_spos.y + agentHeight / 2;
|
|
m_queryPoly[5] = m_spos.z - nz * 1.3f;
|
|
|
|
m_queryPoly[6] = m_epos.x - nx * 0.8f;
|
|
m_queryPoly[7] = m_epos.y + agentHeight / 2;
|
|
m_queryPoly[8] = m_epos.z - nz * 0.8f;
|
|
|
|
m_queryPoly[9] = m_epos.x + nx;
|
|
m_queryPoly[10] = m_epos.y + agentHeight / 2;
|
|
m_queryPoly[11] = m_epos.z + nz;
|
|
return m_queryPoly;
|
|
}
|
|
} |